LEDs API#
Overview#
ARI has 4 LED devices capable of being controlled via our ROS interface. One for each ear, one in the back (below the emergency stop) and the ReSpeaker LED.
ID |
nb LEDs |
Available Effects |
|
|---|---|---|---|
Back |
0 |
40 |
All |
Ear Left |
1 |
16 |
All |
Ear Right |
2 |
16 |
All |
Respeaker |
4 |
12 |
Fixed Color |
LED Manager API#
All the LED devices are controlled using the same ROS Interface, provided by the PAL LED Manager. This interface allows clients to send effects to one or multiple LED devices, specifying their time duration and priority. When a device has more than one effect active at a time, it performs the one with the highest priority. Once the LED finishes performing the effect with the highest priority, it starts performing the one with the second highest priority and so on. There’s a default effect with unlimited duration and lowest priority that display a fixed colour.
The LED interface is an Action Server, accessible via the /pal_led_manager/do_effect action. The action type is pal_device_msgs/DoTimedLedEffect.
List of LED effects:
Effects |
ID |
|---|---|
Set color |
0 |
Rainbow |
1 |
Fade |
2 |
Blink |
3 |
Progress |
4 |
Flow |
5 |
Pre-programmed effect |
6 |
The different effects and parameters are listed in the pal_device_msgs/msg