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',
+        DeclareLaunchArgument('pan_center_deg',  default_value='0.0',
-                              description='Pan angle at startup and shutdown (degrees)'),
+                              description='Pan angle at startup and shutdown (degrees, ROS convention)'),
-        DeclareLaunchArgument('tilt_center_deg', default_value='60.0',
+        DeclareLaunchArgument('tilt_center_deg', default_value='-15.0',
-                              description='Tilt angle at startup and shutdown (degrees)'),
+                              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',
+        ),
+
     ])

robot/src/raspbot_v2/raspbot_v2/led_node.py

@@ -0,0 +1,136 @@
+#!/usr/bin/env python3
+"""
+LED bar controller node.
+
+Controls the 14-LED WS2812 bar on the Raspbot via two topics:
+
+Topics
+------
+/led/color  (std_msgs/ColorRGBA)
+    Set all LEDs to a solid RGB colour.  r/g/b are 0.0–1.0; a=0.0 turns
+    the bar off.  Publishing this topic also cancels any running effect.
+
+/led/effect (std_msgs/String)
+    Start a named light effect (runs until a new command arrives):
+        river | breathing | gradient | random_running | starlight | off
+
+Parameters
+----------
+effect_speed  float  default 0.05  – delay between effect frames (s)
+effect_color  int    default 0     – colour index for breathing effect
+                                     0=red 1=green 2=blue 3=yellow
+                                     4=purple 5=cyan 6=white
+"""
+
+import threading
+
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import ColorRGBA, String
+
+VALID_EFFECTS = {'river', 'breathing', 'gradient', 'random_running', 'starlight', 'off'}
+
+
+class LedNode(Node):
+
+    def __init__(self):
+        super().__init__('led_controller')
+
+        self.declare_parameter('effect_speed', 0.05)
+        self.declare_parameter('effect_color', 0)
+
+        from raspbot_v2_interface.Raspbot_Lib import Raspbot, LightShow
+        self._Raspbot = Raspbot
+        self._LightShow = LightShow
+        self._bot = Raspbot()
+
+        self._light_show: object | None = None
+        self._effect_thread: threading.Thread | None = None
+
+        self.create_subscription(ColorRGBA, 'led/color',  self._color_cb,  10)
+        self.create_subscription(String,    'led/effect', self._effect_cb, 10)
+
+        self._bot.Ctrl_WQ2812_ALL(0, 0)
+        self.get_logger().info('LED controller started (14 LEDs, bar off).')
+
+    # ------------------------------------------------------------------
+    # Callbacks
+    # ------------------------------------------------------------------
+
+    def _color_cb(self, msg: ColorRGBA) -> None:
+        self._stop_effect()
+        if msg.a == 0.0:
+            self._bot.Ctrl_WQ2812_ALL(0, 0)
+        else:
+            r = max(0, min(255, int(msg.r * 255)))
+            g = max(0, min(255, int(msg.g * 255)))
+            b = max(0, min(255, int(msg.b * 255)))
+            self._bot.Ctrl_WQ2812_brightness_ALL(r, g, b)
+
+    def _effect_cb(self, msg: String) -> None:
+        effect = msg.data.strip()
+        if effect not in VALID_EFFECTS:
+            self.get_logger().warn(
+                f"Unknown effect '{effect}'. Valid: {', '.join(sorted(VALID_EFFECTS))}"
+            )
+            return
+
+        self._stop_effect()
+
+        if effect == 'off':
+            self._bot.Ctrl_WQ2812_ALL(0, 0)
+            return
+
+        speed = self.get_parameter('effect_speed').value
+        color = self.get_parameter('effect_color').value
+
+        ls = self._LightShow()
+        self._light_show = ls
+
+        def _run():
+            ls.execute_effect(effect, ls.MAX_TIME, speed, color)
+
+        self._effect_thread = threading.Thread(target=_run, daemon=True, name=f'led_{effect}')
+        self._effect_thread.start()
+        self.get_logger().info(f"LED effect '{effect}' started.")
+
+    # ------------------------------------------------------------------
+    # Helpers
+    # ------------------------------------------------------------------
+
+    def _stop_effect(self) -> None:
+        if self._light_show is not None:
+            self._light_show.stop()
+        if self._effect_thread is not None and self._effect_thread.is_alive():
+            self._effect_thread.join(timeout=2.0)
+        self._light_show = None
+        self._effect_thread = None
+
+    # ------------------------------------------------------------------
+    # Shutdown
+    # ------------------------------------------------------------------
+
+    def destroy_node(self) -> None:
+        self.get_logger().info('Shutting down LED controller — turning off bar.')
+        self._stop_effect()
+        try:
+            self._bot.Ctrl_WQ2812_ALL(0, 0)
+        except Exception:
+            pass
+        super().destroy_node()
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = LedNode()
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

