werma_816

A ROS driver for the Werma 816.480.53 USB LED.

Notes

The official documentation (zip file, open "Manual.pdf". Starts on page 12) says that you are able to

• get protocol version,
• get device name, and
• read current color

However, my device failed to respond correctly to any of those, and simply replied with Command Error. As such, this library will not error if writing fails in any way - just if opening the serial port fails.

Additionally, the library takes in a baud parameter - this technically shouldn't be needed, because the IC uses native CDC serial, but YMMV.

These LEDs only support values of 1 to 100! As such, instead of having 2 ^ (3 * 8) (~16 million) possible combinations, you only have 3 ^ 10 (1 million) possible combinations. The library automatically takes care of the conversion between standard, 24-bit color and the percentage range used by the LED.

Install

In the src directory of your catkin_ws, run:

git clone https://github.com/lights0123/werma_816
git clone https://github.com/wjwwood/serial

Then, just catkin_make as usual.

Running

An example launch file is provided. After installing and running catkin_make, just run

roslaunch werma_816_driver werma_816.launch

Then, in another terminal,

rostopic pub led/color werma_816_msgs/Color '{r: 0, g: 128, b: 255}'

Documentation

The werma_816_msgs/Color message accepts 3 uint8_t values for red (r), green (g), and blue (b).