def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop = TeleopWidget(self)
self.tlLayout.addWidget(self.teleop)
self.teleop.setVisible(True)
self.logo = LogoWidget(self,
self.logoLayout.parent().width(),
self.logoLayout.parent().height())
self.logoLayout.addWidget(self.logo)
self.logo.setVisible(True)
self.updGUI.connect(self.updateGUI)
self.sensorsCheck.stateChanged.connect(self.showSensorsWidget)
self.rotationDial.valueChanged.connect(self.rotationChange)
self.altdSlider.valueChanged.connect(self.altitudeChange)
self.cameraWidget = ColorFilterWidget(self)
self.sensorsWidget = SensorsWidget(self)
self.changeCamButton.clicked.connect(self.changeCamera)
self.trackingCommunicator = Communicator()
self.pushButton.clicked.connect(self.pushClicked)
self.pushButton.setCheckable(True)
self.resetButton.clicked.connect(self.resetClicked)
self.takeoffButton.clicked.connect(self.takeOffClicked)
self.camera1 = CameraWidget(self)
self.takeoff = False
self.reset = False
self.record = False
def __init__(self, camera, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.camera = camera
self.logo = LogoWidget(self,
self.logoLayout.parent().width(),
self.logoLayout.parent().height())
self.logoLayout.addWidget(self.logo)
self.logo.setVisible(True)
self.updGUI.connect(self.updateGUI)
self.cameraCheck.stateChanged.connect(self.showCameraWidget)
self.colorFilterCheck.stateChanged.connect(self.showColorFilterWidget)
self.cameraWidget = CameraWidget(self)
self.colorFilterWidget = ColorFilterWidget(self)
self.cameraCommunicator = Communicator()
self.colorFilterCommunicator = Communicator()
self.trackingCommunicator = Communicator()
self.playButton.clicked.connect(self.playClicked)
self.playButton.setCheckable(True)
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop = TeleopWidget(self)
self.tlLayout.addWidget(self.teleop)
self.map = Map(self)
self.mapLayout.addWidget(self.map)
self.teleop.setVisible(True)
self.logo = LogoWidget(self,
self.logoLayout.parent().width(),
self.logoLayout.parent().height())
self.logoLayout.addWidget(self.logo)
self.logo.setVisible(True)
self.updGUI.connect(self.updateGUI)
self.getPathButton.clicked.connect(self.getPathClicked)
self.playButton.clicked.connect(self.playClicked)
self.playButton.setCheckable(True)
#self.stopButton.clicked.connect(self.stopClicked)
plannerList = [
'RRTstar', 'SORRTstar', 'BITstar', 'FMTstar', 'InformedRRTstar',
'PRMstar'
]
self.plannerBox.addItems(plannerList)
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop = TeleopWidget(self)
self.tlLayout.addWidget(self.teleop)
self.teleop.setVisible(True)
self.logo = LogoWidget(self,
self.logoLayout.parent().width(),
self.logoLayout.parent().height())
self.logoLayout.addWidget(self.logo)
self.logo.setVisible(True)
self.record = False
self.updGUI.connect(self.updateGUI)
self.segmentCheck.stateChanged.connect(self.showSegmentWidget)
self.segmentWidget = SegmentWidget(self)
self.segmentCommunicator = Communicator()
self.trackingCommunicator = Communicator()
#self.stopButton.clicked.connect(self.stopClicked)
self.playButton.clicked.connect(self.playClicked)
self.playButton.setCheckable(True)
self.resetButton.clicked.connect(self.resetClicked)
self.takeoff = False
self.reset = False
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop=TeleopWidget(self)
self.tlLayout.addWidget(self.teleop)
self.map = Map(self)
self.mapLayout.addWidget(self.map)
self.teleop.setVisible(True)
self.logo = LogoWidget(self, self.logoLayout.parent().width(), self.logoLayout.parent().height())
self.logoLayout.addWidget(self.logo)
self.logo.setVisible(True)
self.updGUI.connect(self.updateGUI)
self.getPathButton.clicked.connect(self.getPathClicked)
self.playButton.clicked.connect(self.playClicked)
self.playButton.setCheckable(True)
#self.stopButton.clicked.connect(self.stopClicked)
plannerList = ['RRTstar', 'SORRTstar','BITstar', 'FMTstar', 'InformedRRTstar', 'PRMstar']
self.plannerBox.addItems(plannerList)
# objectiveList = ['PathClearance', 'PathLength', 'ThresholdPathLength', 'WeightedLengthAndClearanceCombo']
# self.objectiveBox.addItems(objectiveList)
self.liftDropButton.clicked.connect(self.liftDropExecute)
self.liftDropButton.setCheckable(True)
self.jointForce = 0
self.pub = rospy.Publisher('amazon_warehouse_robot/joint_cmd', Float32, queue_size=10)
self.gotoPointButton.clicked.connect(self.gotoPointExecute)
self.gotoPointButton.setCheckable(True)
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop = TeleopWidget(self)
self.tlLayout.addWidget(self.teleop)
self.map = Map(self)
self.mapLayout.addWidget(self.map)
self.teleop.setVisible(True)
self.logo = LogoWidget(self,
self.logoLayout.parent().width(),