robot/src/raspbot_v2/setup.py

@@ -19,6 +19,7 @@ setup(
             'motor_controller = raspbot_v2.motor_controller_node:main',
             'camera_orientation = raspbot_v2.camera_orientation_node:main',
             'ultrasonic = raspbot_v2.ultrasonic_node:main',
+            'led_controller = raspbot_v2.led_node:main',
         ],
     },
 )

webui/backend/main.py

@@ -73,6 +73,10 @@ async def websocket_endpoint(ws: WebSocket):
                 node.publish_cmd_vel(data.get('linear_x', 0.0), data.get('angular_z', 0.0))
             elif msg_type == 'joint_command':
                 node.publish_joint_command(data.get('pan', 0.0), data.get('tilt', 0.0))
+            elif msg_type == 'led_color':
+                node.publish_led_color(data.get('r', 0.0), data.get('g', 0.0), data.get('b', 0.0), data.get('a', 1.0))
+            elif msg_type == 'led_effect':
+                node.publish_led_effect(data.get('effect', 'off'))
     except WebSocketDisconnect:
         pass
     except Exception as e:

webui/backend/ros_node.py

@@ -4,6 +4,7 @@ import rclpy
 from geometry_msgs.msg import Twist
 from rclpy.node import Node
 from sensor_msgs.msg import JointState, Range
+from std_msgs.msg import ColorRGBA, String
 
 
 class RobotBridgeNode(Node):
@@ -12,6 +13,8 @@ class RobotBridgeNode(Node):
 
         self._cmd_vel_pub = self.create_publisher(Twist, '/cmd_vel', 10)
         self._joint_cmd_pub = self.create_publisher(JointState, '/joint_command', 10)
+        self._led_color_pub = self.create_publisher(ColorRGBA, '/led/color', 10)
+        self._led_effect_pub = self.create_publisher(String, '/led/effect', 10)
 
         self.create_subscription(JointState, '/joint_states', self._on_joint_states, 10)
         self.create_subscription(Range, '/ultrasonic/range', self._on_ultrasonic, 10)
@@ -37,6 +40,19 @@ class RobotBridgeNode(Node):
         msg.position = [float(pan), float(tilt)]
         self._joint_cmd_pub.publish(msg)
 
+    def publish_led_color(self, r: float, g: float, b: float, a: float) -> None:
+        msg = ColorRGBA()
+        msg.r = float(r)
+        msg.g = float(g)
+        msg.b = float(b)
+        msg.a = float(a)
+        self._led_color_pub.publish(msg)
+
+    def publish_led_effect(self, effect: str) -> None:
+        msg = String()
+        msg.data = effect
+        self._led_effect_pub.publish(msg)
+
     def _on_joint_states(self, msg: JointState) -> None:
         data = {'type': 'joint_states', 'positions': dict(zip(msg.name, msg.position))}
         for cb in self.on_joint_states_callbacks:

webui/frontend/src/App.jsx

@@ -1,5 +1,6 @@
 import { useState } from 'react'
 import { CameraControls } from './components/CameraControls.jsx'
+import { LedControls } from './components/LedControls.jsx'
 import { RobotControls } from './components/RobotControls.jsx'
 import { VideoStream } from './components/VideoStream.jsx'
 import { useWebSocket } from './hooks/useWebSocket.js'
@@ -34,6 +35,7 @@ export default function App() {
       <div style={{ display: 'flex', justifyContent: 'space-between', alignItems: 'flex-start', gap: 16, flex: 1 }}>
         <RobotControls send={send} />
         <CameraControls send={send} jointStates={jointStates} />
+        <LedControls send={send} />
       </div>
     </div>
   )

