def __init__(self):
self.force_scale = rospy.get_param("~force_scale", 600)
self.torque_scale = rospy.get_param("~torque_scale", 500)
self.remote = RemoteControl("joystick", "/wrench/rc")
self.reset()
rospy.Subscriber("joy", Joy, self.joy_recieved)
def __init__(self):
self.force_scale = rospy.get_param("/joystick_wrench/force_scale", 600)
self.torque_scale = rospy.get_param("/joystick_wrench/torque_scale", 500)
self.remote = RemoteControl("keyboard", "/wrench/keyboard")
rospy.Service("/keyboard_control", KeyboardControl, self.key_recieved)
# Initialize this to a random UUID so that a client without a UUID cannot authenticate
self.locked_uuid = uuid.uuid4().hex
# This maps each key to a remote control function
self.key_mappings = {ord('k'): lambda: self.remote.toggle_kill(),
ord('K'): lambda: self.remote.kill(),
ord('h'): lambda: self.remote.station_hold(),
ord('j'): lambda: self.remote.select_rc_control(),
ord('e'): lambda: self.remote.select_emergency_control(),
ord('b'): lambda: self.remote.select_keyboard_control(),
ord('u'): lambda: self.remote.select_autonomous_control(),
ord('c'): lambda: self.remote.select_next_control(),
ord('r'): lambda: self.remote.shooter_load(),
ord('f'): lambda: self.remote.shooter_fire(),
ord('t'): lambda: self.remote.shooter_cancel(),
ord('w'): lambda: self.remote.publish_wrench(self.force_scale, 0, 0),
ord('s'): lambda: self.remote.publish_wrench(-self.force_scale, 0, 0),
ord('a'): lambda: self.remote.publish_wrench(0, self.force_scale, 0),
ord('d'): lambda: self.remote.publish_wrench(0, -self.force_scale, 0),
curses.KEY_LEFT: lambda: self.remote.publish_wrench(0, 0, self.torque_scale),
curses.KEY_RIGHT: lambda: self.remote.publish_wrench(0, 0, -self.torque_scale)
}
self.movement_keys = [ord('w'), ord('s'), ord('a'), ord('d'), curses.KEY_LEFT, curses.KEY_RIGHT]
def __init__(self, context):
super(Shooter, self).__init__(context)
# Create the widget and name it
self._widget = QtGui.QWidget()
self._widget.setObjectName("Shooter")
self.setObjectName("Shooter")
# Extend the widget with all attributes and children in the UI file
ui_file = os.path.join(rospkg.RosPack().get_path("navigator_gui"), "resource", "shooter.ui")
loadUi(ui_file, self._widget)
self.remote = RemoteControl("shooter gui")
self.remote.is_timed_out = True
self.shooter_status = {
"received": "Unknown",
"stamp": rospy.Time.now(),
"cached": "Unknown"
}
self.disc_speed_setting = 0
self.connect_ui()
rospy.Subscriber("/shooter/status", String, self.cache_shooter_status)
# Show _widget.windowTitle on left-top of each plugin (when it's set in _widget). This is useful when you open multiple
# plugins at once. Also if you open multiple instances of your plugin at once, these lines add number to make it easy to
# tell from pane to pane.
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() + (" (%d)" % context.serial_number()))
# Add widget to the user interface
context.add_widget(self._widget)
def __init__(self, context):
super(Shooter, self).__init__(context)
# Create the widget and name it
self._widget = QtWidgets.QWidget()
self._widget.setObjectName("Shooter")
self.setObjectName("Shooter")
# Extend the widget with all attributes and children in the UI file
ui_file = os.path.join(rospkg.RosPack().get_path("navigator_gui"),
"resource", "shooter.ui")
loadUi(ui_file, self._widget)
self.remote = RemoteControl("shooter gui")
self.remote.is_timed_out = True
self.shooter_status = {
"received": "Unknown",
"stamp": rospy.Time.now(),
"cached": "Unknown"
}
self.disc_speed_setting = 0
self.connect_ui()
rospy.Subscriber("/shooter/status", String, self.cache_shooter_status)
# Deals with problem of multiple instances of same plugin
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(" (%d)" % context.serial_number()))
# Add widget to the user interface
context.add_widget(self._widget)
def __init__(self, context):
super(Dashboard, self).__init__(context)
# Create the widget and name it
self._widget = QtGui.QWidget()
self._widget.setObjectName("Dashboard")
self.setObjectName("Dashboard")
# Extend the widget with all attributes and children in the UI file
ui_file = os.path.join(rospkg.RosPack().get_path("navigator_gui"),
"resource", "dashboard.ui")
loadUi(ui_file, self._widget)
self.is_killed = False
self.remote = RemoteControl("dashboard")
# Creates dictionaries that are used by the monitor functions to keep track of their node or service
service_monitor_template = {"received": "Unknown", "cached": "Unknown"}
node_monitor_template = service_monitor_template.copy()
node_monitor_template["timeout_count"] = 0
node_monitor_template["is_timed_out"] = False
self.operating_mode = service_monitor_template.copy()
self.battery_voltage = node_monitor_template.copy()
self.battery_voltage["cached_warning_color"] = "red"
self.system_time = node_monitor_template.copy()
self.system_time["is_timed_out"] = True
# Build an ordered list of host dictionaries that resolve to devices on navigator
host_list = [
"mil-nav-ubnt-wamv", "mil-nav-ubnt-shore", "mil-nav-wamv",
"mil-com-velodyne-vlp16", "mil-com-sick-lms111"
]
host_template = {"hostname": "", "ip": "Unknown", "status": "Unknown"}
self.hosts = []
for host in host_list:
host_entry = host_template.copy()
host_entry["hostname"] = host
self.hosts.append(host_entry)
self.connect_ui()
self.connect_ros()
