def __init__(self, filename="", status_bar=False):
QWidget.__init__(self)
self.filename = filename
reader = rviz.YamlConfigReader()
config = rviz.Config()
reader.readFile(config, self.filename)
self.frame = rviz.VisualizationFrame()
# self.frame.setSplashPaths( "" )
self.frame.initialize()
self.frame.setMenuBar(None)
if not status_bar:
self.frame.setStatusBar(None)
self.frame.setHideButtonVisibility(False)
self.frame.load(config)
self.manager = self.frame.getManager()
self.grid_display = self.manager.getRootDisplayGroup().getDisplayAt(0)
layout = QVBoxLayout()
layout.addWidget(self.frame)
self.setLayout(layout)
self.frame.show()
def __init__(self):
QtWidgets.QWidget.__init__(self)
self.frame = rviz.VisualizationFrame()
self.frame.setSplashPath("")
self.frame.initialize()
reader = rviz.YamlConfigReader()
config = rviz.Config()
#you will need a rviz config file. This config file basically has the information about what all from the rviz you want to display on your custom UI.
reader.readFile(
config,
"/home/rajendra/rqtGUI_ws/src/rviz_qt_embedder/rviz/navigation.rviz"
) #my_rviz_file.rviz
self.frame.load(config)
#some settings for how you want your rviz screen to look like.
self.setWindowTitle(config.mapGetChild("Title").getValue())
self.frame.setMenuBar(None)
self.frame.setStatusBar(None)
self.frame.setHideButtonVisibility(False)
self.manager = self.frame.getManager()
self.grid_display = self.manager.getRootDisplayGroup().getDisplayAt(0)
layout = QtWidgets.QVBoxLayout()
layout.addWidget(self.frame)
self.setLayout(layout)
def __init__(self, app):
QWidget.__init__(self)
# self.showMaximized()
self.setFixedSize(app.primaryScreen().size())
# self.setFixedSize(1920, 1080)
self.mapFrame = rviz.VisualizationFrame()
self.mapFrame.setSplashPath("")
self.mapFrame.initialize()
reader = rviz.YamlConfigReader()
config = rviz.Config()
reader.readFile(config, SCRIPT_PATH + "/teleop.rviz")
self.mapFrame.load(config)
self.setWindowTitle("AlpaKa Teleoperator")
self.mapFrame.setMenuBar(None)
self.mapFrame.setStatusBar(None)
self.mapFrame.setHideButtonVisibility(False)
layout = QHBoxLayout()
layout.addWidget(self.mapFrame)
self.setLayout(layout)
def __init__(self):
QWidget.__init__(self)
self.top = 590
self.left = 0
self.width = 500
self.height = 500
self.setGeometry(self.left, self.top, self.width, self.height)
self.frame = rviz.VisualizationFrame()
self.frame.setSplashPath("")
self.frame.initialize()
reader = rviz.YamlConfigReader()
config = rviz.Config()
reader.readFile(config, "behind.rviz")
self.frame.load(config)
self.setWindowTitle(config.mapGetChild("Title").getValue())
self.frame.setMenuBar(None)
self.frame.setStatusBar(None)
self.frame.setHideButtonVisibility(False)
self.manager = self.frame.getManager()
self.grid_display = self.manager.getRootDisplayGroup().getDisplayAt(0)
## Here we create the layout and other widgets in the usual Qt way.
layout = QVBoxLayout()
layout.addWidget(self.frame)
self.setLayout(layout)
def initialize_all(self):
#self.publish_nodes() #publish send NAV GOAL message from rviz
#setting rviz visulizer
self.rviz_frame = rviz.VisualizationFrame()
self.rviz_frame.setSplashPath("")
self.rviz_frame.initialize()
#setting rviz frame reader
reader = rviz.YamlConfigReader()
config = rviz.Config()
reader.readFile(
config,
"./default.rviz") #this is saved rviz frame for d2v project
#setting rviz tools
self.rviz_frame.load(config)
self.rviz_frame.setMenuBar(None)
self.rviz_frame.setStatusBar(None)
#setting rviz manager
self.manager = self.rviz_frame.getManager()
self.grid_display = self.manager.getRootDisplayGroup().getDisplayAt(0)
self.rviz_layout.addWidget(self.rviz_frame)
mbox = QMessageBox()
mbox.setStyleSheet(
"background-color: rgb(40, 42, 54);\ncolor:rgb(248,248,242);")
mbox.setWindowTitle("Ready State")
mbox.setText("All Process were Initialized ")
mbox.exec_()
def __init__(self):
#The twist commands
self.pub = rospy.Publisher('mobile_base/commands/velocity', Twist)
self.zero_cmd_sent = False
#The visualizer
QWidget.__init__(self)
self.frame = rviz.VisualizationFrame()
self.frame.setSplashPath( "" )
self.frame.initialize()
## The reader reads config file data into the config object.
## VisualizationFrame reads its data from the config object.
reader = rviz.YamlConfigReader()
config = rviz.Config()
reader.readFile( config, "imageOnly.rviz" )
self.frame.load( config )
self.setWindowTitle( config.mapGetChild( "Title" ).getValue() )
#Disable unneeded views
self.frame.setMenuBar( None )
self.frame.setStatusBar( None )
self.frame.setHideButtonVisibility( False )
self.manager = self.frame.getManager()
self.grid_display = self.manager.getRootDisplayGroup().getDisplayAt( 0 )
## Here we create the layout and other widgets in the usual Qt way.
layout = QVBoxLayout()
layout.addWidget( self.frame )
# speed_slider = QSlider( Qt.Horizontal )
#speed_slider.setTracking( True )
# speed_slider.setMinimum( 0.0 )
# speed_slider.setMaximum( 1.0)
#speed_slider.valueChanged.connect( self.onSpeedSliderChanged )
#layout.addWidget( speed_slider )
h_layout = QHBoxLayout()
stop_button = QPushButton( "STOP" )
stop_button.clicked.connect( self.onStopButtonClick )
h_layout.addWidget( stop_button )
fwd_button = QPushButton( "Move Forward" )
fwd_button.clicked.connect( self.onFwdButtonClick )
h_layout.addWidget( fwd_button )
turn_button = QPushButton( "Turn Around" )
turn_button.clicked.connect( self.onTurnButtonClick )
h_layout.addWidget( turn_button )
layout.addLayout( h_layout )
self.setLayout( layout )
def __init__(self, config_file, parent=None):
super(GridAndConfig, self).__init__(parent)
self.frame = rviz.VisualizationFrame()
self.frame.setSplashPath( "" )
self.frame.initialize()
reader = rviz.YamlConfigReader()
config = rviz.Config()
reader.readFile( config, config_file )
self.frame.load( config )
def create_rviz_frame(self):
frame = rviz.VisualizationFrame()
frame.initialize()
reader = rviz.YamlConfigReader()
config = rviz.Config()
reader.readFile(config,
os.path.join(rospkg.RosPack().get_path('march_rqt_gait_generator'), 'resource', 'cfg.rviz'))
frame.load(config)
# Hide irrelevant Rviz details
frame.setMenuBar(None)
frame.setStatusBar(None)
frame.setHideButtonVisibility(False)
return frame
def __init__(self, parent=None):
QtGui.QWidget.__init__(self, parent)
## rviz.VisualizationFrame is the main container widget of the
## regular RViz application. In this example, we disable everything
## so that the only thing visible is the 3D render window.
self.frame = rviz.VisualizationFrame()
self.frame.setSplashPath("")
self.frame.initialize()
