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Merge pull request #342 from husarion/ros2-build-in-animation
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Merge panther_lights tables
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@KmakD
KmakD authored Jun 12, 2024
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Package used to control the Husarion Panther Bumper Lights.

## Build in animation

The table below shows the default animations for the robot.

| Name | Description | Animation |
| --------------------- | -------------------------------------- | --------------------------------------------------------------------------------------------------------------------------- |
| **E_STOP** | E-stop triggered, not ready to operate | <img src="https://github.com/husarion/panther_ros/blob/ros2/panther_lights/.docs/E_STOP.webp" width="400"> |
| **READY** | E-stop released, ready to operate | <img src="https://github.com/husarion/panther_ros/blob/ros2/panther_lights/.docs/READY.webp" width="400"> |
| **LOW_BATTERY** | battery level below 40% | <img src="https://github.com/husarion/panther_ros/blob/ros2/panther_lights/.docs/LOW_BATTERY.webp" width="400"> |
| **CRITICAL_BATTERY** | battery level below 10% | <img src="https://github.com/husarion/panther_ros/blob/ros2/panther_lights/.docs/CRITICAL_BATTERY.webp" width="400"> |
| **BATTERY_STATE** | current battery level | <img src="https://github.com/husarion/panther_ros/blob/ros2/panther_lights/.docs/BATTERY_STATE.webp" width="400"> |
| **CHARGING_BATTERY** | battery is charging | <img src="https://github.com/husarion/panther_ros/blob/ros2/panther_lights/.docs/CHARGING_BATTERY.webp" width="400"> |
| **ERROR** | custom use cases | <img src="https://github.com/husarion/panther_ros/blob/ros2/panther_lights/.docs/ERROR.webp" width="400"> |
| **GOAL_ACHIEVED** | custom use cases | <img src="https://github.com/husarion/panther_ros/blob/ros2/panther_lights/.docs/GOAL_ACHIEVED.webp" width="400"> |
| **AUTONOMOUS_ACTION** | custom use cases | <img src="https://github.com/husarion/panther_ros/blob/ros2/panther_lights/.docs/AUTONOMOUS_ACTION.webp" width="400"> |
| **MANUAL_ACTION** | custom use cases | <img src="https://github.com/husarion/panther_ros/blob/ros2/panther_lights/.docs/MANUAL_ACTION.webp" width="400"> |

[//]: # (ROS_API_PACKAGE_DESCRIPTION_END)

## ROS Nodes
Expand Down Expand Up @@ -167,17 +150,17 @@ The `led_animations` section contains list with definitions for various animatio

Default animations can be found in the table below:

| ID | NAME | PRIORITY | DESCRIPTION |
| :---: | ----------------- | :------: | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| 0 | E_STOP | 3 | red expanding from the center to the edges |
| 1 | READY | 3 | green expanding from center to the edges |
| 2 | ERROR | 1 | red, whole bumper blinking twice |
| 3 | MANUAL_ACTION | 3 | blue expanding from the center to the edges |
| 4 | AUTONOMOUS_ACTION | 3 | orange expanding from center to the edges |
| 5 | GOAL_ACHIEVED | 2 | purple, whole bumper blinking three times |
| 6 | LOW_BATTERY | 2 | two orange stripes moving towards the center, repeats twice |
| 7 | CRITICAL_BATTERY | 2 | two red stripes moving towards the center, repeats twice |
| 9 | CHARGING_BATTERY | 3 | whole bumper blinks with a duty cycle proportional to the Battery percentage. Short blinking means low Battery, and no blinking means full Battery. The color changes from red to green |
| ID | NAME | PRIORITY | ANIMATION |
| :---: | ----------------- | :------: | --------------------------------------------------------------------------------------------------------------------- |
| 0 | E_STOP | 3 | <img src="https://github.com/husarion/panther_ros/blob/ros2/panther_lights/.docs/E_STOP.webp" width="400"> |
| 1 | READY | 3 | <img src="https://github.com/husarion/panther_ros/blob/ros2/panther_lights/.docs/READY.webp" width="400"> |
| 2 | ERROR | 1 | <img src="https://github.com/husarion/panther_ros/blob/ros2/panther_lights/.docs/ERROR.webp" width="400"> |
| 3 | MANUAL_ACTION | 3 | <img src="https://github.com/husarion/panther_ros/blob/ros2/panther_lights/.docs/MANUAL_ACTION.webp" width="400"> |
| 4 | AUTONOMOUS_ACTION | 3 | <img src="https://github.com/husarion/panther_ros/blob/ros2/panther_lights/.docs/AUTONOMOUS_ACTION.webp" width="400"> |
| 5 | GOAL_ACHIEVED | 2 | <img src="https://github.com/husarion/panther_ros/blob/ros2/panther_lights/.docs/GOAL_ACHIEVED.webp" width="400"> |
| 6 | LOW_BATTERY | 2 | <img src="https://github.com/husarion/panther_ros/blob/ros2/panther_lights/.docs/LOW_BATTERY.webp" width="400"> |
| 7 | CRITICAL_BATTERY | 2 | <img src="https://github.com/husarion/panther_ros/blob/ros2/panther_lights/.docs/CRITICAL_BATTERY.webp" width="400"> |
| 9 | CHARGING_BATTERY | 3 | <img src="https://github.com/husarion/panther_ros/blob/ros2/panther_lights/.docs/CHARGING_BATTERY.webp" width="400"> |

### Animation Types

Expand Down

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