def main():
util.controlset = controlset.ControlSet()
util.costmap = util.CostMap()
root = graphics.root
root.title("Lattice Planner")
root.configure(background = 'grey')
graphics.canvas.pack()
# x initial
entryLabel_x1 = Label(root)
entryLabel_x1["text"] = "init: X"
entryLabel_x1.pack(side = LEFT)
entryWidget_x1 = Entry(root)
entryWidget_x1["width"] = 5
entryWidget_x1.pack(side = LEFT)
# y initial
entryLabel_y1 = Label(root)
entryLabel_y1["text"] = "Y"
entryLabel_y1.pack(side = LEFT)
entryWidget_y1 = Entry(root)
entryWidget_y1["width"] = 5
entryWidget_y1.pack(side = LEFT)
# theta initial
entryLabel_th1 = Label(root)
entryLabel_th1["text"] = "TH"
entryLabel_th1.pack(side = LEFT)
entryWidget_th1 = Entry(root)
entryWidget_th1["width"] = 5
entryWidget_th1.pack(side = LEFT)
# d goal (cm)
entryLabel_d = Label(root)
entryLabel_d["text"] = " goal: d"
entryLabel_d.pack(side = LEFT)
entryWidget_d = Entry(root)
entryWidget_d["width"] = 5
entryWidget_d.pack(side = LEFT)
# theta goal
entryLabel_th = Label(root)
entryLabel_th["text"] = "TH"
entryLabel_th.pack(side = LEFT)
entryWidget_th = Entry(root)
entryWidget_th["width"] = 5
entryWidget_th.pack(side = LEFT)
b = Button(root,text = "Go",command = lambda: startPlanner(float(entryWidget_x1.get()),float(entryWidget_y1.get()),float(entryWidget_th1.get()),float(entryWidget_d.get()),float(entryWidget_th.get())))
g = Button(root,text = "Show lattice",command = lambda:graphics.draw_lattice())
g.pack(side = RIGHT)
b.pack(side = RIGHT)
util.costmap.draw_costmap()
graphics.draw_court()
root.mainloop()
def initialize_gui():
global root
rospy.init_node('GUI')
while not rospy.is_shutdown():
root = graphics.root
root.protocol("WM_DELETE_WINDOW", windowclosed)
root.title("Lattice Planner")
root.configure(background = 'grey')
graphics.canvas.pack()
# d goal (cm)
entryLabel_d = Label(root)
entryLabel_d["text"] = "goal: d"
entryLabel_d.pack(side = LEFT)
entryWidget_d = Entry(root)
entryWidget_d["width"] = 5
entryWidget_d.pack(side = LEFT)
# theta goal
entryLabel_th = Label(root)
entryLabel_th["text"] = "TH"
entryLabel_th.pack(side = LEFT)
entryWidget_th = Entry(root)
entryWidget_th["width"] = 5
entryWidget_th.pack(side = LEFT)
# Buttons
b = Button(root,text = "Newball",command = lambda: startPlanner(d_goal = float(entryWidget_d.get()),th_goal = float(entryWidget_th.get()),
goaltype = "newball"))
b.pack(side = LEFT)
g = Button(root,text = "Show lattice",command = lambda:graphics.draw_lattice())
g.pack(side = RIGHT)
# goal_x (cm)
entryLabel_x = Label(root)
entryLabel_x["text"] = "goal: x"
entryLabel_x.pack(side = LEFT)
entryWidget_x = Entry(root)
entryWidget_x["width"] = 5
entryWidget_x.pack(side = LEFT)
# goal_y (cm)
entryLabel_y = Label(root)
entryLabel_y["text"] = "goal: y"
entryLabel_y.pack(side = LEFT)
entryWidget_y = Entry(root)
entryWidget_y["width"] = 5
entryWidget_y.pack(side = LEFT)
# goal_theta (cm)
entryLabel_th2 = Label(root)
entryLabel_th2["text"] = "goal: theta"
entryLabel_th2.pack(side = LEFT)
entryWidget_th2 = Entry(root)
entryWidget_th2["width"] = 5
entryWidget_th2.pack(side = LEFT)
b2 = Button(root,text = "GoToPose",command = lambda: startPlanner(x_goal = float(entryWidget_x.get()),y_goal = float(entryWidget_y.get()),
th_goal_abs = float(entryWidget_th2.get()),
goaltype = "gotopose"))
b2.pack(side = RIGHT)
graphics.draw_court()
graphics.draw_landmarks()
graphics.canvas.configure(cursor = "crosshair")
graphics.canvas.bind("<Button-1>", onclick)
rospy.Subscriber("pose",Pose, received_odometry)
rospy.Subscriber("path",Path,received_path)
root.mainloop()
def initialize_gui():
global root
rospy.init_node('GUI')
while not rospy.is_shutdown():
root = graphics.root
root.protocol("WM_DELETE_WINDOW", windowclosed)
root.title("Lattice Planner")
root.configure(background='grey')
graphics.canvas.pack()
# d goal (cm)
entryLabel_d = Label(root)
entryLabel_d["text"] = "goal: d"
entryLabel_d.pack(side=LEFT)
entryWidget_d = Entry(root)
entryWidget_d["width"] = 5
entryWidget_d.pack(side=LEFT)
# theta goal
entryLabel_th = Label(root)
entryLabel_th["text"] = "TH"
entryLabel_th.pack(side=LEFT)
entryWidget_th = Entry(root)
entryWidget_th["width"] = 5
entryWidget_th.pack(side=LEFT)
# Buttons
b = Button(
root,
text="Newball",
command=lambda: startPlanner(d_goal=float(entryWidget_d.get()),
th_goal=float(entryWidget_th.get()),
goaltype="newball"))
b.pack(side=LEFT)
g = Button(root,
text="Show lattice",
command=lambda: graphics.draw_lattice())
g.pack(side=RIGHT)
# goal_x (cm)
entryLabel_x = Label(root)
entryLabel_x["text"] = "goal: x"
entryLabel_x.pack(side=LEFT)
entryWidget_x = Entry(root)
entryWidget_x["width"] = 5
entryWidget_x.pack(side=LEFT)
# goal_y (cm)
entryLabel_y = Label(root)
entryLabel_y["text"] = "goal: y"
entryLabel_y.pack(side=LEFT)
entryWidget_y = Entry(root)
entryWidget_y["width"] = 5
entryWidget_y.pack(side=LEFT)
# goal_theta (cm)
entryLabel_th2 = Label(root)
entryLabel_th2["text"] = "goal: theta"
entryLabel_th2.pack(side=LEFT)
entryWidget_th2 = Entry(root)
entryWidget_th2["width"] = 5
entryWidget_th2.pack(side=LEFT)
b2 = Button(root,
text="GoToPose",
command=lambda: startPlanner(
x_goal=float(entryWidget_x.get()),
y_goal=float(entryWidget_y.get()),
th_goal_abs=float(entryWidget_th2.get()),
goaltype="gotopose"))
b2.pack(side=RIGHT)
graphics.draw_court()
graphics.draw_landmarks()
graphics.canvas.configure(cursor="crosshair")
graphics.canvas.bind("<Button-1>", onclick)
rospy.Subscriber("pose", Pose, received_odometry)
rospy.Subscriber("path", Path, received_path)
root.mainloop()