# Read the configuration from the config file for visualization.
reader = rviz.YamlConfigReader()
config = rviz.Config()
reader.readFile(config, os.path.join(path, 'config', 'workcell.rviz'))
self.frame.load(config)
self.setWindowTitle(config.mapGetChild("Title").getValue())
self.frame.setMenuBar(None)
self.frame.setHideButtonVisibility(False)
self.manager = self.frame.getManager()
self.grid_display = self.manager.getRootDisplayGroup().getDisplayAt(0)
layout = QtGui.QVBoxLayout()
layout.setContentsMargins(9, 0, 9, 0)
self.setLayout(layout)
h_layout = QtGui.QHBoxLayout()
layout.addLayout(h_layout)
orbit_button = QtGui.QPushButton("Orbit View")
orbit_button.clicked.connect(self.onOrbitButtonClick)
h_layout.addWidget(orbit_button)
front_button = QtGui.QPushButton("Front View")
front_button.clicked.connect(self.onFrontButtonClick)
h_layout.addWidget(front_button)
right_button = QtGui.QPushButton("Rigth View")
right_button.clicked.connect(self.onRightButtonClick)
h_layout.addWidget(right_button)
top_button = QtGui.QPushButton("Top View")
top_button.clicked.connect(self.onTopButtonClick)
h_layout.addWidget(top_button)
layout.addWidget(self.frame)
def __init__(self, main):
super(QWidget, self).__init__()
self.main = main
self.setFixedHeight(350)
self.using_urdf = False
rviz_config_path = str(os.path.dirname(sys.path[0]) + "/config/setup_assistant.rviz")
description_launch_path = str(os.path.dirname(sys.path[0]) + "/launch/description.launch")
self.main.file_browser.new_urdf.connect(self.on_urdf_path_load)
self.column = QHBoxLayout()
self.row = QVBoxLayout()
self.frame = rviz.VisualizationFrame()
self.frame.setSplashPath("")
self.frame.initialize()
reader = rviz.YamlConfigReader()
config = rviz.Config()
reader.readFile(config, rviz_config_path)
self.frame.load(config)
self.frame.setMenuBar(None)
self.frame.setStatusBar(None)
self.frame.setHideButtonVisibility(False)
self.manager = self.frame.getManager()
self.robot_model_display = self.manager.getRootDisplayGroup().getDisplayAt(2)
self.robot_model_display.setBool(False)
self.link_highlighter = self.robot_model_display.subProp("Highlight Link")
self.link_unhighlighter = self.robot_model_display.subProp("Unhighlight Link")
self.column.addWidget(self.frame)
self.row.addLayout(self.column)
self.setLayout(self.row)
self.highlighted_link = None
self.description_launch_args = [description_launch_path, "description_file:foo"]
description_loader_uuid = roslaunch.rlutil.get_or_generate_uuid(None, False)
roslaunch.configure_logging(description_loader_uuid)
self.description_launcher = roslaunch.parent.ROSLaunchParent(description_loader_uuid, [self.description_launch_args[0]])
def __init__(self):
QWidget.__init__(self)
## render window.
self.frame = rviz.VisualizationFrame()
self.frame.setSplashPath("")
self.frame.initialize()
reader = rviz.YamlConfigReader()
config = rviz.Config()
reader.readFile(config, "config.myviz")
self.frame.load(config)
self.setWindowTitle(config.mapGetChild("Title").getValue())
self.frame.setMenuBar(None)
self.frame.setStatusBar(None)
self.frame.setHideButtonVisibility(False)
self.manager = self.frame.getManager()
self.grid_display = self.manager.getRootDisplayGroup().getDisplayAt(0)
layout = QVBoxLayout()
layout.addWidget(self.frame)
thickness_slider = QSlider(Qt.Horizontal)
thickness_slider.setTracking(True)
thickness_slider.setMinimum(1)
thickness_slider.setMaximum(1000)
thickness_slider.valueChanged.connect(self.onThicknessSliderChanged)
layout.addWidget(thickness_slider)
h_layout = QHBoxLayout()
top_button = QPushButton("Top View")
top_button.clicked.connect(self.onTopButtonClick)
h_layout.addWidget(top_button)
side_button = QPushButton("Side View")
side_button.clicked.connect(self.onSideButtonClick)
h_layout.addWidget(side_button)
layout.addLayout(h_layout)
self.setLayout(layout)
def __init__(self, parent=None):
QtGui.QWidget.__init__(self, parent)
self.frame = rviz.VisualizationFrame()
self.frame.setSplashPath("")
self.frame.initialize()
reader = rviz.YamlConfigReader()
config = rviz.Config()
reader.readFile(config, os.path.join(path, 'config', 'workcell.rviz'))
self.frame.load(config)
self.setWindowTitle(config.mapGetChild("Title").getValue())
self.frame.setMenuBar(None)
self.frame.setHideButtonVisibility(False)
self.manager = self.frame.getManager()
self.grid_display = self.manager.getRootDisplayGroup().getDisplayAt(0)
layout = QtGui.QVBoxLayout()
layout.setContentsMargins(9, 0, 9, 0)
self.setLayout(layout)
h_layout = QtGui.QHBoxLayout()
layout.addLayout(h_layout)
orbit_button = QtGui.QPushButton("Orbit View")
orbit_button.clicked.connect(self.onOrbitButtonClick)
h_layout.addWidget(orbit_button)
front_button = QtGui.QPushButton("Front View")
front_button.clicked.connect(self.onFrontButtonClick)
h_layout.addWidget(front_button)
right_button = QtGui.QPushButton("Rigth View")
right_button.clicked.connect(self.onRightButtonClick)
h_layout.addWidget(right_button)
top_button = QtGui.QPushButton("Top View")
top_button.clicked.connect(self.onTopButtonClick)
h_layout.addWidget(top_button)
layout.addWidget(self.frame)
def __init__(self):
QWidget.__init__(self)
self.frame = rviz.VisualizationFrame()
self.frame.setSplashPath("")
self.frame.initialize()
reader = rviz.YamlConfigReader()
config = rviz.Config()
reader.readFile(config, "trust_new.rviz")
self.frame.load(config)
self.setWindowTitle(config.mapGetChild("Title").getValue())
self.frame.setMenuBar(None)
self.frame.setStatusBar(None)
self.frame.setHideButtonVisibility(False)
self.manager = self.frame.getManager()
self.grid_display = self.manager.getRootDisplayGroup().getDisplayAt(0)
layout = QVBoxLayout()
layout.addWidget(self.frame)
self.setLayout(layout)
def create_scene_plugin(self):
package_path = rospkg.RosPack().get_path('sr_moveit_planner_benchmarking')
rviz_config_approach = package_path + "/uis/scene.rviz"
reader = rviz.YamlConfigReader()
# Configuring approach window
config_approach = rviz.Config()
reader.readFile(config_approach, rviz_config_approach)
self.frame_scene = rviz.VisualizationFrame()
self.frame_scene.setSplashPath("")
self.frame_scene.initialize()
self.frame_scene.setMenuBar(None)
self.frame_scene.setStatusBar(None)
self.frame_scene.setHideButtonVisibility(False)
self.frame_scene.load(config_approach)
scene_layout = self._widget.findChild(QVBoxLayout, "scene_layout")
scene_layout.addWidget(self.frame_scene)
self.load_scene_file("empty")
def __init__(self):
QWidget.__init__(self)
self.frame = rviz.VisualizationFrame()
self.frame.setSplashPath(logoLocation)
self.frame.initialize()
reader = rviz.YamlConfigReader()
config = rviz.Config()
configPath = "~/FinderV3/catkin_ws/src/simulation/finder_fake/rviz/finder_fake.rviz"
reader.readFile(config, configPath)
self.frame.load(config)
#self.setWindowTitle( config.mapGetChild( "Title" ).getValue() )
#self.frame.setMenuBar( None )
self.frame.setStatusBar(None)
self.frame.setHideButtonVisibility(False)
self.manager = self.frame.getManager()
self.grid_display = self.manager.getRootDisplayGroup().getDisplayAt(0)
layout = QVBoxLayout()
layout.addWidget(self.frame)
self.setLayout(layout)
def get_rviz(config_name, hide_menu=True, hide_status=True, splash=""):
# rviz.VisualizationFrame is the main container widget of the
# regular RViz application, with menus, a toolbar, a status
# bar, and many docked subpanels. In this example, we
# disable everything so that the only thing visible is the 3D
# render window.
rviz_frame = rviz.VisualizationFrame()
# The "splash path" is the full path of an image file which
# gets shown during loading. Setting it to the empty string
# suppresses that behavior.
rviz_frame.setSplashPath(splash)
# VisualizationFrame.initialize() must be called before
# VisualizationFrame.load(). In fact it must be called
# before most interactions with RViz classes because it
# instantiates and initializes the VisualizationManager,
# which is the central class of RViz.
rviz_frame.initialize()
