Connection State LEDs

If configured, the Bridge Client node will use two hardware LEDs on the robot to quickly communicate the state of connection and system activity. LEDs can be controlled diretly via libgpiod (installed with the Docker container). Alternatively, the Bridge Client can produce std_msgs/msg/Bool topics to allow some other process to control the LEDs.

Connection LED

	Off	Bridge Client not running
	Flashing	Trying to connect to Bridge Server
	On	Connected to Bridge Server

Data LED

Short flash

Message was sent to or received from a peer

Configuration Options

phntm_bridge.yaml

 /**:
   ros__parameters:

     conn_led_gpio_chip: /dev/gpiochip0
     conn_led_pin: 23
     data_led_pin: 24
     ## ... or blink LEDs via ROS topics (producing std_msgs/msg/Bool):
     conn_led_topic: /some/led_topic_1
     data_led_topic: /some/led_topic_2