def __init__(self): scriptPath = os.path.dirname(__file__) self.cameraImagePixBuf = None self.servoConfigDict = getArmServoConfig() self.wristAngle = 0.0 # Connect to the robot via ROS # TODO: Move arm to all dictionary servoConfigList = [ self.servoConfigDict[servoName] for servoName in self.servoConfigDict ] self.roboticArm = RoboticArm( gaffa_teleop.LynxmotionArmDescription.ARM_DH_PROXIMAL, servoConfigList) self.cameraImageTopic = rospy.Subscriber("/camera/image", sensor_msgs.msg.Image, self.cameraImageCallback) self.jointScreenHomography = JointScreenHomography( self.CORNER_JOINT_ARRAYS, self.CORNER_SCREEN_POSITIONS, self.roboticArm) # Setup the GUI builder = gtk.Builder() builder.add_from_file(scriptPath + "/GUI/VideoTeleop.glade") self.window = builder.get_object("winMain") self.dwgCameraImage = builder.get_object("dwgCameraImage") builder.connect_signals(self) updateLoop = self.update() gobject.idle_add(updateLoop.next) self.window.show()