# The reader reads config file data into the config object.
# VisualizationFrame reads its data from the config object.
reader = rviz.YamlConfigReader()
config = rviz.Config()
reader.readFile(config, config_name)
rospy.loginfo("Loading rviz config: {}".format(config_name))
rviz_frame.load(config)
rospy.loginfo("rviz config loaded")
# Here we disable the menu bar (from the top), status bar
# (from the bottom), and the "hide-docks" buttons, which are
# the tall skinny buttons on the left and right sides of the
# main render window.
if hide_menu:
rviz_frame.setMenuBar(None)
if hide_status:
rviz_frame.setStatusBar(None)
# rviz_frame.setHideButtonVisibility( True )#Not even sure what this is
# frame.getManager() returns the VisualizationManager
# instance, which is a very central class. It has pointers
# to other manager objects and is generally required to make
# any changes in an rviz instance.
rviz_manager = rviz_frame.getManager()
return rviz_frame, rviz_manager
def fun():
# rviz.OgreLogging.noLog() # (no log is the default)
# rviz.OgreLogging.useStandardOut()
# rviz.OgreLogging.useLogFile( "frame_test.ogre-log" )
app = QApplication( sys.argv )
frame = rviz.VisualizationFrame()
frame.initialize()
frame.show()
sw = SampleWidget()
sw.setFrame( frame )
sw.show()
frame.addPane( "Button", sw )
app.exec_()
# Without this destruct() call, this program crashes just after
# the "after exec_()" printout, when "sw" goes out of scope and is
# destroyed.
sw.destruct()
print "after exec_()"
def __init__(self):
QWidget.__init__(self)
self.is_pr2 = rospy.get_param("remote_nav/is_pr2", False)
self.init_ros_variables()
#The visualizer
self.frame = rviz.VisualizationFrame()
self.frame.setSplashPath("")
self.frame.initialize()
## The reader reads config file data into the config object.
## VisualizationFrame reads its data from the config object.
reader = rviz.YamlConfigReader()
config = rviz.Config()
# We use rospack to find the filepath for remote_nav.
rospack = rospkg.RosPack()
package_path = rospack.get_path('remote_nav')
#Now you can grab this filepath from either roslaunch remote_nav myviz and using the launch file or just rosrun.
config_file = rospy.get_param(
'remote_nav/rviz_config',
package_path + "/rviz/turtle_map_img.rviz")
reader.readFile(config, config_file)
self.frame.load(config)
self.setWindowTitle(config.mapGetChild("Title").getValue())
self.setWindowIcon(QIcon(package_path + '/images/icon.png'))
#Disable unneeded views and more visualization setup
self.frame.setMenuBar(None)
self.frame.setStatusBar(None)
self.frame.setHideButtonVisibility(False)
self.manager = self.frame.getManager()
self.grid_display = self.manager.getRootDisplayGroup().getDisplayAt(0)
##LAYOUT
##^^^^^^
layout = QGridLayout()
layout.setSpacing(10)
layout.addWidget(self.frame, 1, 0, 4, 3)
h_layout = QHBoxLayout()
#Buttons and attached commands
# 1. Create Button
# 2. Connect Signal to Slot
# 3. Add to layout
self.look_fwd_button = QPushButton("Look Forward")
self.look_fwd_button.clicked.connect(self.onLookFwdButtonClick)
self.look_fwd_button.setToolTip('Press this to look forward.')
self.look_fwd_button.setStyleSheet(
"background-color: #700000 ; font-weight: bold; color: white")
layout.addWidget(self.look_fwd_button, 8, 1)
self.fwd_button = PicButton(QPixmap(package_path + "/images/up.png"))
self.fwd_button.setClickPix(
QPixmap(package_path + "/images/upDark.png"))
# self.fwd_button = QPushButton("Move Forward")
self.fwd_button.pressed.connect(self.onFwdPress)
self.fwd_button.setToolTip('While held, the robot will move forward')
layout.addWidget(self.fwd_button, 5, 1)
layout.setAlignment(self.fwd_button, Qt.AlignHCenter)
turn_button = PicButton(QPixmap(package_path + "/images/rotate.png"))
turn_button.setClickPix(
QPixmap(package_path + "/images/rotateDark.png"))
turn_button.clicked.connect(self.onTurnButtonClick)
turn_button.setToolTip('The robot will turn around 180 degrees')
self.look_left_btn = PicButton(
QPixmap(package_path + "/images/left.png"))
self.look_left_btn.setClickPix(
QPixmap(package_path + "/images/leftDark.png"))
self.look_right_btn = PicButton(
QPixmap(package_path + "/images/right.png"))
self.look_right_btn.setClickPix(
QPixmap(package_path + "/images/rightDark.png"))
# Only actually connect these to the moving of the head if there is in fact a head.
if (self.is_pr2):
self.look_left_btn.pressed.connect(self.onLeftButtonClick)
self.look_right_btn.pressed.connect(self.onRightButtonClick)
#Finalizing layout and placing components
h_layout.addWidget(self.look_left_btn)
h_layout.setAlignment(self.look_left_btn, Qt.AlignRight)
h_layout.addWidget(turn_button)
h_layout.setAlignment(turn_button, Qt.AlignHCenter)
h_layout.addWidget(self.look_right_btn)
h_layout.setAlignment(self.look_right_btn, Qt.AlignLeft)
layout.addLayout(h_layout, 7, 1)
self.setLayout(layout)
def __init__(self):
QWidget.__init__(self)
try:
self.rvizcommand = rospy.ServiceProxy('rvizcommand', Rvizcommand)
self.rvizcommand(a="delete_all")
except rospy.ServiceException as e:
print("Service call failed: %s" % e)
rospack = rospkg.RosPack()
## rviz.VisualizationFrame is the main container widget of the
## regular RViz application, with menus, a toolbar, a status
## bar, and many docked subpanels. In this example, we
## disable everything so that the only thing visible is the 3D
## render window.
self.frame = rviz.VisualizationFrame()
## The "splash path" is the full path of an image file which
## gets shown during loading. Setting it to the empty string
## suppresses that behavior.
self.frame.setSplashPath("")
## VisualizationFrame.initialize() must be called before
## VisualizationFrame.load(). In fact it must be called
## before most interactions with RViz classes because it
## instantiates and initializes the VisualizationManager,
## which is the central class of RViz.
self.frame.initialize()
## The reader reads config file data into the config object.
## VisualizationFrame reads its data from the config object.
reader = rviz.YamlConfigReader()
config = rviz.Config()
reader.readFile(
config,
os.path.join(rospack.get_path('social_segway_gui'), "config.rviz"))
self.frame.load(config)
## You can also store any other application data you like in
## the config object. Here we read the window title from the
## map key called "Title", which has been added by hand to the
## config file.
self.setWindowTitle(config.mapGetChild("Title").getValue())
## Here we disable the menu bar (from the top), status bar
## (from the bottom), and the "hide-docks" buttons, which are
## the tall skinny buttons on the left and right sides of the
## main render window.
self.frame.setMenuBar(None)
self.frame.setStatusBar(None)
self.frame.setHideButtonVisibility(False)
## frame.getManager() returns the VisualizationManager
## instance, which is a very central class. It has pointers
## to other manager objects and is generally required to make
## any changes in an rviz instance.
self.manager = self.frame.getManager()
## Since the config file is part of the source code for this
## example, we know that the first display in the list is the
## grid we want to control. Here we just save a reference to
## it for later.
self.grid_display = self.manager.getRootDisplayGroup().getDisplayAt(0)
## Here we create the layout and other widgets in the usual Qt way.
layout = QVBoxLayout()
self.statusLabel = QLabel()
self.statusLabel.setText(
"Input name, click current room name, add two points for a room, click save to save the current room, once all the rooms are in click save to xml."
