Implement ROS-Controlled Lighting System

[Roozki]

Implement ROS-Controlled Lighting System

Ideally this will be done in ros2, but can start in ros1 and be converted into ros2 later

Overview

We aim to develop a lighting system for our rover that can be controlled through ROS. This system will enable dynamic lighting adjustments, enhancing our rover's visibility and functionality in varying lighting conditions. The system will be managed by a microcontroller that receives commands from a ROS node running on our onboard computer.

Objectives:

• Integrate a lighting system with the rover that can be controlled via ROS messages.
• Ensure the system is lightweight, energy-efficient, and robust for diverse environmental conditions.
• Develop a modular ROS node that can send control signals to the microcontroller, which in turn controls the light intensity, color, and on/off states.

Technical Approach:

• Microcontroller Selection: Choose a microcontroller compatible with our current hardware setup and capable of PWM (Pulse Width Modulation) for light intensity control.
• Lighting Hardware: Select appropriate LED lights or lighting modules that meet our luminosity requirements and are compatible with the chosen microcontroller.
• Communication Protocol: Establish a communication protocol (e.g., UART, I2C) between the microcontroller and the onboard computer.
• ROS Node Development: Develop a ROS node capable of sending control commands to the microcontroller based on user inputs or sensor data.
• Power Management: Design a power management plan to ensure the lighting system does not excessively drain the rover's batteries.

Action Items:

1. Research and Selection

   • Identify and select a suitable microcontroller.
   • Choose appropriate LED lights/lighting modules.
   • Decide on the communication protocol between the microcontroller and the onboard computer.

2. Hardware Integration

   • Integrate the selected microcontroller with the LED lights.
   • Test the hardware setup for basic lighting control.

3. Software Development

   • Develop the ROS node for lighting control.
   • Implement the communication interface on the microcontroller to receive ROS commands.
   • Create a simulation environment (optional) to test the lighting system virtually.

4. Testing and Validation

   • Conduct field tests to validate the lighting control under various conditions.
   • Iterate based on feedback and test results to refine the system.

5. Documentation

   • Document the hardware setup, including wiring diagrams and component specifications.
   • Document the software, including the ROS node setup, usage, and communication protocol.

Resources:

• Microcontroller PWM Documentation for understanding PWM control.
• Communication Protocols Overview for choosing the best protocol for our setup.