Add contol node for the LEDs

robot/src/raspbot_v2/launch/robot.launch.py

@@ -30,10 +30,10 @@ def generate_launch_description():
                               description='Ultrasonic sensor publish rate (Hz)'),
 
         # ── Camera orientation arguments ──────────────────────────────────
-        DeclareLaunchArgument('pan_center_deg',  default_value='90.0',
-                              description='Pan angle at startup and shutdown (degrees)'),
-        DeclareLaunchArgument('tilt_center_deg', default_value='60.0',
-                              description='Tilt angle at startup and shutdown (degrees)'),
+        DeclareLaunchArgument('pan_center_deg',  default_value='0.0',
+                              description='Pan angle at startup and shutdown (degrees, ROS convention)'),
+        DeclareLaunchArgument('tilt_center_deg', default_value='-15.0',
+                              description='Tilt angle at startup and shutdown (degrees, ROS convention)'),
 
         # ── TF / robot description ────────────────────────────────────────
         Node(
@@ -95,4 +95,11 @@ def generate_launch_description():
             output='screen',
         ),
 
+        Node(
+            package='raspbot_v2',
+            executable='led_controller',
+            name='led_controller',
+            output='screen',
+        ),
+
     ])