Light Tower

The Light Tower node controls a 5-output LED indicator with red, green, yellow, buzzer, and continuous outputs. Each output supports solid, software blink, and hardware blink modes.

Configuration

light_tower:
  enabled: true
  name: "light_tower"
  pin_continuous: 0
  pin_red: 1
  pin_green: 2
  pin_yellow: 3
  pin_buzzer: 4
  default_blink_hz: 1.0

Parameters

Parameter	Description
name	Node name and service prefix
pin_continuous	DIO channel for the continuous output
pin_red	DIO channel for the red LED
pin_green	DIO channel for the green LED
pin_yellow	DIO channel for the yellow LED
pin_buzzer	DIO channel for the buzzer
default_blink_hz	Default blink frequency in Hz (default 1.0)

Service

Service name: /<name>/set
Type: studica_control/SetData

Pass the state string in the request params field.

State String	Description
"off"	All outputs off
"red" / "green" / "yellow" / "buzzer"	Solid on
"<color>:blink"	Software blink at default_blink_hz
"<color>:blink_hw"	Hardware blink — continuous LOW, hardware drives rate
"<color>:<hz>"	Software blink at a specific rate, e.g. "red:2.5"

Topics

Published

Topic	Type	Description	Rate
/<name>/state	std_msgs/String	Current state string	On change + 1 Hz heartbeat