Niryo robot led ring

This package is in charge of managing Ned robot’s led ring. It is composed of one node, receiving commands and the current robot status, and publishing LED Ring states.

It belongs to the ROS namespace: /niryo_robot_led_ring.

The LED Ring is composed of 30 WS2811 RGB LEDs, controlled by using the rpi_ws281x library.

The LED Ring can either be controlled in:

Robot status mode: the LED ring is displaying the status of the robot.
User mode: the user can control the LED Ring with the several methods implemented:

Robot status mode

When displaying the robot status, the LED Ring has several states which represent different modes and error status. Refer to the following table. The node subscribes to the ROS topic /niryo_robot_status/robot_status, published by the robot status package.

Animation and color	Description	Troubleshooting
White Breath	Robot is booting	N/A
Blue Chase	Calibration is needed	Press the Custom button, or launch a calibration
Blue Snake	Calibration in progress	N/A
Blue Breath	Free Motion enabled	N/A
3 Yellow Flashing	Calibration start	N/A
Green Breath	Free Motion disabled, torque enabled	N/A
Solid Green	Program in progress	N/A
Green Chase	Program paused	Long press on the TOP button to cancel the program, short press to resume
Orange Breath	Program execution error	Launch a new action to clear this state
Flashing Orange	Collision	Launch a new action to clear this state
Solid Orange	Joint out of bounds	Switch to Free Motion mode to bring the joints within limits.
1 Purple Flashing	New connection form Niryo Studio	N/A
2 Purple Flashing	Save a robot positions from the ‘Save’ button	N/A
Flashing Red	Motor error / Raspberry overheating	Please check the error on Niryo Studio.
Solid Red	ROS Crash	Please restart the robot.

User mode

Several animations are implemented to allow the user different ways to control the LED Ring. Refer to the following table. The node receives commands through the service /niryo_robot_led_ring/set_user_animation.

Important

The robot must be in autonomous mode in order to allow the user to control the LED Ring.

Animation	Appearance	Gif
None	LEDs are turned off
Solid	Set the whole LED Ring to the same color at once
Flashing	Flashes a color according to a frequency
Alternate	The different colors are alternated one after the other.
Chase	Movie theater light style chase animation.
Color Wipe	Wipe a color across the LED Ring. Similar to go_up, but LEDs are not turned off at the end.
Rainbow	Draws rainbow that fades across all LEDs at once.
Rainbow cycle	Draw rainbow that uniformly distributes itself across all LEDs.
Rainbow chase	Rainbow chase animation.
Go up	LEDs turn on like a loading circle until lighting up the whole LED Ring. and are then all turned off at the same time.
Go up and down	Like go_up, but LEDs are turned off the same way they are turned on.
Breath	Variation of light intensity to imitate breathing.
Snake	Luminous snake that turns around the LED Ring.

Led ring API functions

Led ring ROS wrapper

In order to control the robot more easily than calling each topics & services one by one, a Python ROS Wrapper has been built on top of ROS.

For instance, a script turning on the LED Ring via Python ROS Wrapper will look like:

from niryo_robot_led_ring.api import LedRingRosWrapper

led_ring = LedRingRosWrapper()
led_ring.solid(color=[255, 255, 255])

This class allows you to control the led ring via internal API.

API list

class niryo_robot_led_ring.api.led_ring_ros_wrapper.LedRingRosWrapper(hardware_version='ned2', service_timeout=1)

Bases: object

alternate(color_list, period=0, iterations=0, wait=False)

Several colors are alternated one after the other.

Examples:

from std_msgs.msg import ColorRGBA

color_list = [
    ColorRGBA(r=15, g=50, b=255),
    [255, 0, 0],
    [0, 255, 0],
]

led_ring.alternate(color_list)
led_ring.alternate(color_list, 1, 100, True)
led_ring.alternate(color_list, iterations=20, wait=True)

Parameters:

color_list (list[list[float] or ColorRGBA]) – Led color list of lists of size 3[R, G, B] or ColorRGBA objects. RGB channels from 0 to 255.
period (float) – Execution time for a pattern in seconds. If 0, the default time will be used.
iterations (int) – Number of consecutive alternations. If 0, the Led Ring alternates endlessly.
wait (bool) – The service wait for the animation to finish all iterations or not to answer. If iterations is 0, the service answers immediately.

