../_images/tiagopro-icon.png ../_images/ari-icon.png

LEDs API#

Overview#

../_images/ari_leds.svg

ARI has 4 led displaying devices capable of being controlled via our ROS interface:

  • Back ring: a LED ring at the back, below the emergency button, with a

    variety of colour options.

  • Ears rings: LED ring in each of its ears with a variety of colour

    options.

  • ReSpeaker: LED ring at the speaker.

ID

#Leds

Available Effects

Back

0

40

All

Ear Left

1

16

All

Ear Right

2

16

All

ReSpeaker

4

12

Fixed Color

Different devices may have different capabilities, and may only be able to show part of the effects.

LED Manager API#

All 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, for a duration of time and a priority. When a device has more than one effect active at a time, it displays the one with the highest priority, until the duration ends and then displays the next effect with the highest priority. There’s a default effect with unlimited duration and lowest priority that displays a fixed color.

Interface#

The led interface is an Action Server: /pal_led_manager/do_effect

A goal consists of:

  • devices A list of devices the goal applies to.

  • params The effect type, and the parameters for the selected effect type.

  • effectDuration Duration of the effect, when the time is over the previous

    effect will be restored. 0 will make it display forever

  • priority Priority of the effect, 0 is no priority, 255 is max priority

List of LED effects#

Effects

ID

Set colour

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

See also#