)
layout.addWidget(self.statusLabel)
layout.addWidget(self.frame)
self.textBox = QLineEdit("Room Name here")
layout.addWidget(self.textBox)
h_layout = QHBoxLayout()
top_button = QPushButton("Set room name")
top_button.clicked.connect(self.onTopButtonClick)
h_layout.addWidget(top_button)
side_button = QPushButton("Save current room")
side_button.clicked.connect(self.onSideButtonClick)
h_layout.addWidget(side_button)
publish_button = QPushButton("Save rooms xml")
publish_button.clicked.connect(self.publishButtonClick)
h_layout.addWidget(publish_button)
layout.addLayout(h_layout)
self.setLayout(layout)
def InitRviz(self, rvizPath):
self.l3 = QLabel('Angular Speed')
self.l3.setAlignment(Qt.AlignCenter)
self.l4 = QLabel('Linear Speed')
self.l4.setAlignment(Qt.AlignCenter)
self.frame = rviz.VisualizationFrame()
self.frame.setSplashPath("")
self.frame.initialize()
reader = rviz.YamlConfigReader()
config = rviz.Config()
reader.readFile(config, rvizPath)
self.frame.load(config)
self.setWindowTitle(config.mapGetChild("Title").getValue())
self.frame.setMenuBar(None)
self.frame.setStatusBar(None)
self.frame.setHideButtonVisibility(False)
self.manager = self.frame.getManager()
self.grid_display = self.manager.getRootDisplayGroup().getDisplayAt(0)
rvizLayout = QVBoxLayout()
rvizLayout.addWidget(self.frame)
self.angularDial = QDial(self)
self.angularDial.setGeometry(QRect(10, 20, 311, 351))
self.angularDial.setMinimum(-10)
self.angularDial.setMaximum(10)
self.angularDial.setTracking(True)
# initial dial pointer position
dial_pos = 50
self.angularDial.setSliderPosition(dial_pos)
self.angularDial.setWrapping(False)
self.angularDial.setNotchTarget(0.1)
self.angularDial.setNotchesVisible(True)
self.angularDial.setValue(0)
self.angularDial.valueChanged.connect(self.changeLabel_1_Value)
self.linearSpeedDial = QDial(self)
self.linearSpeedDial.setGeometry(QRect(10, 20, 30, 30))
self.linearSpeedDial.setMinimum(-10)
self.linearSpeedDial.setMaximum(10)
self.linearSpeedDial.setTracking(True)
# initial dial pointer position
self.linearSpeedDial.setSliderPosition(dial_pos)
self.linearSpeedDial.setWrapping(False)
self.linearSpeedDial.setNotchTarget(0.1)
self.linearSpeedDial.setNotchesVisible(True)
self.linearSpeedDial.setValue(0)
self.linearSpeedDial.valueChanged.connect(self.changeLabel_2_Value)
controlPanelLayout = QGridLayout()
controlPanelLayout.setSpacing(6)
controlPanelLayout.addWidget(self.l3, 0, 6, 1, 3)
controlPanelLayout.addWidget(self.l4, 0, 9, 1, 3)
controlPanelLayout.addWidget(self.btn1, 0, 1, 1, 1)
controlPanelLayout.addWidget(self.btn2, 1, 3, 1, 1)
controlPanelLayout.addWidget(self.btn3, 2, 5, 1, 1)
self.parent.statusBar().addPermanentWidget(self.parent.l1)
self.parent.statusBar().addPermanentWidget(self.parent.l2)
controlPanelLayout.addWidget(self.angularDial, 1, 6, 3, 3)
controlPanelLayout.addWidget(self.linearSpeedDial, 1, 9, 3, 3)
mainLayout = QVBoxLayout()
mainLayout.addLayout(rvizLayout)
mainLayout.addLayout(controlPanelLayout)
self.setLayout(mainLayout)
def setupUi(self, MainWindow):
MainWindow.setObjectName("MainWindow")
MainWindow.resize(1200, 1000)
self.centralwidget = QtWidgets.QWidget(MainWindow)
self.centralwidget.setObjectName("centralwidget")
self.verticalLayoutWidget = QtWidgets.QWidget(self.centralwidget)
self.verticalLayoutWidget.setGeometry(QtCore.QRect(50, 20, 1110, 950))
self.verticalLayoutWidget.setObjectName("verticalLayoutWidget")
self.verticalLayout = QtWidgets.QVBoxLayout(self.verticalLayoutWidget)
self.verticalLayout.setSizeConstraint(
QtWidgets.QLayout.SetDefaultConstraint)
self.verticalLayout.setContentsMargins(5, 5, 5, 5)
self.verticalLayout.setObjectName("verticalLayout")
self.horizontalLayout = QtWidgets.QHBoxLayout()
self.horizontalLayout.setContentsMargins(5, 5, 5, 5)
self.horizontalLayout.setObjectName("horizontalLayout")
self.StartButton = QtWidgets.QPushButton(self.verticalLayoutWidget)
sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Minimum,
QtWidgets.QSizePolicy.Minimum)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(0)
sizePolicy.setHeightForWidth(
self.StartButton.sizePolicy().hasHeightForWidth())
self.StartButton.setSizePolicy(sizePolicy)
self.StartButton.setObjectName("StartButton")
self.horizontalLayout.addWidget(self.StartButton)
self.StopButton = QtWidgets.QPushButton(self.verticalLayoutWidget)
sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Minimum,
QtWidgets.QSizePolicy.Minimum)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(0)
sizePolicy.setHeightForWidth(
self.StopButton.sizePolicy().hasHeightForWidth())
self.StopButton.setSizePolicy(sizePolicy)
self.StopButton.setObjectName("StopButton")
self.horizontalLayout.addWidget(self.StopButton)
self.LaunchButton = QtWidgets.QPushButton(self.verticalLayoutWidget)
self.LaunchButton.setObjectName("LaunchButton")
self.label = QtWidgets.QLabel(self.verticalLayoutWidget)
self.verticalLayout.addWidget(self.label)
font = QtGui.QFont()
font.setFamily("Ubuntu Mono")
font.setPointSize(25)
font.setBold(True)
font.setWeight(75)
self.label.setFont(font)
self.label.setText("Time")
self.label.setObjectName("label")
####################################################################################################
self.frame = rviz.VisualizationFrame()
self.frame.setSplashPath("")
self.frame.initialize()
reader = rviz.YamlConfigReader()
config = rviz.Config()
reader.readFile(config, "navigation.rviz")
self.frame.load(config)
self.frame.setMenuBar(None)
self.frame.setStatusBar(None)
self.frame.setHideButtonVisibility(False)
self.frame.setFullScreen(True)
