mirror of
https://github.com/CopterExpress/clever-show.git
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39 lines
1.7 KiB
XML
39 lines
1.7 KiB
XML
<launch>
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<arg name="ws281x" default="true"/>
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<arg name="led_effect" default="true"/>
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<arg name="led_notify" default="false"/>
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<!-- For additional help go to https://clover.coex.tech/led -->
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<!-- ws281x led strip driver -->
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<node pkg="ws281x" name="led" type="ws281x_node" clear_params="true" output="screen" if="$(arg ws281x)">
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<param name="led_count" value="58"/>
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<param name="gpio_pin" value="21"/>
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<param name="brightness" value="64"/>
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<param name="strip_type" value="WS2811_STRIP_GRB"/>
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<param name="target_frequency" value="800000"/>
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<param name="dma" value="10"/>
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<param name="invert" value="false"/>
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</node>
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<!-- high level led effects control, events notification with leds -->
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<node pkg="clover" name="led_effect" type="led" ns="led" clear_params="true" output="screen" if="$(arg led_effect)">
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<param name="blink_rate" value="2"/>
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<param name="fade_period" value="0.5"/>
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<param name="rainbow_period" value="5"/>
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<!-- events effects table -->
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<rosparam param="notify" if="$(arg led_notify)">
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startup: { r: 255, g: 255, b: 255 }
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connected: { effect: rainbow }
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disconnected: { effect: blink, r: 255, g: 50, b: 50 }
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acro: { r: 245, g: 155, b: 0 }
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stabilized: { r: 30, g: 180, b: 50 }
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altctl: { r: 255, g: 255, b: 40 }
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posctl: { r: 50, g: 100, b: 220 }
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offboard: { r: 220, g: 20, b: 250 }
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low_battery: { threshold: 3.7, effect: blink_fast, r: 255, g: 0, b: 0 }
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error: { effect: flash, r: 255, g: 0, b: 0 }
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</rosparam>
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</node>
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</launch>
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