You can use a selector
in drawable folder have selector.xml as below
<?xml version="1.0" encoding="utf-8"?>
<selector xmlns:android="http://schemas.android.com/apk/res/android">
<item android:state_pressed="true"
android:drawable="@drawable/press" />
<item android:state_focused="false"
android:drawable="@drawable/normal" />
</selector>
In drawable folder press.xml
<?xml version="1.0" encoding="utf-8"?>
<shape xmlns:android="http://schemas.android.com/apk/res/android">
<solid android:color="#FF9D21"/>
</shape>
In drawable foldernormal.xml
<?xml version="1.0" encoding="utf-8"?>
<shape xmlns:android="http://schemas.android.com/apk/res/android">
<solid android:color="#8BC7EB"/>
</shape>
In the drawer_list_item.xml
android:background="@drawable/selector"
For styling the bar
<resources>
<!--
Base application theme for API 11+. This theme completely replaces
AppBaseTheme from res/values/styles.xml on API 11+ devices.
-->
<style name="AppBaseTheme" parent="android:Theme.Holo.Light">
<item name="android:background">@style/MyActionBar</item>
<!-- API 11 theme customizations can go here. -->
</style>
<style name="MyActionBar" parent="@android:style/Widget.Holo.ActionBar">
<item name="android:background">@drawable/press</item>
</style>
</resources>
In your manifest
<activity
android:name=".MainActivity"
android:theme="@style/MyActionBar"
android:label="@string/app_name">
You can specify the theme for a particular activity instead of entire application.
More information
http://android-developers.blogspot.in/2011/04/customizing-action-bar.html
https://developer.android.com/training/basics/actionbar/styling.html
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