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)
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)
