diff --git a/jsk_naoqi_robot/naoqieus/naoqi-interface.l b/jsk_naoqi_robot/naoqieus/naoqi-interface.l index 484b553510..af69c4726f 100644 --- a/jsk_naoqi_robot/naoqieus/naoqi-interface.l +++ b/jsk_naoqi_robot/naoqieus/naoqi-interface.l @@ -417,5 +417,31 @@ (send res :success) ) ) + (:fade-leds + (led_name r g b sec) + (let* ((fade_rgb_msg (instance naoqi_bridge_msgs::FadeRGB :init)) + (ret (instance naoqi_bridge_msgs::FadeLedsRequest :init)) + (duration_msg (send fade_rgb_msg :fade_duration)) + res) + (ros::wait-for-service "/naoqi_driver/fade_leds") + (send fade_rgb_msg :led_name led_name) + (send fade_rgb_msg :color :r r) + (send fade_rgb_msg :color :g g) + (send fade_rgb_msg :color :b b) + (send duration_msg :sec sec) + (send fade_rgb_msg :fade_duration duration_msg) + (send ret :fade_rgb fade_rgb_msg) + (setq res (ros::service-call "/naoqi_driver/fade_leds" ret)) + ) + ) + (:reset-leds + (led_name) + (let ((ret (instance naoqi_bridge_msgs::SetStringRequest :init)) + res) + (send ret :data led_name) + (setq res (ros::service-call "/naoqi_driver/reset_leds" ret)) + (send res :success) + ) + ) ) ;;