# Show _widget.windowTitle on left-top of each plugin (when it's set in _widget). This is useful when you open multiple
# plugins at once. Also if you open multiple instances of your plugin at once, these lines add number to make it easy to
# tell from pane to pane.
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(" (%d)" % context.serial_number()))
# Add widget to the user interface
context.add_widget(self._widget)
# Creates monitors that update data on the GUI periodically
self.monitor_battery_voltage()
self.monitor_system_time()
self.monitor_hosts()
def __init__(self):
self.force_scale = rospy.get_param("/joystick_wrench/force_scale", 600)
self.torque_scale = rospy.get_param("/joystick_wrench/torque_scale",
500)
self.remote = RemoteControl("emergency", "/wrench/emergency")
rospy.Subscriber("joy_emergency", Joy, self.joy_recieved)
self.active = False
self.reset()
def __init__(self, context):
super(Dashboard, self).__init__(context)
# Create the widget and name it
self._widget = QtGui.QWidget()
self._widget.setObjectName("Dashboard")
self.setObjectName("Dashboard")
# Extend the widget with all attributes and children in the UI file
ui_file = os.path.join(rospkg.RosPack().get_path("navigator_gui"),
"resource", "dashboard.ui")
loadUi(ui_file, self._widget)
self.is_killed = False
self.remote = RemoteControl("dashboard")
self.remote.is_timed_out = True
# Creates dictionaries that are used by the monitor functions to keep track of their node or service
node_monitor_template = {
"received": "Unknown",
"stamp": rospy.Time.now(),
"cached": "Unknown",
}
self.operating_mode = node_monitor_template.copy()
self.battery_voltage = node_monitor_template.copy()
self.battery_voltage["cached_warning_color"] = "red"
self.system_time = node_monitor_template.copy()
del self.system_time["stamp"]
self.system_time["timeout_count"] = 0
self.hosts = node_monitor_template.copy()
self.clear_hosts()
self.hosts["cached"] = self.hosts["received"]
self.connect_ui()
self.connect_ros()
# Show _widget.windowTitle on left-top of each plugin (when it's set in _widget). This is useful when you open multiple
# plugins at once. Also if you open multiple instances of your plugin at once, these lines add number to make it easy to
# tell from pane to pane.
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(" (%d)" % context.serial_number()))
# Add widget to the user interface
context.add_widget(self._widget)
# Creates monitors that update data on the GUI periodically
self.monitor_operating_mode()
self.monitor_battery_voltage()
self.monitor_system_time()
self.monitor_hosts()
def __init__(self, context):
super(Dashboard, self).__init__(context)
# Create the widget and name it
self._widget = QtWidgets.QWidget()
self._widget.setObjectName("Dashboard")
self.setObjectName("Dashboard")
# Extend the widget with all attributes and children in the UI file
ui_file = os.path.join(rospkg.RosPack().get_path("navigator_gui"),
"resource", "dashboard.ui")
loadUi(ui_file, self._widget)
self.remote = RemoteControl("dashboard")
# Creates dictionaries that are used by the monitor functions to keep track of their node or service
node_monitor_template = {
"current": "Unknown",
"displayed": "Unknown",
}
self.operating_mode = copy(node_monitor_template)
self.battery_voltage = copy(node_monitor_template)
self.kill_status = copy(node_monitor_template)
self.kill_status["current"] = True
self.system_time = copy(node_monitor_template)
self.hosts = node_monitor_template.copy()
self.clear_hosts()
self.connect_ui()
self.connect_ros()
# Deals with problem when they're multiple instances of Dashboard plugin
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(" (%d)" % context.serial_number()))
# Add widget to the user interface
context.add_widget(self._widget)
# Creates monitors that update data on the GUI periodically
self.update_gui()
