| 232 | } |
| 233 | |
| 234 | void notify(const std::string& event) |
| 235 | { |
| 236 | if (ros::param::has("~notify/" + event + "/effect") || |
| 237 | ros::param::has("~notify/" + event + "/r") || |
| 238 | ros::param::has("~notify/" + event + "/g") || |
| 239 | ros::param::has("~notify/" + event + "/b")) { |
| 240 | ROS_INFO_THROTTLE(5, "led: notify %s", event.c_str()); |
| 241 | clover::SetLEDEffect effect; |
| 242 | effect.request.effect = ros::param::param("~notify/" + event + "/effect", std::string("")); |
| 243 | effect.request.r = ros::param::param("~notify/" + event + "/r", 0); |
| 244 | effect.request.g = ros::param::param("~notify/" + event + "/g", 0); |
| 245 | effect.request.b = ros::param::param("~notify/" + event + "/b", 0); |
| 246 | setEffect(effect.request, effect.response); |
| 247 | } |
| 248 | } |
| 249 | |
| 250 | void handleMavrosState(const mavros_msgs::State& msg) |
| 251 | { |
no test coverage detected