## frame.getManager() returns the VisualizationManager
## instance, which is a very central class. It has pointers
## to other manager objects and is generally required to make
## any changes in an rviz instance.
self.manager = self.frame.getManager()
self.verticalLayout.addWidget(self.frame)
self.verticalLayout.addWidget(self.LaunchButton)
self.verticalLayout.addLayout(self.horizontalLayout)
####################################################################################################
MainWindow.setCentralWidget(self.centralwidget)
self.statusbar = QtWidgets.QStatusBar(MainWindow)
self.statusbar.setObjectName("statusbar")
MainWindow.setStatusBar(self.statusbar)
self.retranslateUi(MainWindow)
QtCore.QMetaObject.connectSlotsByName(MainWindow)
#Calling appropriate function based on the button clicked
self.LaunchButton.clicked.connect(self.launched)
self.StartButton.clicked.connect(self.started)
self.StopButton.clicked.connect(self.stopped)
#Timer stuff
self.timer = QtCore.QTimer
def __init__(self):
super(InspectionWindow, self).__init__()
self.setAttribute(QtCore.Qt.WA_DeleteOnClose)
self.ui = '../forms/manual.ui'
self.mission_dir = '../instance/missions'
loadUi(self.ui, self)
self.setWindowFlags(QtCore.Qt.FramelessWindowHint)
self.layout = self.findChild(QtWidgets.QGridLayout, 'layout')
self.table_row_tracker = 2
self.num_goal_reached = 0
# Image frames
self.videoframe = self.findChild(QtWidgets.QLabel, 'videoFrame')
self.topImageLabel = self.findChild(QtWidgets.QLabel, 'topImageLabel')
self.middelImageLabel = self.findChild(QtWidgets.QLabel, 'middelImageLabel')
self.bottomImageLabel = self.findChild(QtWidgets.QLabel, 'bottomImageLabel')
# Buttons
self.startVideoStreamBtn = self.findChild(QtWidgets.QPushButton, 'startVideoStreamBtn')
self.stopVideoStreamBtn = self.findChild(QtWidgets.QPushButton, 'stopVideoStreamBtn')
self.abortMissionBtn = self.findChild(QtWidgets.QToolButton, 'abortMissionBtn')
self.inspectStatusBtn = self.findChild(QtWidgets.QPushButton, 'inspectStatusBtn')
self.pauseMissionBtn = self.findChild(QtWidgets.QToolButton, 'pauseMissionBtn')
self.stopMissionBtn = self.findChild(QtWidgets.QToolButton, 'stopMissionBtn')
self.startMissionBtn = self.findChild(QtWidgets.QToolButton, 'startMissionBtn')
self.refreshSelectMissionAreaBtn = self.findChild(QtWidgets.QToolButton, 'refreshSelectMissionAreaBtn')
self.refreshSelectMissionBtn = self.findChild(QtWidgets.QToolButton, 'refreshSelectMissionBtn')
self.inspectStatusBtn.hide()
# Button connections
self.startMissionBtn.clicked.connect(self.start_mission)
self.pauseMissionBtn.clicked.connect(self.pause_mission)
# Labels
self.runninMissionLabel = self.findChild(QtWidgets.QLabel, 'runninMissionLabel')
self.runningTaskLabel = self.findChild(QtWidgets.QLabel, 'runningTaskLabel')
self.currentRunningMissionLabel = self.findChild(QtWidgets.QLabel, 'currentRunningMissionLabel')
# Progressbars
self.runningTaskProgressBar = self.findChild(QtWidgets.QProgressBar, 'runningTaskProgressBar')
# Comboboxes
self.videoSourceComboBox = self.findChild(QtWidgets.QComboBox, 'videoSourceComboBox')
self.selectMissionAreaComboBox = self.findChild(QtWidgets.QComboBox, 'selectMissionAreaComboBox')
self.selectMissionComboBox = self.findChild(QtWidgets.QComboBox, 'selectMissionComboBox')
self.videoSourceComboBox.addItems(["Color", "Fisheye 1", "Fisheye 2","Infared 1", "Infared 2", ])
self.selectMissionAreaComboBox.addItems(['', "Workshop", "University", "Demo 1","Demo 2", "Demo 3"])
self.find_missions()
# RVIZ
self.visual_frame = rviz.VisualizationFrame()
self.visual_frame.setSplashPath("")
self.visual_frame.initialize()
self.add_rviz_config()
self.visual_frame.setMenuBar(None)
self.visual_frame.setStatusBar(None)
self.visual_frame.setHideButtonVisibility(True)
self.layout.addWidget(self.visual_frame)
self.manager = self.visual_frame.getManager()
self.grid_display = self.manager.getRootDisplayGroup().getDisplayAt(0)
self.plan = None
self.missions = []
self.column_images = [self.topImageLabel, self.middelImageLabel, self.bottomImageLabel]
self.column_image_counter = 0
# Tables
self.tableWidget = self.findChild(QtWidgets.QTableWidget, 'tableWidget')
self.tableWidget.setHorizontalHeaderLabels(['Time', 'Tag', 'Operation','Status', 'Value', 'Warning', 'Error'])
header = self.tableWidget.horizontalHeader()
header.setSectionResizeMode(0, QtWidgets.QHeaderView.Stretch)
header.setSectionResizeMode(1, QtWidgets.QHeaderView.Stretch)
header.setSectionResizeMode(2, QtWidgets.QHeaderView.Stretch)
header.setSectionResizeMode(3, QtWidgets.QHeaderView.Stretch)
header.setSectionResizeMode(4, QtWidgets.QHeaderView.Stretch)
header.setSectionResizeMode(5, QtWidgets.QHeaderView.Stretch)
header.setSectionResizeMode(6, QtWidgets.QHeaderView.Stretch)
# Top Buttons
self.change_mode_btn = self.findChild(
QtWidgets.QPushButton, 'changeModeBtn')
self.exit_btn = self.findChild(QtWidgets.QPushButton, 'exitBtn')
self.powerBtn = self.findChild(QtWidgets.QPushButton, 'powerBtn')
self.emergency_btn = self.findChild(
QtWidgets.QPushButton, 'emergencyBtn')
# Status indicators
self.signal_btn = self.findChild(QtWidgets.QPushButton, 'signalBtn')
self.controller_battery_btn = self.findChild(
QtWidgets.QPushButton, 'controllerBatteryBtn')
self.battery_btn = self.findChild(QtWidgets.QPushButton, 'batteryBtn')
self.health_btn = self.findChild(QtWidgets.QPushButton, 'healthBtn')
# Button connections
# Button shortcuts
self.exit_btn.setShortcut("Ctrl+Q")
# Stylesheets
self.powerBtn.setStyleSheet(
"QPushButton#powerBtn:checked {color:black; background-color: red;}")
self.signal_btn.setStyleSheet(
"QPushButton#signalBtn:checked {color:black; background-color: green;}")
# ROS SUBSCRIBERS
rospy.init_node('listener', anonymous=True)
rospy.Subscriber('/d435/infra1/image_rect_raw', Image, self.image_callback)
rospy.Subscriber('goal_reached', UInt8, self.result_callback)
rospy.Subscriber('in_position', String, self.api_callback)
self.show()
def __init__(self):
QWidget.__init__(self)
#intial linear and angular speed
self.lin = 1
self.ang = 1
self.x = 0
self.y = 0
self.roll = 0
self.pitch = 0
self.yaw = 0
#ROS subscriber
rospy.Subscriber("/odometry/filtered", Odometry, self.findLoc)
#main RViz window
self.frame = rviz.VisualizationFrame()
#remove loading splash
self.frame.setSplashPath("")
#initialize manager
self.frame.initialize()
#read/run config
reader = rviz.YamlConfigReader()
config = rviz.Config()
reader.readFile(config, "jackal_config_reduced.rviz")
self.frame.load(config)
self.setWindowTitle(config.mapGetChild("Title").getValue())
#diable menus
self.frame.setMenuBar(None)
self.frame.setStatusBar(None)
self.frame.setHideButtonVisibility(False)
#set up manager for RViz
self.manager = self.frame.getManager()
#reference to display
self.grid_display = self.manager.getRootDisplayGroup().getDisplayAt(0)
#layout for RViz
