Struct Turtlebot4Led

Defined in File leds.hpp

Struct Documentation

struct Turtlebot4Led

Public Functions

inline explicit Turtlebot4Led(Turtlebot4LedType type)

inline void create_publisher(rclcpp::Node::SharedPtr nh, std::string topic)

inline void spin_once()

Public Members

Turtlebot4LedType type_

uint32_t on_period_ms_

uint32_t off_period_ms_

std::chrono::time_point<std::chrono::steady_clock> last_on_time_

std::chrono::time_point<std::chrono::steady_clock> last_off_time_

Turtlebot4LedColor current_color_

Turtlebot4LedColor next_color_

Turtlebot4LedColor blink_color_

rclcpp::Publisher<std_msgs::msg::Int32>::SharedPtr led_pub_