Struct Turtlebot4Led

Defined in File leds.hpp

Struct Documentation

struct Turtlebot4Led

Public Functions

inline Turtlebot4Led(std::shared_ptr<GpioInterface> gpio_interface, uint8_t green_pin)

inline Turtlebot4Led(std::shared_ptr<GpioInterface> gpio_interface, uint8_t green_pin, uint8_t red_pin)

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

inline void led_callback(const std_msgs::msg::Int32::SharedPtr msg)

Public Members

Turtlebot4LedType type_

std::shared_ptr<GpioInterface> gpio_interface_

uint8_t green_pin_

uint8_t red_pin_

rclcpp::Subscription<std_msgs::msg::Int32>::SharedPtr led_sub_