rviz_layout = QVBoxLayout()
rviz_layout.addWidget(self.frame)
view_layout = QHBoxLayout()
#view buttons
toppushButton = QtWidgets.QPushButton("Top View")
toppushButton.clicked.connect(self.onTopButtonClick)
view_layout.addWidget(toppushButton)
sidepushButton = QtWidgets.QPushButton("Side View")
sidepushButton.clicked.connect(self.onSideButtonClick)
view_layout.addWidget(sidepushButton)
rviz_layout.addLayout(view_layout)
#creating turning controls
control_box = QGridLayout()
#control_box.setColumnStretch(1, 4)
#control_box.setColumnStretch(2, 4)
#forwards
pushButtonForwards = QtWidgets.QPushButton(self)
pushButtonForwards.setObjectName("pushButtonForwards")
pushButtonForwards.setText("Forwards")
pushButtonForwards.setAutoRepeat(True)
#backwards
pushButtonBackwards = QtWidgets.QPushButton(self)
pushButtonBackwards.setObjectName("pushButtonBackwards")
pushButtonBackwards.setText("Backwards")
pushButtonBackwards.setAutoRepeat(True)
#turn left
pushButtonLeft = QtWidgets.QPushButton(self)
pushButtonLeft.setObjectName("pushButtonLeft")
pushButtonLeft.setText("Left")
pushButtonLeft.setAutoRepeat(True)
#turn right
pushButtonRight = QtWidgets.QPushButton(self)
pushButtonRight.setObjectName("pushButtonRight")
pushButtonRight.setText("Right")
pushButtonRight.setAutoRepeat(True)
#add buttons to layout
control_box.addWidget(pushButtonForwards, 0, 1)
control_box.addWidget(pushButtonLeft, 1, 0)
control_box.addWidget(pushButtonRight, 1, 2)
control_box.addWidget(pushButtonBackwards, 2, 1)
#creating speed controls
speed_box = QGridLayout()
#linear speed dial
self.qdialspeed = QtWidgets.QDial(self)
self.qdialspeed.setObjectName("QDialSpeed")
self.qdialspeed.setMinimum(1)
self.qdialspeed.setMaximum(10)
self.qdialspeed.setValue(1)
self.qdialspeed.setNotchesVisible(True)
speed_box.addWidget(self.qdialspeed, 1, 0)
#angular speed dial
self.qdialAngspeed = QtWidgets.QDial(self)
self.qdialAngspeed.setObjectName("QDialAngSpeed")
self.qdialAngspeed.setMinimum(1)
self.qdialAngspeed.setMaximum(10)
self.qdialAngspeed.setValue(1)
self.qdialAngspeed.setNotchesVisible(True)
speed_box.addWidget(self.qdialAngspeed, 1, 1)
#label for linear
self.labelVel = QtWidgets.QLabel(self)
self.labelVel.setObjectName("labelVel")
self.labelVel.setText("Linear Speed : 1")
self.labelVel.adjustSize()
speed_box.addWidget(self.labelVel, 0, 0)
#label for angular
self.labelAngVel = QtWidgets.QLabel(self)
self.labelAngVel.setObjectName("labelAngVel")
self.labelAngVel.setText("Angular Speed : 1")
self.labelAngVel.adjustSize()
speed_box.addWidget(self.labelAngVel, 0, 1)
#creating odom labels
postion_layout = QVBoxLayout()
#postion label
self.labelPositon = QtWidgets.QLabel(self)
self.labelPositon.setObjectName('labelPositon')
#angle label
self.labelAngle = QtWidgets.QLabel(self)
self.labelAngle.setObjectName('labelAngle')
self.labelPositon.setText("Postion: (" + str(round(self.x, 3)) + ", " +
str(round(self.y, 3)) + ")")
self.labelAngle.setText("Angle: (" + str(round(self.roll)) + ", " +
str(round(self.pitch)) + ", " +
str(round(self.yaw)) + ")")
self.labelPositon.adjustSize()
self.labelAngle.adjustSize()
#timer for odom update
self.timer = QtCore.QTimer()
self.timer.timeout.connect(self.updateLabelOdom)
self.timer.start(1000) #repeat every 1 sec
postion_layout.addWidget(self.labelPositon)
postion_layout.addWidget(self.labelAngle)
#main window layout
main_layout = QGridLayout()
main_layout.addLayout(rviz_layout, 0, 0, 0, 1)
main_layout.addLayout(control_box, 0, 1)
main_layout.addLayout(speed_box, 1, 1)
main_layout.addLayout(postion_layout, 2, 1)
self.setLayout(main_layout)
#behavior
pushButtonForwards.pressed.connect(self.moveForward)
pushButtonBackwards.pressed.connect(self.moveBackwards)
pushButtonLeft.pressed.connect(self.moveLeft)
pushButtonRight.pressed.connect(self.moveRight)
self.qdialspeed.sliderReleased.connect(self.updateLin)
self.qdialspeed.sliderReleased.connect(self.updateLabel)
self.qdialAngspeed.sliderReleased.connect(self.updateAng)
self.qdialAngspeed.sliderReleased.connect(self.updateLabelAng)
def __init__(self):
QWidget.__init__(self)
self.frame = rviz.VisualizationFrame()
self.frame.setSplashPath("")
self.frame.initialize()
reader = rviz.YamlConfigReader()
config = rviz.Config()
reader.readFile(config, "config.rviz")
self.frame.load(config)
self.setWindowTitle(config.mapGetChild("Title").getValue())
## not working because of a bug in rviz (segmentation fault)
# self.frame.setMenuBar( None )
# self.frame.setStatusBar( None )
# self.frame.setHideButtonVisibility( False )
self.manager = self.frame.getManager()
self.grid_display = self.manager.getRootDisplayGroup().getDisplayAt(0)
layout = QVBoxLayout()
layout.addWidget(self.frame)
label = QLabel("Status")
self.status = label
layout.addWidget(label)
activity_label = QLabel("")
font = QFont()
font.setPointSize(26)
font.setBold(True)
font.setWeight(50)
activity_label.setFont(font)
activity_label.setVisible(False)
self.activity_label = activity_label
layout.addWidget(activity_label)
h_layout = QHBoxLayout()
save_model_button = QPushButton("Save Model")
save_model_button.clicked.connect(self.onSaveModelClick)
h_layout.addWidget(save_model_button)
load_model_button = QPushButton("Load Model")
load_model_button.clicked.connect(self.onLoadModelClick)
h_layout.addWidget(load_model_button)
layout.addLayout(h_layout)
h2_layout = QHBoxLayout()
save_samples_button = QPushButton("Save Samples")
save_samples_button.clicked.connect(self.onSaveSamplesClick)
h2_layout.addWidget(save_samples_button)
load_samples_button = QPushButton("Load Samples")
load_samples_button.clicked.connect(self.onLoadSamplesClick)
h2_layout.addWidget(load_samples_button)
layout.addLayout(h2_layout)
command_layout = QHBoxLayout()
recognition_button = QPushButton("Start Recognition")
recognition_button.clicked.connect(self.onRecognitionClick)
self.recognition_button = recognition_button
command_layout.addWidget(recognition_button)
recording_button = QPushButton("Start Recording")
recording_button.clicked.connect(self.onRecordingClick)
self.recording_button = recording_button
command_layout.addWidget(recording_button)
layout.addLayout(command_layout)
learn_model_button = QPushButton("Learn Model from samples")
learn_model_button.clicked.connect(self.onLearnModelClick)
layout.addWidget(learn_model_button)
self.setLayout(layout)
def __init__(self):
super(ManualWindow, self).__init__()
self.setAttribute(QtCore.Qt.WA_DeleteOnClose)
self.ui = '../forms/manual.ui'
loadUi(self.ui, self)
self.setWindowFlags(QtCore.Qt.FramelessWindowHint)
self.layout = self.findChild(QtWidgets.QGridLayout, 'layout')
self.mode = JOYSTICK_ONLY_MODE
self.visual_frame = rviz.VisualizationFrame()
self.visual_frame.setSplashPath("")
self.visual_frame.initialize()
self.add_rviz_config()
self.visual_frame.setMenuBar(None)
self.visual_frame.setStatusBar(None)
