husarion/panther_lights

panther_lights

Control Panther's APA102C lights using ROS.

version: 0.1.0

Prerequisites

RPi.GPIO

Installation:

$ pip3 install RPi.GPIO

Check if gpio group exist:

$ groups

If there's no gpio group, create it:

$ sudo groupadd gpio

and add current user to this group:

$ sudo adduser $USER gpio

Check if /dev/gpiomem exists and has correct permissions:

$ ls -l /dev/gpiomem
crw-rw---- 1 root gpio 244, 0 Dec 28 22:51 /dev/gpiomem

If it doesn’t then set the correct permissions as follows:

sudo chown root.gpio /dev/gpiomem
sudo chmod g+rw /dev/gpiomem

apa102_pi

Installation:

$ git clone https://github.com/byq77/apa102-pi.git
$ cd apa102-pi && sudo python3 setup.py install

Check if spi is enabled

ls -l /dev | grep 'spi'
crw-------  1 root     root    153,   0 Apr  1 17:23 spidev0.0
crw-------  1 root     root    153,   1 Apr  1 17:23 spidev0.1

If there is no spidev files, add this line to /boot/usercfg.txt:

dtparam=spi=on

and restart the system.

Check if spi group exist:

$ groups

If there's no spi group, create it:

sudo groupadd spi

and add current user to it:

sudo adduser $USER spi

change spidev0 ownership:

sudo chown root.spi /dev/spidev*
sudo chmod g+rw /dev/spidev*

udev rules

In /etc/udev/rules.d create file local.rules:

$ sudo touch /etc/udev/rules.d/local.rules

Using tee add following lines:

$ sudo tee -a /etc/udev/rules.d/local.rules 
ACTION=="add", KERNEL=="spidev0.0", GROUP="spi", MODE="0660"
ACTION=="add", KERNEL=="gpiomem", GROUP="gpio", MODE="0660"

Ctrl-D to save

Panther lights installation

Copy the package to your ros_workspace/src directory and in your workspace's root directory run:

$ catkin_make
$ catkin_make install

ROS interface

To start node use:

$ rosrun panther_lights lights_node

To start led controller subscribing move_base status use:

$ rosrun panther_lights lights_controller_simple

To start launch composed of those two nodes use:

$ roslaunch panther_lights panther_lights_simple.launch

Services

/set_panther_lights with message type /panther_lights/SetLights:

uint8 BLINKER_RIGHT = 0
uint8 BLINKER_LEFT = 1
uint8 BRAKE_FRONT = 2
uint8 BRAKE_REAR = 3
uint8 BRAKE_BOTH = 4
uint8 NORMAL_FORWARD = 5
uint8 NORMAL_REVERSING = 6
uint8 SKID_RIGHT = 7
uint8 SKID_LEFT = 8
uint8 ERROR = 9
uint8 animation
string custom_color

Change animation to BLINIKER_LEFT:

$ rosservice call /set_panther_lights "animation: 1
custom_color: ''"

Change animation to BLINKER_LEFT with custom colors (front is green, rear is red):

$ rosservice call /set_panther_lights "animation: 1
custom_color: '0x00FF00 0xFF0000'"

/set_panther_lights_brightness with message type /panther_lights/SetBrightness:

float brightness
---
string result

Change lights brightness to half:

$ rosservice call /set_panther_lights_brightness "brightness: 0.5"

Animation configuration

You can customize your animation in file panther_lights_animations.yaml. You can find it in your installation directory (<installation_path>install/share/config/panther_lights_animations.yaml).

Default configuration:

# animations.yaml
# BLINKER_RIGHT = 0
# BLINKER_LEFT = 1
# BRAKE_FRONT = 2
# BRAKE_REAR = 3
# BRAKE_BOTH = 4
# NORMAL_FORWARD = 5
# NORMAL_REVERSING = 6
# SKID_RIGHT = 7
# SKID_LEFT = 8
# ERROR = 9
# TEST1 = 10
# TEST2 = 11
global_brightness: 20
num_leds: 73

animations:
  - id: 0 # BLINKER_RIGHT
    front: {type: 'COLOR_WIPE_HALF_DOWN_FAST', color: !!int 0xff6600}
    back: {type: 'COLOR_WIPE_HALF_UP_FAST', color: !!int 0xff6600}
  
  - id: 1 # BLINKER_LEFT
    front: {type: 'COLOR_WIPE_HALF_UP_FAST', color: !!int 0xff6600}
    back: {type: 'COLOR_WIPE_HALF_DOWN_FAST', color: !!int 0xff6600}
  
  - id: 2 # BRAKE_FRONT
    front: {type: 'ONE_DOUBLE_COLOR_WIPE_FAST', color: !!int 0xff0000}
    back: {type: 'SOLID_COLOR', color: !!int 0xffffff}
  
  - id: 3 # BRAKE_REAR
    front: {type: 'SOLID_COLOR', color: !!int 0xffffff}
    back: {type: 'ONE_DOUBLE_COLOR_WIPE_FAST', color: !!int 0xff0000}
  
  - id: 4 # BRAKE_BOTH
    front: {type: 'ONE_DOUBLE_COLOR_WIPE_FAST', color: !!int 0xff0000}
    back: {type: 'ONE_DOUBLE_COLOR_WIPE_FAST', color: !!int 0xff0000}

  - id: 5 # NORMAL_FORWARD
    front: {type: 'SOLID_COLOR', color: !!int 0xffffff}
    back: {type: 'SOLID_COLOR', color: !!int 0xffffff}

  - id: 6 # NORMAL_REVERSING
    front: {type: 'SOLID_COLOR', color: !!int 0xffffff}
    back: {type: 'FADE_COLOR', color: !!int 0xEEDD00}

  - id: 7 # SKID_RIGHT
    front: {type: 'COLOR_WIPE_DOWN_NORMAL', color: !!int 0xEEDD00}
    back: {type: 'COLOR_WIPE_UP_NORMAL', color: !!int 0xEEDD00}

  - id: 8 # SKID_LEFT
    front: {type: 'COLOR_WIPE_UP_NORMAL', color: !!int 0xEEDD00}
    back: {type: 'COLOR_WIPE_DOWN_NORMAL', color: !!int 0xEEDD00}

  - id: 9 # ERROR
    front: {type: 'FADE_COLOR', color: !!int 0xFF0000}
    back: {type: 'FADE_COLOR', color: !!int 0xFF0000}

  - id: 10 # TEST1
    front: {type: 'DOUBLE_COLOR_WIPE_NORMAL', color: !!int 0xff0000}
    back: {type: 'DOUBLE_COLOR_WIPE_NORMAL', color: !!int 0xff0000}

  - id: 11 # TEST2
    front: {type: 'DOUBLE_COLOR_WIPE_FAST', color: !!int 0xff0000}
    back: {type: 'DOUBLE_COLOR_WIPE_FAST', color: !!int 0xff0000}