Returns:

status, message

Return type:

(int, str)

property animation_mode: Get the current animation mode of the Led Ring. :return: The current animation mode. One of LedRingAnimation values. :rtype: int

breath(color, period=0, iterations=0, wait=False)

Variation of the light intensity of the LED ring, similar to human breathing.

Examples:

from std_msgs.msg import ColorRGBA

led_ring.breath(ColorRGBA(r=15, g=50, b=255))
led_ring.breath([15, 50, 255], 1, 100, True)
led_ring.breath(ColorRGBA(r=15, g=50, b=255), iterations=20, wait=True)

Parameters:

color (list[float] or ColorRGBA) – Led color in a list of size 3[R, G, B] or in an ColorRGBA object. RGB channels from 0 to 255.
period (float) – Execution time for a pattern in seconds. If 0, the default time will be used.
iterations (int) – Number of consecutive turns around the Led Ring. If 0, the animation continues endlessly.
wait (bool) – The service wait for the animation to finish or not to answer. If iterations is 0, the service answers immediately.

Returns:

status, message

Return type:

(int, str)

chase(color, period=0, iterations=0, wait=False)

Movie theater light style chaser animation.

Examples:

from std_msgs.msg import ColorRGBA

led_ring.chase(ColorRGBA(r=15, g=50, b=255))
led_ring.chase([15, 50, 255], 1, 100, True)
led_ring.chase(ColorRGBA(r=15, g=50, b=255), iterations=20, wait=True)

Parameters:

color (list or ColorRGBA) – Led color in a list of size 3[R, G, B] or in an ColorRGBA object. RGB channels from 0 to 255.
period (float) – Execution time for a pattern in seconds. If 0, the default time will be used.
iterations (int) – Number of consecutive chase. If 0, the animation continues endlessly. One chase just lights one Led every 3 Leds.
wait (bool) – The service wait for the animation to finish all iterations or not to answer. If iterations is 0, the service answers immediately.

Returns:

status, message

Return type:

(int, str)

property color: Get the current color of the Led Ring. :return: The current color of the Led Ring in RGB format. :rtype: list(int, int, int)

custom(led_colors)

Sends a colour command to all LEDs of the LED ring. The function expects a list of colours for the 30 LEDs of the robot.

Example:

led_list = [[i / 30. * 255 , 0, 255 - i / 30.] for i in range(30)]
led_ring.custom(led_list)

Parameters:: led_colors (list[list[float] or ColorRGBA]) – List of size 30 of led color in a list of size 3[R, G, B] or in an ColorRGBA object. RGB channels from 0 to 255.
Returns:: status, message
Return type:: (int, str)

flashing(color, period=0, iterations=0, wait=False)

Flashes a color according to a frequency. The frequency is equal to 1 / period.

Examples:

from std_msgs.msg import ColorRGBA

led_ring.flashing([15, 50, 255])
led_ring.flashing([15, 50, 255], 1, 100, True)
led_ring.flashing([15, 50, 255], iterations=20, wait=True)

frequency = 20  # Hz
total_duration = 10 # seconds
led_ring.flashing(ColorRGBA(r=15, g=50, b=255), 1./frequency, total_duration * frequency , True)

Parameters:

color (list[float] or ColorRGBA) – Led color in a list of size 3[R, G, B] or in an ColorRGBA object. RGB channels from 0 to 255.
period (float) – Execution time for a pattern in seconds. If 0, the default time will be used.
iterations (int) – Number of consecutive flashes. If 0, the Led Ring flashes endlessly.
wait (bool) – The service wait for the animation to finish all iterations or not to answer. If iterations is 0, the service answers immediately.

Returns:

status, message

Return type:

(int, str)

go_up(color, period=0, iterations=0, wait=False)

LEDs turn on like a loading circle, and are then all turned off at once.