self.visual_frame.setHideButtonVisibility(False)
self.layout.addWidget(self.visual_frame)
self.visual_frame.hide()
self.manager = self.visual_frame.getManager()
self.grid_display = self.manager.getRootDisplayGroup().getDisplayAt(0)
self.video_frame = QtWidgets.QLabel()
video_frame_font = QtGui.QFont("Verdana", 62, QtGui.QFont.Bold)
self.video_frame.setFont(video_frame_font)
self.video_frame.setText("No video frame")
self.video_frame.setAlignment(QtCore.Qt.AlignCenter)
self.video_frame.hide()
self.layout.addWidget(self.video_frame)
self.joystick_frame = QtWidgets.QLabel()
pixmap = QtGui.QPixmap('../static/img/xbox_controller_grey.png')
pixmap = pixmap.scaledToWidth(800)
self.joystick_frame.setPixmap(pixmap)
self.joystick_frame.setAlignment(QtCore.Qt.AlignCenter)
self.layout.addWidget(self.joystick_frame)
# Buttons
self.change_mode_btn = self.findChild(QtWidgets.QPushButton,
'changeModeBtn')
self.turn_left = self.findChild(QtWidgets.QToolButton, 'turnRobotLeft')
self.turn_right = self.findChild(QtWidgets.QToolButton,
'turnRobotRight')
self.stand_btn = self.findChild(QtWidgets.QPushButton, 'standBtn')
self.walk_btn = self.findChild(QtWidgets.QPushButton, 'walkBtn')
self.stairs_btn = self.findChild(QtWidgets.QPushButton, 'stairsBtn')
self.exit_btn = self.findChild(QtWidgets.QPushButton, 'exitBtn')
self.powerBtn = self.findChild(QtWidgets.QPushButton, 'powerBtn')
self.emergency_btn = self.findChild(QtWidgets.QPushButton,
'emergencyBtn')
# Status indicators
self.signal_btn = self.findChild(QtWidgets.QPushButton, 'signalBtn')
self.controller_battery_btn = self.findChild(QtWidgets.QPushButton,
'controllerBatteryBtn')
self.battery_btn = self.findChild(QtWidgets.QPushButton, 'batteryBtn')
self.health_btn = self.findChild(QtWidgets.QPushButton, 'healthBtn')
# Button connections
self.emergency_btn.clicked.connect(self.turn_robot_off)
self.powerBtn.clicked.connect(self.power_on)
self.exit_btn.clicked.connect(self.close_window)
self.change_mode_btn.clicked.connect(self.change_mode)
# Button shortcuts
self.exit_btn.setShortcut("Ctrl+Q")
# Mode Layouts
#self.video_frame = self.findChild(QtWidgets.QLabel, 'videoFrame')
# self.xbox_controller_frame = self.findChild(
# QtWidgets.QLabel, 'xboxcontrollerFrame')
# self.video_frame.hide()
# Stylesheets
self.powerBtn.setStyleSheet(
"QPushButton#powerBtn:checked {color:black; background-color: red;}"
)
self.signal_btn.setStyleSheet(
"QPushButton#signalBtn:checked {color:black; background-color: green;}"
)
self.video_stream_subscriber = VideoStreamSubscriber(
'camera/image_raw', Image)
self.show()
def __init__(self):
QWidget.__init__(self)
#intial linear and angular speed
self.lin = 1
self.ang = 1
#ROS publisher
#main RViz window
self.frame = rviz.VisualizationFrame()
#remove loading splash
self.frame.setSplashPath("")
#initialize manager
self.frame.initialize()
#read/run config
reader = rviz.YamlConfigReader()
config = rviz.Config()
reader.readFile(config, "config.myviz")
self.frame.load(config)
self.setWindowTitle(config.mapGetChild("Title").getValue())
#diable menus
self.frame.setMenuBar(None)
self.frame.setStatusBar(None)
self.frame.setHideButtonVisibility(False)
#set up manager for RViz
self.manager = self.frame.getManager()
#reference to display
self.grid_display = self.manager.getRootDisplayGroup().getDisplayAt(0)
#layout
rviz_layout = QVBoxLayout()
rviz_layout.addWidget(self.frame)
view_layout = QHBoxLayout()
toppushButton = QtWidgets.QPushButton("Top View")
toppushButton.clicked.connect(self.onTopButtonClick)
view_layout.addWidget(toppushButton)
sidepushButton = QtWidgets.QPushButton("Side View")
sidepushButton.clicked.connect(self.onSideButtonClick)
view_layout.addWidget(sidepushButton)
rviz_layout.addLayout(view_layout)
control_box = QGridLayout()
control_box.setColumnStretch(1, 4)
control_box.setColumnStretch(2, 4)
pushButtonForwards = QtWidgets.QPushButton(self)
pushButtonForwards.setObjectName("pushButtonForwards")
pushButtonForwards.setText("Forwards")
pushButtonForwards.setAutoRepeat(True)
pushButtonBackwards = QtWidgets.QPushButton(self)
pushButtonBackwards.setObjectName("pushButtonBackwards")
pushButtonBackwards.setText("Backwards")
pushButtonBackwards.setAutoRepeat(True)
pushButtonLeft = QtWidgets.QPushButton(self)
pushButtonLeft.setObjectName("pushButtonLeft")
pushButtonLeft.setText("Left")
pushButtonLeft.setAutoRepeat(True)
pushButtonRight = QtWidgets.QPushButton(self)
pushButtonRight.setObjectName("pushButtonRight")
pushButtonRight.setText("Right")
pushButtonRight.setAutoRepeat(True)
#control_box.addWidget(QtWidgets.QPushButton('1'),0,0)
control_box.addWidget(pushButtonForwards, 0, 1)
#control_box.addWidget(QtWidgets.QPushButton('3'),0,2)
control_box.addWidget(pushButtonLeft, 1, 0)
#control_box.addWidget(QtWidgets.QPushButton('5'),1,1)
control_box.addWidget(pushButtonRight, 1, 2)
#control_box.addWidget(QtWidgets.QPushButton('7'),2,0)
control_box.addWidget(pushButtonBackwards, 2, 1)
#control_box.addWidget(QtWidgets.QPushButton('9'),2,2)
speed_box = QGridLayout()
self.qdialspeed = QtWidgets.QDial(self)
self.qdialspeed.setObjectName("QDialSpeed")
self.qdialspeed.setMinimum(1)
self.qdialspeed.setMaximum(10)
self.qdialspeed.setValue(1)
self.qdialspeed.setNotchesVisible(True)
speed_box.addWidget(self.qdialspeed, 0, 0)
self.qdialAngspeed = QtWidgets.QDial(self)
self.qdialAngspeed.setObjectName("QDialAngSpeed")
self.qdialAngspeed.setMinimum(1)
self.qdialAngspeed.setMaximum(10)
self.qdialAngspeed.setValue(1)
self.qdialAngspeed.setNotchesVisible(True)
speed_box.addWidget(self.qdialAngspeed, 0, 1)
self.labelVel = QtWidgets.QLabel(self)
self.labelVel.setObjectName("labelVel")
self.labelVel.setText("Linear Speed : 1")
self.labelVel.adjustSize()
speed_box.addWidget(self.labelVel, 1, 0)
self.labelAngVel = QtWidgets.QLabel(self)
self.labelAngVel.setObjectName("labelAngVel")
self.labelAngVel.setText("Angular Speed : 1")
self.labelAngVel.adjustSize()
speed_box.addWidget(self.labelAngVel, 1, 1)
main_layout = QGridLayout()
main_layout.addLayout(rviz_layout, 0, 0, 0, 1)
main_layout.addLayout(control_box, 0, 1)
main_layout.addLayout(speed_box, 1, 1)
self.setLayout(main_layout)
#behavior
pushButtonForwards.pressed.connect(self.moveForward)
pushButtonBackwards.pressed.connect(self.moveBackwards)
pushButtonLeft.pressed.connect(self.moveLeft)
pushButtonRight.pressed.connect(self.moveRight)
self.qdialspeed.sliderReleased.connect(self.updateLin)
self.qdialAngspeed.sliderReleased.connect(self.updateAng)
def __init__(self, parent=None):
QtGui.QWidget.__init__(self, parent)
path = rospkg.RosPack().get_path('etna_planning')
## rviz.VisualizationFrame is the main container widget of the
## regular RViz application. In this example, we disable everything
## so that the only thing visible is the 3D render window.
self.frame = rviz.VisualizationFrame()
self.frame.setSplashPath("")
self.frame.initialize()
