class ConfigurationDockWidget(QDockWidget):
def __init__(self, parent=None):
super(ConfigurationDockWidget, self).__init__(parent)
self._ui = Ui_configuration_dock_widget()
#self._ui.setupUi(self)
def setupUi(self):
self._ui.setupUi(self)
_, _, topic_types = rospy.get_master().getTopicTypes()
cmd_vel_topics = [
topic[0] for topic in topic_types
if topic[1] == 'geometry_msgs/Twist'
]
self._ui.cmd_vel_topic_combo_box.setItems.emit(sorted(cmd_vel_topics))
#self.cmd_vel_publisher = rospy.Publisher(str(self.cmd_vel_topic_combo_box.currentText()), Twist)
odom_topics = [
topic[0] for topic in topic_types
if topic[1] == 'nav_msgs/Odometry'
]
self._ui.odom_topic_combo_box.setItems.emit(sorted(odom_topics))
#self.odom_subscriber = rospy.Subscriber(str(self.odom_topic_combo_box.currentText()), Odometry, self.odometry_callback)
core_sensor_topics = [
topic[0] for topic in topic_types
if topic[1] == 'kobuki_msgs/SensorState'
]
self._ui.core_topic_combo_box.setItems.emit(sorted(core_sensor_topics))
def cmd_vel_topic_name(self):
return str(self._ui.cmd_vel_topic_combo_box.currentText())
def odom_topic_name(self):
return str(self._ui.odom_topic_combo_box.currentText())
def core_sensors_topic_name(self):
return str(self._ui.core_sensor_topic_combo_box.currentText())
def battery_topic_name(self):
return str(self._ui.core_sensor_topic_combo_box.currentText() + '/' +
battery)
##########################################################################
# Slot Callbacks
##########################################################################
@Slot(str)
def on_cmd_vel_topic_combo_box_currentIndexChanged(self, topic_name):
pass
# This is probably a bit broken, need to test with more than just /cmd_vel so
# there is more than one option.
#self.cmd_vel_publisher = rospy.Publisher(str(self.cmd_vel_topic_combo_box.currentText()), Twist)
@Slot(str)
def on_odom_topic_combo_box_currentIndexChanged(self, topic_name):
# Need to redo the subscriber here
pass
@Slot(str)
def on_core_topic_combo_box_currentIndexChanged(self, topic_name):
pass
class ConfigurationDockWidget(QDockWidget):
def __init__(self, parent=None):
super(ConfigurationDockWidget, self).__init__(parent)
self._ui = Ui_configuration_dock_widget()
#self._ui.setupUi(self)
def setupUi(self):
self._ui.setupUi(self)
_, _, topic_types = rospy.get_master().getTopicTypes()
cmd_vel_topics = [ topic[0] for topic in topic_types if topic[1] == 'geometry_msgs/Twist' ]
self._ui.cmd_vel_topic_combo_box.setItems.emit(sorted(cmd_vel_topics))
#self.cmd_vel_publisher = rospy.Publisher(str(self.cmd_vel_topic_combo_box.currentText()), Twist)
odom_topics = [ topic[0] for topic in topic_types if topic[1] == 'nav_msgs/Odometry' ]
self._ui.odom_topic_combo_box.setItems.emit(sorted(odom_topics))
#self.odom_subscriber = rospy.Subscriber(str(self.odom_topic_combo_box.currentText()), Odometry, self.odometry_callback)
core_sensor_topics = [ topic[0] for topic in topic_types if topic[1] == 'kobuki_msgs/SensorState' ]
self._ui.core_topic_combo_box.setItems.emit(sorted(core_sensor_topics))
def cmd_vel_topic_name(self):
return str(self._ui.cmd_vel_topic_combo_box.currentText())
def odom_topic_name(self):
return str(self._ui.odom_topic_combo_box.currentText())
def core_sensors_topic_name(self):
return str(self._ui.core_sensor_topic_combo_box.currentText())
def battery_topic_name(self):
return str(self._ui.core_sensor_topic_combo_box.currentText() + '/' + battery)
##########################################################################
# Slot Callbacks
##########################################################################
@Slot(str)
def on_cmd_vel_topic_combo_box_currentIndexChanged(self, topic_name):
pass
# This is probably a bit broken, need to test with more than just /cmd_vel so
# there is more than one option.
#self.cmd_vel_publisher = rospy.Publisher(str(self.cmd_vel_topic_combo_box.currentText()), Twist)
@Slot(str)
def on_odom_topic_combo_box_currentIndexChanged(self, topic_name):
# Need to redo the subscriber here
pass
@Slot(str)
def on_core_topic_combo_box_currentIndexChanged(self, topic_name):
pass
def __init__(self, parent=None):
super(ConfigurationDockWidget, self).__init__(parent)
self._ui = Ui_configuration_dock_widget()
def __init__(self, parent=None):
super(ConfigurationDockWidget, self).__init__(parent)
self._ui = Ui_configuration_dock_widget()
