RoboJackets / urc-software

Primary codebase for the RoboNav team's URC rover.

https://robojackets.org/teams/robonav/

MIT License

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[bt] Create nodes to send status light commands #194

Closed davidcalderon03 closed 6 months ago

davidcalderon03 commented 6 months ago

Description

This PR does the following:

Creates a StatusLightColorPublisher to change the color of the status light
Creates a StatusLightDisplayPublisher to change the display pattern of the status light
Changes the BT according to these changes

Testing Steps (if relevant)

Test Case 1

colcon build
. install/setup.bash
ros2 launch urc_bringup bringup_simulation.launch.py

Expectation: Should start the simulation behavior tree, which will start sending out status light commands when it starts path planning

Design Presentation (only required for major additions)

Post the link to your presentation here and be sure to update the presentation document if this PR results in a significant addition to the stack

Self Checklist

[x] I have formatted my code using ament_uncrustify --reformat
[x] I have tested that the new behavior works