## The reader reads config file data into the config object.
## VisualizationFrame reads its data from the config object.
reader = rviz.YamlConfigReader()
config = rviz.Config()
# rospack = rospkg.RosPack()
# package_path = rospack.get_path('rviz_python_tutorial')
# reader.readFile( config, package_path + "config.myviz" )
reader.readFile(config, os.path.join(path, 'config', 'workcell.rviz'))
self.frame.load(config)
## You can also store any other application data you like in the
## config object. Here we read the window title from the map key
## called "Title", which has been added by hand to the config file.
self.setWindowTitle(config.mapGetChild("Title").getValue())
self.frame.setMenuBar(None)
self.frame.setHideButtonVisibility(False)
self.manager = self.frame.getManager()
## Since the config file is part of the source code for this
## example, we know that the first display in the list is the
## grid we want to control. Here we just save a reference to
## it for later.
self.grid_display = self.manager.getRootDisplayGroup().getDisplayAt(0)
layout = QtGui.QVBoxLayout()
layout.setContentsMargins(9, 0, 9, 0)
self.setLayout(layout)
h_layout = QtGui.QHBoxLayout()
layout.addLayout(h_layout)
orbit_button = QtGui.QPushButton("Orbit View")
orbit_button.clicked.connect(self.onOrbitButtonClick)
h_layout.addWidget(orbit_button)
front_button = QtGui.QPushButton("Front View")
front_button.clicked.connect(self.onFrontButtonClick)
h_layout.addWidget(front_button)
right_button = QtGui.QPushButton("Rigth View")
right_button.clicked.connect(self.onRightButtonClick)
h_layout.addWidget(right_button)
top_button = QtGui.QPushButton("Top View")
top_button.clicked.connect(self.onTopButtonClick)
h_layout.addWidget(top_button)
layout.addWidget(self.frame)
def OnInit(self):
ogre_tools.initializeOgre()
frame = rviz.VisualizationFrame(None)
frame.initialize()
frame.Show(True)
return True
def __init__(self):
QWidget.__init__(self)
## rviz.VisualizationFrame is the main container widget of the
## regular RViz application, with menus, a toolbar, a status
## bar, and many docked subpanels. In this example, we
## disable everything so that the only thing visible is the 3D
## render window.
self.frame = rviz.VisualizationFrame()
## The "splash path" is the full path of an image file which
## gets shown during loading. Setting it to the empty string
## suppresses that behavior.
self.frame.setSplashPath("")
## VisualizationFrame.initialize() must be called before
## VisualizationFrame.load(). In fact it must be called
## before most interactions with RViz classes because it
## instantiates and initializes the VisualizationManager,
## which is the central class of RViz.
self.frame.initialize()
## The reader reads config file data into the config object.
## VisualizationFrame reads its data from the config object.
reader = rviz.YamlConfigReader()
config = rviz.Config()
reader.readFile(config, "config.myviz")
self.frame.load(config)
## You can also store any other application data you like in
## the config object. Here we read the window title from the
## map key called "Title", which has been added by hand to the
## config file.
self.setWindowTitle(config.mapGetChild("Title").getValue())
## Here we disable the menu bar (from the top), status bar
## (from the bottom), and the "hide-docks" buttons, which are
## the tall skinny buttons on the left and right sides of the
## main render window.
self.frame.setMenuBar(None)
self.frame.setStatusBar(None)
self.frame.setHideButtonVisibility(False)
## frame.getManager() returns the VisualizationManager
## instance, which is a very central class. It has pointers
## to other manager objects and is generally required to make
## any changes in an rviz instance.
self.manager = self.frame.getManager()
## Since the config file is part of the source code for this
## example, we know that the first display in the list is the
## grid we want to control. Here we just save a reference to
## it for later.
self.grid_display = self.manager.getRootDisplayGroup().getDisplayAt(0)
## Here we create the layout and other widgets in the usual Qt way.
layout = QVBoxLayout()
layout.addWidget(self.frame)
thickness_slider = QSlider(Qt.Horizontal)
thickness_slider.setTracking(True)
thickness_slider.setMinimum(1)
thickness_slider.setMaximum(1000)
thickness_slider.valueChanged.connect(self.onThicknessSliderChanged)
layout.addWidget(thickness_slider)
h_layout = QHBoxLayout()
top_button = QPushButton("Top View")
top_button.clicked.connect(self.onTopButtonClick)
h_layout.addWidget(top_button)
side_button = QPushButton("Side View")
side_button.clicked.connect(self.onSideButtonClick)
h_layout.addWidget(side_button)
layout.addLayout(h_layout)
self.setLayout(layout)
def __init__(self):
QWidget.__init__(self)
rospy.init_node("Vis")
self.pub = rospy.Publisher("/Output",
String,
latch=False,
queue_size=1)
self.pos_sub = rospy.Subscriber("/posible_pose",
Marker,
self.callback,
queue_size=1)
## rviz.VisualizationFrame is the main container widget of the
## regular RViz application, with menus, a toolbar, a status
## bar, and many docked subpanels. In this example, we
## disable everything so that the only thing visible is the 3D
## render window.
self.frame = rviz.VisualizationFrame()
## The "splash path" is the full path of an image file which
## gets shown during loading. Setting it to the empty string
## suppresses that behavior.
self.frame.setSplashPath("")
## VisualizationFrame.initialize() must be called before
## VisualizationFrame.load(). In fact it must be called
## before most interactions with RViz classes because it
## instantiates and initializes the VisualizationManager,
## which is the central class of RViz.
self.frame.initialize()
## The reader reads config file data into the config object.
## VisualizationFrame reads its data from the config object.
reader = rviz.YamlConfigReader()
config = rviz.Config()
reader.readFile(config, Rviz_File)
self.frame.load(config)
## You can also store any other application data you like in
## the config object. Here we read the window title from the
## map key called "Title", which has been added by hand to the
## config file.
self.setWindowTitle(config.mapGetChild("Title").getValue())
## Here we disable the menu bar (from the top), status bar
## (from the bottom), and the "hide-docks" buttons, which are
## the tall skinny buttons on the left and right sides of the
## main render window.
self.frame.setMenuBar(None)
self.frame.setStatusBar(None)
self.frame.setHideButtonVisibility(False)
## frame.getManager() returns the VisualizationManager
## instance, which is a very central class. It has pointers
## to other manager objects and is generally required to make
## any changes in an rviz instance.
self.manager = self.frame.getManager()
## Since the config file is part of the source code for this
## example, we know that the first display in the list is the
## grid we want to control. Here we just save a reference to
## it for later.
self.grid_display = self.manager.getRootDisplayGroup().getDisplayAt(0)
self.text = QLabel("Movement: ")
## Here we create the layout and other widgets in the usual Qt way.
layout = QVBoxLayout()
layout.addWidget(self.frame)
h_layout = QHBoxLayout()
top_button = QPushButton("Acept Movement? (Green Arrow)")
top_button.clicked.connect(self.onTopButtonClick)
h_layout.addWidget(top_button)
layout.addWidget(self.text)
No_button = QPushButton("Reject Movement?")
No_button.clicked.connect(self.NoButtonClick)
h_layout.addWidget(No_button)
layout.addLayout(h_layout)
self.setLayout(layout)
