Halo and Navigator LEDs

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Introduction

To control HALO and Navigator LEDS, we are using IODeviceInterface to config, status and command topics.

In intera_interface, we built Lights class so the user can easily use list_all_lights, set_light_state and get_light_state functions to interact with lights on robot.

Component IDs:
head_red_light, right_hand_blue_light, head_blue_light, right_hand_green_light, head_green_light, right_hand_red_light

Navigator and HEAD LEDs

Component IDs: head_navigator, right_navigator

ROSTopic to get navigator state: rostopic echo /robot/navigators/<Component ID>/state

The lights name and state will display in the state topic as:

light_names: ['red', 'green', 'blue', 'back', 'show', 'triangle', 'circle', 'square']
lights: [False, False, False, True, True, True, True, True]