Fast light configuration

panther_controller/launch/controller.launch.py

@@ -285,8 +285,8 @@ def generate_launch_description():
 
     actions = [
         declare_battery_config_path_arg,
-        declare_robot_model_arg,  # robot_model must be before wheel_type
-        declare_wheel_type_arg,  # wheel_type must be before controller_config_path
+        declare_robot_model_arg,  # robot_model is used by wheel_type
+        declare_wheel_type_arg,  # wheel_type is used by controller_config_path
         declare_components_config_path_arg,
         declare_controller_config_path_arg,
         declare_namespace_arg,

panther_lights/config/lynx_led_config.yaml

@@ -0,0 +1,123 @@
+panels:
+  - channel: 1
+    number_of_leds: 22
+  - channel: 2
+    number_of_leds: 22
+
+segments:
+  - name: fl
+    channel: 1
+    led_range: 0-10
+  - name: rl
+    channel: 1
+    led_range: 21-11
+  - name: fr
+    channel: 2
+    led_range: 0-10
+  - name: fl
+    channel: 2
+    led_range: 21-11
+
+
+segments_map:
+  all: [fl, fr, rl, rr]
+  front: [fl, fr]
+  rear: [rl, rr]
+
+led_animations:
+  - id: 0
+    name: E_STOP
+    priority: 3
+    animations:
+      - type: panther_lights::ImageAnimation
+        segments: all
+        animation:
+          image: $(find panther_lights)/animations/lynx/triangle01_red.png
+          duration: 2
+
+  - id: 1
+    name: READY
+    priority: 3
+    animations:
+      - type: panther_lights::ImageAnimation
+        segments: all
+        animation:
+          image: $(find panther_lights)/animations/lynx/triangle01_green.png
+          duration: 2
+
+  - id: 2
+    name: ERROR
+    priority: 1
+    animations:
+      - type: panther_lights::ImageAnimation
+        segments: all
+        animation:
+          image: $(find panther_lights)/animations/lynx/strip01_red.png
+          duration: 3
+          repeat: 2
+
+  - id: 3
+    name: MANUAL_ACTION
+    priority: 3
+    animations:
+      - type: panther_lights::ImageAnimation
+        segments: all
+        animation:
+          image: $(find panther_lights)/animations/lynx/triangle01_blue.png
+          duration: 3
+
+  - id: 4
+    name: AUTONOMOUS_ACTION
+    priority: 3
+    animations:
+      - type: panther_lights::ImageAnimation
+        segments: all
+        animation:
+          image: $(find panther_lights)/animations/lynx/triangle01_orange.png
+          duration: 3
+
+  - id: 5
+    name: GOAL_ACHIEVED
+    priority: 2
+    animations:
+      - type: panther_lights::ImageAnimation
+        segments: all
+        animation:
+          image: $(find panther_lights)/animations/lynx/strip01_purple.png
+          duration: 3
+          repeat: 2
+
+  - id: 6
+    name: LOW_BATTERY
+    priority: 2
+    animations:
+      - type: panther_lights::ImageAnimation
+        segments: all
+        animation:
+          image: $(find panther_lights)/animations/lynx/battery_low.png
+          duration: 2
+          repeat: 2
+
+  - id: 7
+    name: CRITICAL_BATTERY
+    priority: 2
+    animations:
+      - type: panther_lights::ImageAnimation
+        segments: all
+        animation:
+          image: $(find panther_lights)/animations/lynx/battery_critical.png
+          duration: 2
+          repeat: 2
+
+  # The BATTERY_STATE animation is no longer supported.
+  # Animation ID: 8 was intentionally omitted to keep numbering compatibility with ROS 1.
+
+  - id: 9
+    name: CHARGING_BATTERY
+    priority: 3
+    animations:
+      - type: panther_lights::ChargingAnimation
+        segments: all
+        animation:
+          duration: 3
+          repeat: 2

panther_lights/config/led_config.yaml → panther_lights/config/panther_led_config.yaml

@@ -25,7 +25,7 @@ led_animations:
       - type: panther_lights::ImageAnimation
         segments: all
         animation:
-          image: $(find panther_lights)/animations/triangle01_red.png
+          image: $(find panther_lights)/animations/panther/triangle01_red.png
           duration: 2
 
