Status Indicators

Warthog has four configurable LEDs on the corners of the chassis. These lights are used to indicate the robot’s status.

Corner LEDs

The corner LEDs use the following patterns to indicate the robot’s status:

Front LEDs	Rear LEDs	Description
Solid white	Solid red	Normal operation.
Pulsing orange	Pulsing orange	Battery is low.
Flashing orange	Flashing orange	Fault.
Flashing red	Flashing red	E-Stop is engaged.
Solid red	Solid red	ROS is not running. Possibly because unable to contact MCU, or firmware malfunction, or initialization error.

While the robot is in the normal operation state the LED colors can be customized by publishing to the /cmd_lights topic. In any other state LED customization is disabled.