Examples:

from std_msgs.msg import ColorRGBA

led_ring.go_up(ColorRGBA(r=15, g=50, b=255))
led_ring.go_up([15, 50, 255], 1, 100, True)
led_ring.go_up(ColorRGBA(r=15, g=50, b=255), iterations=20, wait=True)

Parameters:

color (list[float] or ColorRGBA) – Led color in a list of size 3[R, G, B] or in an ColorRGBA object. RGB channels from 0 to 255.
period (float) – Execution time for a pattern in seconds. If 0, the default time will be used.
iterations (int) – Number of consecutive turns around the Led Ring. If 0, the animation continues endlessly.
wait (bool) – The service wait for the animation to finish or not to answer. If iterations is 0, the service answers immediately.

Returns:

status, message

Return type:

(int, str)

go_up_down(color, period=0, iterations=0, wait=False)

LEDs turn on like a loading circle, and are turned off the same way.

Examples:

from std_msgs.msg import ColorRGBA

led_ring.go_up_down(ColorRGBA(r=15, g=50, b=255))
led_ring.go_up_down([15, 50, 255], 1, 100, True)
led_ring.go_up_down(ColorRGBA(r=15, g=50, b=255), iterations=20, wait=True)

Parameters:

color (list[float] or ColorRGBA) – Led color in a list of size 3[R, G, B] or in an ColorRGBA object. RGB channels from 0 to 255.
period (float) – Execution time for a pattern in seconds. If 0, the default time will be used.
iterations (int) – Number of consecutive turns around the Led Ring. If 0, the animation continues endlessly.
wait (bool) – The service wait for the animation to finish or not to answer. If iterations is 0, the service answers immediately.

Returns:

status, message

Return type:

(int, str)

property hardware_version

property is_autonomous: Return whether the led ring is in autonomous mode or not. :return: True if the led ring is in autonomous mode, False otherwise. :rtype: bool

rainbow(period=0, iterations=0, wait=False)

Draws rainbow that fades across all LEDs at once.

Examples:

led_ring.rainbow()
led_ring.rainbow(5, 2, True)
led_ring.rainbow(wait=True)

Parameters:

period (float) – Execution time for a pattern in seconds. If 0, the default time will be used.
iterations (int) – Number of consecutive rainbows. If 0, the animation continues endlessly.
wait (bool) – The service wait for the animation to finish or not to answer. If iterations is 0, the service answers immediately.

Returns:

status, message

Return type:

(int, str)

rainbow_chase(period=0, iterations=0, wait=False)

Rainbow chase animation, like the led_ring_chase method.

Examples:

led_ring.rainbow_chase()
led_ring.rainbow_chase(5, 2, True)
led_ring.rainbow_chase(wait=True)

Parameters:

period (float) – Execution time for a pattern in seconds. If 0, the default time will be used.
iterations (int) – Number of consecutive rainbow cycles. If 0, the animation continues endlessly.
wait (bool) – The service wait for the animation to finish or not to answer. If iterations is 0, the service answers immediately.

Returns:

status, message

Return type:

(int, str)

rainbow_cycle(period=0, iterations=0, wait=False)

Draws rainbow that uniformly distributes itself across all LEDs.

Examples:

led_ring.rainbow_cycle()
led_ring.rainbow_cycle(5, 2, True)
led_ring.rainbow_cycle(wait=True)

Parameters:

period (float) – Execution time for a pattern in seconds. If 0, the default time will be used.
iterations (int) – Number of consecutive rainbow cycles. If 0, the animation continues endlessly.
wait (bool) – The service wait for the animation to finish or not to answer. If iterations is 0, the service answers immediately.

Returns:

status, message

Return type:

(int, str)

set_led_color(led_id, color)

Lights up an LED in one colour. RGB colour between 0 and 255.

Example:

from std_msgs.msg import ColorRGBA

led_ring.set_led_color(5, [15, 50, 255])
led_ring.set_led_color(5, ColorRGBA(r=15, g=50, b=255))

Parameters:

led_id (int) – Id of the led: between 0 and 29
color (list[float] or ColorRGBA) – Led color in a list of size 3[R, G, B] or in an ColorRGBA object. RGB channels from 0 to 255.

