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/pal_led_manager/do_effect Quick Facts


ARI hardware

Message type


Controls the various LEDs or ARI. You can select the desired set of LEDs, a colour effect, duration and priority, as well as provide effect-specific parameters (like the desired color).

See LEDs API for details.

Quick snippets#

Send a goal from the command-line#
$ rostopic pub /pal_led_manager/do_effect/goal pal_device_msgs/DoTimedLedEffectActionGoal # press Tab to complete the message prototype
Call the action from a Python script#
#!/usr/bin/env python

import rospy
import actionlib
from pal_device_msgs.msg import *

if __name__ == "__main__":

    client = actionlib.SimpleActionClient("/pal_led_manager/do_effect", pal_device_msgs.msg.DoTimedLedEffectAction)

    # check https://github.com/pal-robotics/pal_msgs/tree/indigo-devel/pal_device_msgs/action/DoTimedLedEffect.action
    # for the possible goal parameters
    goal = pal_device_msgs.msg.DoTimedLedEffectGoal(param1=..., param2=...)


    rospy.loginfo("Action returned: %s" % client.get_result())

REST endpoint#

You can also access this action from a webpage displayed on the robot’s touchscreen via this endpoint:


(replace ari-0c by the serial number of your own robot).

See REST interface for the general documentation of the REST endpoints and code samples.