webui/frontend/src/components/LedControls.jsx

@@ -0,0 +1,93 @@
+import { useState } from 'react'
+
+const COLOURS = [
+  { label: 'Red',    r: 1,   g: 0,   b: 0   },
+  { label: 'Green',  r: 0,   g: 1,   b: 0   },
+  { label: 'Blue',   r: 0,   g: 0,   b: 1   },
+  { label: 'Yellow', r: 1,   g: 1,   b: 0   },
+  { label: 'Purple', r: 1,   g: 0,   b: 1   },
+  { label: 'Cyan',   r: 0,   g: 1,   b: 1   },
+  { label: 'White',  r: 1,   g: 1,   b: 1   },
+]
+
+const EFFECTS = ['river', 'breathing', 'gradient', 'random_running', 'starlight']
+
+const swatch = (r, g, b) =>
+  `rgb(${Math.round(r * 255)},${Math.round(g * 255)},${Math.round(b * 255)})`
+
+export function LedControls({ send }) {
+  const [active, setActive] = useState(null) // null=off, 'colour:N', 'effect:name'
+
+  function sendColour(idx) {
+    const c = COLOURS[idx]
+    send({ type: 'led_color', r: c.r, g: c.g, b: c.b, a: 1.0 })
+    setActive(`colour:${idx}`)
+  }
+
+  function sendEffect(effect) {
+    send({ type: 'led_effect', effect })
+    setActive(`effect:${effect}`)
+  }
+
+  function sendOff() {
+    send({ type: 'led_color', r: 0, g: 0, b: 0, a: 0.0 })
+    setActive(null)
+  }
+
+  const sectionLabel = {
+    fontSize: 11, color: '#666', marginBottom: 4, textTransform: 'uppercase', letterSpacing: 1,
+  }
+
+  const btn = (isActive) => ({
+    background: isActive ? '#4ade80' : '#2a2a2a',
+    color: isActive ? '#000' : '#aaa',
+    border: '1px solid ' + (isActive ? '#4ade80' : '#444'),
+    padding: '3px 7px', borderRadius: 4, cursor: 'pointer', fontSize: 11,
+  })
+
+  return (
+    <div style={{ display: 'flex', flexDirection: 'column', gap: 10, minWidth: 180 }}>
+      <div style={{ fontSize: 12, color: '#555', borderBottom: '1px solid #2a2a2a', paddingBottom: 4 }}>
+        LEDs
+      </div>
+
+      {/* Solid colours */}
+      <div>
+        <div style={sectionLabel}>Colour</div>
+        <div style={{ display: 'flex', flexWrap: 'wrap', gap: 5 }}>
+          {COLOURS.map((c, i) => (
+            <button
+              key={c.label}
+              title={c.label}
+              onClick={() => sendColour(i)}
+              style={{
+                width: 22, height: 22, borderRadius: 4, cursor: 'pointer', border: 'none',
+                background: swatch(c.r, c.g, c.b),
+                outline: active === `colour:${i}` ? '2px solid #4ade80' : '2px solid transparent',
+                outlineOffset: 2,
+              }}
+            />
+          ))}
+          <button onClick={sendOff} title="Off" style={{
+            width: 22, height: 22, borderRadius: 4, cursor: 'pointer',
+            background: '#111', border: '1px solid #444',
+            outline: active === null ? '2px solid #4ade80' : '2px solid transparent',
+            outlineOffset: 2, fontSize: 10, color: '#666',
+          }}>✕</button>
+        </div>
+      </div>
+
+      {/* Effects */}
+      <div>
+        <div style={sectionLabel}>Effect</div>
+        <div style={{ display: 'flex', flexWrap: 'wrap', gap: 4 }}>
+          {EFFECTS.map((e) => (
+            <button key={e} onClick={() => sendEffect(e)} style={btn(active === `effect:${e}`)}>
+              {e.replace('_', ' ')}
+            </button>
+          ))}
+        </div>
+      </div>
+    </div>
+  )
+}