   - id: 1
@@ -35,7 +35,7 @@ led_animations:
       - type: panther_lights::ImageAnimation
         segments: all
         animation:
-          image: $(find panther_lights)/animations/triangle01_green.png
+          image: $(find panther_lights)/animations/panther/triangle01_green.png
           duration: 2
 
   - id: 2
@@ -45,7 +45,7 @@ led_animations:
       - type: panther_lights::ImageAnimation
         segments: all
         animation:
-          image: $(find panther_lights)/animations/strip01_red.png
+          image: $(find panther_lights)/animations/panther/strip01_red.png
           duration: 3
           repeat: 2
 
@@ -56,7 +56,7 @@ led_animations:
       - type: panther_lights::ImageAnimation
         segments: all
         animation:
-          image: $(find panther_lights)/animations/triangle01_blue.png
+          image: $(find panther_lights)/animations/panther/triangle01_blue.png
           duration: 3
 
   - id: 4
@@ -66,7 +66,7 @@ led_animations:
       - type: panther_lights::ImageAnimation
         segments: all
         animation:
-          image: $(find panther_lights)/animations/triangle01_orange.png
+          image: $(find panther_lights)/animations/panther/triangle01_orange.png
           duration: 3
 
   - id: 5
@@ -76,7 +76,7 @@ led_animations:
       - type: panther_lights::ImageAnimation
         segments: all
         animation:
-          image: $(find panther_lights)/animations/strip01_purple.png
+          image: $(find panther_lights)/animations/panther/strip01_purple.png
           duration: 3
           repeat: 2
 
@@ -87,7 +87,7 @@ led_animations:
       - type: panther_lights::ImageAnimation
         segments: all
         animation:
-          image: $(find panther_lights)/animations/battery_low.png
+          image: $(find panther_lights)/animations/panther/battery_low.png
           duration: 2
           repeat: 2
 
@@ -98,7 +98,7 @@ led_animations:
       - type: panther_lights::ImageAnimation
         segments: all
         animation:
-          image: $(find panther_lights)/animations/battery_critical.png
+          image: $(find panther_lights)/animations/panther/battery_critical.png
           duration: 2
           repeat: 2
 

panther_lights/launch/lights.launch.py

@@ -15,25 +15,30 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import os
+
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, Shutdown
 from launch.conditions import UnlessCondition
 from launch.substitutions import (
     EnvironmentVariable,
     LaunchConfiguration,
     PathJoinSubstitution,
+    PythonExpression,
 )
 from launch_ros.actions import ComposableNodeContainer
 from launch_ros.descriptions import ComposableNode
 from launch_ros.substitutions import FindPackageShare
 
 
 def generate_launch_description():
+    robot_model = LaunchConfiguration("robot_model")
+    robot_led_config = PythonExpression(["'", robot_model, "_config.yaml'"])
     led_config_file = LaunchConfiguration("led_config_file")
     declare_led_config_file_arg = DeclareLaunchArgument(
         "led_config_file",
         default_value=PathJoinSubstitution(
-            [FindPackageShare("panther_lights"), "config", "led_config.yaml"]
+            [FindPackageShare("panther_lights"), "config", robot_led_config]
         ),
         description="Path to a YAML file with a description of led configuration.",
     )
@@ -45,6 +50,15 @@ def generate_launch_description():
         description="Add namespace to all launched nodes.",
     )
 
+    robot_model_dict = {"LNX": "lynx", "PTH": "panther"}
+    robot_model_env = os.environ.get("ROBOT_MODEL", default="PTH")
+    declare_robot_model_arg = DeclareLaunchArgument(
+        "robot_model",
+        default_value=robot_model_dict[robot_model_env],
+        description="Specify robot model",
+        choices=["lynx", "panther"],
+    )
+
     use_sim = LaunchConfiguration("use_sim")
     declare_use_sim_arg = DeclareLaunchArgument(
         "use_sim",
@@ -95,6 +109,7 @@ def generate_launch_description():
     )
 
     actions = [
+        declare_robot_model_arg,  # robot_model is used by led_config_file
         declare_led_config_file_arg,
         declare_namespace_arg,
         declare_use_sim_arg,