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()
