class ControllerGUIFrame(QtGui.QFrame): def __init__(self): super(ControllerGUIFrame, self).__init__() self.init_ui() def init_ui(self): self.ui = QTControllerGUIFrame() self.ui.setupUi(self) self.ui.start_button.clicked.connect(self.start_button_clk) self.ui.kill_button.clicked.connect(self.kill_button_clk) self.controller = "l_arm_controller" self.ui.controller_combo.addItem("l_arm_controller") self.ui.controller_combo.addItem("l_cart") self.ui.controller_combo.addItem("r_arm_controller") self.ui.controller_combo.addItem("r_cart") self.ui.controller_combo.activated[str].connect(self.combo_activated) def combo_activated(self, text): self.controller = text def start_button_clk(self): if self.controller is not None: Popen( "rosrun pr2_controller_manager pr2_controller_manager start %s" % self.controller, shell=True) def kill_button_clk(self): if self.controller is not None: Popen( "rosrun pr2_controller_manager pr2_controller_manager stop %s" % self.controller, shell=True)
class ControllerGUIFrame(QtGui.QFrame): def __init__(self): super(ControllerGUIFrame, self).__init__() self.init_ui() def init_ui(self): self.ui = QTControllerGUIFrame() self.ui.setupUi(self) self.ui.start_button.clicked.connect(self.start_button_clk) self.ui.kill_button.clicked.connect(self.kill_button_clk) self.controller = "l_arm_controller" self.ui.controller_combo.addItem("l_arm_controller") self.ui.controller_combo.addItem("l_cart") self.ui.controller_combo.addItem("r_arm_controller") self.ui.controller_combo.addItem("r_cart") self.ui.controller_combo.activated[str].connect(self.combo_activated) def combo_activated(self, text): self.controller = text def start_button_clk(self): if self.controller is not None: Popen("rosrun pr2_controller_manager pr2_controller_manager start %s" % self.controller, shell=True) def kill_button_clk(self): if self.controller is not None: Popen("rosrun pr2_controller_manager pr2_controller_manager stop %s" % self.controller, shell=True)
def init_ui(self): self.ui = QTControllerGUIFrame() self.ui.setupUi(self) self.ui.start_button.clicked.connect(self.start_button_clk) self.ui.kill_button.clicked.connect(self.kill_button_clk) self.ui.restart_button.clicked.connect(self.restart_button_clk) self.ui.controller_combo.addItem("%s_arm_controller") self.ui.controller_combo.addItem("%s_cart") self.ui.controller_combo.addItem("%s_joint_controller_low")
def init_ui(self): self.ui = QTControllerGUIFrame() self.ui.setupUi(self) self.ui.start_button.clicked.connect(self.start_button_clk) self.ui.kill_button.clicked.connect(self.kill_button_clk) self.controller = "l_arm_controller" self.ui.controller_combo.addItem("l_arm_controller") self.ui.controller_combo.addItem("l_cart") self.ui.controller_combo.addItem("r_arm_controller") self.ui.controller_combo.addItem("r_cart") self.ui.controller_combo.activated[str].connect(self.combo_activated)
class ControllerGUIFrame(QtGui.QFrame): def __init__(self): super(ControllerGUIFrame, self).__init__() self.init_ui() def init_ui(self): self.ui = QTControllerGUIFrame() self.ui.setupUi(self) self.ui.start_button.clicked.connect(self.start_button_clk) self.ui.kill_button.clicked.connect(self.kill_button_clk) self.ui.restart_button.clicked.connect(self.restart_button_clk) self.ui.controller_combo.addItem("%s_arm_controller") self.ui.controller_combo.addItem("%s_cart") self.ui.controller_combo.addItem("%s_joint_controller_low") def start_button_clk(self): controller = str(self.ui.controller_combo.currentText()) arm = str(self.ui.arm_combo.currentText()) ctrl_filled = controller % arm[0] Popen("rosrun pr2_controller_manager pr2_controller_manager spawn %s" % ctrl_filled, shell=True) def kill_button_clk(self): controller = str(self.ui.controller_combo.currentText()) arm = str(self.ui.arm_combo.currentText()) ctrl_filled = controller % arm[0] Popen("rosrun pr2_controller_manager pr2_controller_manager kill %s" % ctrl_filled, shell=True) def restart_button_clk(self): controller = str(self.ui.controller_combo.currentText()) arm = str(self.ui.arm_combo.currentText()) ctrl_filled = controller % arm[0] Popen("rosrun pr2_controller_manager pr2_controller_manager kill %s" % ctrl_filled, shell=True) rospy.sleep(0.1) Popen("rosrun pr2_controller_manager pr2_controller_manager spawn %s" % ctrl_filled, shell=True)