self.logoLayout.parent().height())
self.logoLayout.addWidget(self.logo)
self.logo.setVisible(True)
self.updGUI.connect(self.updateGUI)
self.getPathButton.clicked.connect(self.getPathClicked)
self.playButton.clicked.connect(self.playClicked)
self.playButton.setCheckable(True)
#self.stopButton.clicked.connect(self.stopClicked)
# plannerList = ['RRTstar', 'SORRTstar','BITstar', 'FMTstar', 'InformedRRTstar', 'PRMstar']
# self.plannerBox.addItems(plannerList)
# objectiveList = ['PathClearance', 'PathLength', 'ThresholdPathLength', 'WeightedLengthAndClearanceCombo']
# self.objectiveBox.addItems(objectiveList)
self.liftDropButton.clicked.connect(self.liftDropExecute)
self.liftDropButton.setCheckable(True)
self.jointForce = 0
self.node = rclpy.create_node('amazon_robot_joint_state')
self.pub = self.node.create_publisher(
Float64, 'amazon_robot/joint1_position_controller/command', 10)
self.gotoPointButton.clicked.connect(self.gotoPointExecute)
self.gotoPointButton.setCheckable(True)
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop = TeleopWidget(self)
self.tlLayout.addWidget(self.teleop)
self.map = Map(self)
self.mapLayout.addWidget(self.map)
self.teleop.setVisible(True)
self.logo = LogoWidget(self,
self.logoLayout.parent().width(),
self.logoLayout.parent().height())
self.logoLayout.addWidget(self.logo)
self.logo.setVisible(True)
self.updGUI.connect(self.updateGUI)
self.getPathButton.clicked.connect(self.getPathClicked)
self.playButton.clicked.connect(self.playClicked)
self.playButton.setCheckable(True)
def setupUI(self, MainWindow):
## All GUI components of the main window are built here
self.setWindowTitle("Color filter")
# VerticalLayout with 2 rows
vlayout = QVBoxLayout(MainWindow)
vlayout.setSpacing(0)
vlayout.setContentsMargins(0, 0, 0, 0)
# Row 1
groupbox_1 = QGroupBox()
groupbox_1.setContentsMargins(0, 0, 0, 0)
hlayout = QHBoxLayout()
hlayout.setContentsMargins(0, 0, 0, 0)
hlayout.setAlignment(Qt.AlignCenter)
# Row 1 Col 1
groupbox_1_1 = QGroupBox()
vlayout_inner = QVBoxLayout()
vlayout_inner.setContentsMargins(0, 0, 0, 0)
vlayout_inner.setAlignment(Qt.AlignCenter)
text1 = "Live Video Stream"
window_1_label = QLabel()
window_1_label.setAlignment(Qt.AlignCenter)
window_1_label.setText(text1)
vlayout_inner.addWidget(window_1_label)
self.imgLabelColor = QLabel()
self.imgLabelColor.setFixedSize(640, 360)
self.imgLabelColor.setAlignment(Qt.AlignCenter)
vlayout_inner.addWidget(self.imgLabelColor)
groupbox_1_1.setLayout(vlayout_inner)
hlayout.addWidget(groupbox_1_1)
# Row 1 Col 2
groupbox_1_2 = QGroupBox()
vlayout_inner = QVBoxLayout()
vlayout_inner.setContentsMargins(0, 0, 0, 0)
vlayout_inner.setAlignment(Qt.AlignCenter)
text2 = "Output after thresholding"
window_2_label = QLabel()
window_2_label.setAlignment(Qt.AlignCenter)
window_2_label.setText(text2)
vlayout_inner.addWidget(window_2_label)
self.imgLabelBlackWhite = QLabel()
self.imgLabelBlackWhite.setAlignment(Qt.AlignCenter)
self.imgLabelBlackWhite.setFixedSize(640, 360)
vlayout_inner.addWidget(self.imgLabelBlackWhite)
groupbox_1_2.setLayout(vlayout_inner)
hlayout.addWidget(groupbox_1_2)
groupbox_1.setLayout(hlayout)
vlayout.addWidget(groupbox_1)
# ROW 2
groupbox_2 = QGroupBox()
groupbox_2.setContentsMargins(0, 0, 0, 0)
h_3layout = QHBoxLayout()
h_3layout.setContentsMargins(0, 0, 0, 0)
# Row 2 Col 1
groupbox_2_1 = QGroupBox()
h2layout = QVBoxLayout()
h2layout.setAlignment(Qt.AlignCenter)
text3 = 'Final Processed Image'
window_3_label = QLabel()
window_3_label.setAlignment(Qt.AlignCenter)
window_3_label.setText(text3)
h2layout.addWidget(window_3_label)
self.detectedImage = QLabel()
self.detectedImage.setAlignment(Qt.AlignCenter)
self.detectedImage.setFixedSize(640, 360)
h2layout.addWidget(self.detectedImage)
groupbox_2_1.setLayout(h2layout)
h_3layout.addWidget(groupbox_2_1, 75)
# Row 2 Col 2
groupbox_2_2 = QGroupBox()
self.v3_layout = QVBoxLayout()
self.v3_layout.setAlignment(Qt.AlignCenter)
self.v3_layout.addSpacing(30)
self.v3_layout.setAlignment(Qt.AlignCenter)
self.centralwidget = QtWidgets.QWidget()
self.playButton = QtWidgets.QPushButton(self.centralwidget)
self.playButton.setFixedSize(QSize(200, 100))
icon = QtGui.QIcon()
icon.addPixmap(QtGui.QPixmap(":/images/play.png"), QtGui.QIcon.Normal,
QtGui.QIcon.Off)
self.playButton.setObjectName("playButton")
self.v3_layout.addWidget(self.playButton, 60)
self.logo = LogoWidget(self, 200, 100)
self.logo.setVisible(True)
self.v3_layout.addWidget(self.logo, 40)
groupbox_2_2.setLayout(self.v3_layout)
h_3layout.addWidget(groupbox_2_2, 25)
groupbox_2.setLayout(h_3layout)
vlayout.addWidget(groupbox_2)
icon = QtGui.QIcon()
self.playButton.setIcon(icon)
self.retranslateUi(MainWindow)