Returns:

status, message

Return type:

(int, str)

set_user_animation(animation_mode, colors, period=0, iterations=0, wait_end=False)

Low level function to set an animation on the Led Ring. Prefer using the high level functions.

Parameters:

animation_mode (int) – Animation mode to set. One of LedRingAnimation values.
colors (list[list[float] or ColorRGBA]) – List of colors for the animation. RGB channels from 0 to 255.
period (float) – Execution time for a pattern in seconds. If 0, the default time will be used.
iterations (int) – Number of consecutive animations. If 0, the animation continues endlessly.
wait_end (bool) – Wait for the end of the animation before exiting the function.

Returns:

status, message

Return type:

(int, str)

snake(color, period=0, iterations=0, wait=False)

A small coloured snake (certainly a python :D ) runs around the LED ring.

Examples:

from std_msgs.msg import ColorRGBA

led_ring.snake(ColorRGBA(r=15, g=50, b=255))
led_ring.snake([15, 50, 255], 1, 100, True)
led_ring.snake(ColorRGBA(r=15, g=50, b=255), iterations=20, wait=True)

Parameters:

color (list[float] or ColorRGBA) – Led color in a list of size 3[R, G, B] or in an ColorRGBA object. RGB channels from 0 to 255.
period (float) – Execution time for a pattern in seconds. If 0, the default duration will be used.
iterations (int) – Number of consecutive turns around the Led Ring. If 0, the animation continues endlessly.
wait (bool) – The service wait for the animation to finish or not to answer. If iterations is 0, the service answers immediately.

Returns:

status, message

Return type:

(int, str)

solid(color, wait=False)

Sets the whole Led Ring to a fixed color.

Example:

from std_msgs.msg import ColorRGBA

led_ring.solid([15, 50, 255])
led_ring.solid(ColorRGBA(r=15, g=50, b=255), True)

Parameters:

color (list[float] or ColorRGBA) – Led color in a list of size 3[R, G, B] or in an ColorRGBA object. RGB channels from 0 to 255.
wait (bool) – The service wait for the animation to finish or not to answer. For this method, the action is quickly done, so waiting doesn’t take a lot of time.

Returns:

status, message

Return type:

(int, str)

turn_off(wait=False)

Turns off all Leds

Example:

led_ring.turn_off()

Parameters:: wait (bool) – The service wait for the animation to finish or not to answer. For this method, the action is quickly done, so waiting doesn’t take a lot of time.
Returns:: status, message
Return type:: (int, str)

wipe(color, period=0, wait=False)

Wipes a color across the LED Ring, light a LED at a time.

Examples:

from std_msgs.msg import ColorRGBA

led_ring.wipe(ColorRGBA(r=15, g=50, b=255))
led_ring.wipe([15, 50, 255], 1, True)
led_ring.wipe(ColorRGBA(r=15, g=50, b=255), wait=True)

Parameters:

color (list[float] or ColorRGBA) – Led color in a list of size 3[R, G, B] or in an ColorRGBA object. RGB channels from 0 to 255.
period (float) – Execution time for a pattern in seconds. If 0, the default time will be used.
wait (bool) – The service wait for the animation to finish or not to answer.

Returns:

status, message

Return type:

(int, str)

exception niryo_robot_led_ring.api.led_ring_ros_wrapper.LedRingRosWrapperException: Bases: Exception

niryo_robot_led_ring.api.led_ring_ros_wrapper.check_ned2_version(func): Decorator that check the robot version

Package Documentation

ROS topics

Publishers

Topic Name	Type	Description
/niryo_robot_led_ring/led_ring_status	niryo_robot_led_ring/LedRingStatus	Publish the status of the LED ring
/rosout	rosgraph_msgs/Log	N/A
/visualization_marker_array	visualization_msgs/MarkerArray	Publish Led ring visual markers for Rviz

Subscribers

Topic Name	Type	Description
/niryo_robot/blockly/save_current_point	std_msgs/Int32	Save current robot pose in blockly block when user is in Blockly page in Niyro Studio
/niryo_robot/hotspot_button_state	niryo_robot_rpi/HotspotButtonStatus	Publish the state of the hotspot button
/niryo_robot_status/robot_status	niryo_robot_status/RobotStatus	Publish the robot, log, overheating and joints out of bounds status
/niryo_robot_user_interface/niryo_studio_connection	niryo_robot_user_interface/ConnectionState	Notify that Niryo Studio is connected to the robot

ROS Services

Service Name	Type	Description
/niryo_robot_led_ring/get_loggers	roscpp/GetLoggers	N/A
/niryo_robot_led_ring/set_led_color	niryo_robot_led_ring/SetLedColor	Set the color of the LED ring
/niryo_robot_led_ring/set_logger_level	roscpp/SetLoggerLevel	N/A
/niryo_robot_led_ring/set_user_animation	niryo_robot_led_ring/LedUser	Set the user animation of the LED ring

ROS Parameters

Parameter Name	Default value	Simulation value	Unit	Description
/niryo_robot_led_ring/default_alternate_period	1	N/A	seconds	Default period of the alternate animation
/niryo_robot_led_ring/default_breath_period	4	N/A	seconds	Default period of the breath animation
/niryo_robot_led_ring/default_chase_period	4	N/A	seconds	Default period of the chase animation
/niryo_robot_led_ring/default_colorwipe_period	5	N/A	seconds	Default period of the colorwipe animation
/niryo_robot_led_ring/default_flashing_period	0.25	N/A	seconds	Default period of the flashing animation
/niryo_robot_led_ring/default_goup_period	5	N/A	seconds	Default period of the go up animation
/niryo_robot_led_ring/default_goupanddown_period	5	N/A	seconds	Default period of the go up and down animation
/niryo_robot_led_ring/default_rainbow_period	5	N/A	seconds	Default period of the rainbow animation
/niryo_robot_led_ring/default_rainbowchase_period	5	N/A	seconds	Default period of the rainbow chase animation
/niryo_robot_led_ring/default_rainbowcycle_period	5	N/A	seconds	Default period of the rainbow cycle animation
/niryo_robot_led_ring/default_snake_period	1.5	N/A	seconds	Default period of the snake animation
/niryo_robot_led_ring/enable_led_ring_bcm_pin	27	N/A	int	BCM pin number on the Raspberry Pi used for the LED ring
/niryo_robot_led_ring/led_brightness	255	N/A	int	Brightness of the LED ring (0 - 255)
/niryo_robot_led_ring/led_channel	1	N/A	int	Channel of the LED ring
/niryo_robot_led_ring/led_count	30	N/A	int	Number of LEDs in the ring
/niryo_robot_led_ring/led_dma	10	N/A	int	Direct Access Memory channel used for generating signal
/niryo_robot_led_ring/led_freq_hs	800000	N/A	Hz	Frequency of the LED signal
/niryo_robot_led_ring/led_invert	True	N/A	bool	True to invert the signal (when using NPN transistor level shift)
/niryo_robot_led_ring/led_offset	8	N/A	int	Offset of the LED signal
/niryo_robot_led_ring/led_pin	13	N/A	int	Pin number on the Raspberry Pi used for the LED ring
/niryo_robot_led_ring/led_ring_markers_publish_rate	5	N/A	Hz	Rate at which the LED ring markers are published
/niryo_robot_led_ring/log_level	INFO	N/A	N/A	N/A
/niryo_robot_led_ring/simulation_led_mesh_path	package://niryo_robot_description/meshes/led_ring/led.dae	N/A	string	Path to the mesh file of the LED ring in simulation
/niryo_robot_led_ring/simulation_led_ring_markers_publish_rate	20	N/A	Hz	Rate at which the LED ring markers are published in simulation
/niryo_robot_led_ring/simulation_mode	True	N/A	bool	Whether the LED ring node is in simulation mode or not
/niryo_robot_led_ring/use_mesh	False	N/A	bool	Whether the LED ring should be displayed as a mesh in Rviz or not

ROS Action

Namespace: None