import sys
from gui.GUI import MainWindow
from gui.threadGUI import ThreadGUI
from MyAlgorithm import MyAlgorithm
from PyQt5.QtWidgets import QApplication
from interfaces.camera import ListenerCamera
from interfaces.pose3d import ListenerPose3d
from interfaces.motors import PublisherMotors
if __name__ == "__main__":
camera = ListenerCamera("/F1ROS/cameraL/image_raw")
motors = PublisherMotors("/F1ROS/cmd_vel", 4, 0.3)
pose3d = ListenerPose3d("/F1ROS/odom")
pose3dphantom = ListenerPose3d("/F1ROS_phantom/odom")
algorithm = MyAlgorithm(camera, motors, pose3d)
app = QApplication(sys.argv)
myGUI = MainWindow()
myGUI.setCamera(camera)
myGUI.setMotors(motors)
myGUI.setPose3D(pose3d, pose3dphantom)
myGUI.setAlgorithm(algorithm)
myGUI.show()
t2 = ThreadGUI(myGUI)
t2.daemon = True
t2.start()
sys.exit(app.exec_())
from sensors.camera import Camera
from actuators.motors import Motors
from sensors.threadSensor import ThreadSensor
from gui.threadGUI import ThreadGUI
from gui.GUI import MainWindow
from PyQt4 import QtGui
import signal
signal.signal(signal.SIGINT, signal.SIG_DFL)
if __name__ == '__main__':
camera = Camera()
motors = Motors()
app = QtGui.QApplication(sys.argv)
frame = MainWindow()
frame.setMotors(motors)
frame.setCamera(camera)
frame.show()
t1 = ThreadSensor(camera)
t1.daemon = True
t1.start()
t2 = ThreadGUI(frame)
t2.daemon = True
t2.start()
sys.exit(app.exec_())
cfg = config.load(sys.argv[1])
#jdrc= comm.init(cfg, 'FollowLineTurtlebot')
robot = cfg.getProperty("FollowLineTurtlebot.Robot")
if (robot == "simkobuki"):
cam_path = cfg.getProperty("FollowLineTurtlebot.SimCameraPath")
mot_path = cfg.getProperty("FollowLineTurtlebot.SimMotorsPath")
else: # realkobuki
cam_path = cfg.getProperty("FollowLineTurtlebot.RealCameraPath")
mot_path = cfg.getProperty("FollowLineTurtlebot.RealMotorsPath")
camera = ListenerCamera(cam_path)
motors = PublisherMotors(mot_path, 4, 0.3)
algorithm=MyAlgorithm(camera, motors)
app = QApplication(sys.argv)
myGUI = MainWindow()
myGUI.setCamera(camera)
myGUI.setMotors(motors)
myGUI.setAlgorithm(algorithm)
myGUI.show()
t2 = ThreadGUI(myGUI)
t2.daemon=True
t2.start()
sys.exit(app.exec_())
from PyQt5.QtWidgets import QApplication
from interfaces.camera import ListenerCamera
from interfaces.motors import PublisherMotors
from interfaces.point import ListenerPoint, PublisherPoint
if __name__ == "__main__":
cameraL = ListenerCamera("/TurtlebotROS/cameraL/image_raw")
cameraR = ListenerCamera("/TurtlebotROS/cameraR/image_raw")
#motors = PublisherMotors("/TurtlebotROS/cmd_vel", 4, 0.3)
pointTopic = "/TurtlebotROS/point"
publishPoint = PublisherPoint(pointTopic)
listenPoint = ListenerPoint(pointTopic)
algorithm = MyAlgorithm(cameraL, cameraR, publishPoint)
app = QApplication(sys.argv)
myGUI = MainWindow()
myGUI.setCamera(cameraL, 'left')
myGUI.setCamera(cameraR, 'right')
myGUI.setPlot(listenPoint)
myGUI.setAlgorithm(algorithm)
myGUI.show()
t2 = ThreadGUI(myGUI)
t2.daemon = True
t2.start()
sys.exit(app.exec_())
import signal
signal.signal(signal.SIGINT, signal.SIG_DFL)
if __name__ == '__main__':
cfg = config.load(sys.argv[1])
#starting comm
jdrc= comm.init(cfg, 'mbotSuite_py')
camera = jdrc.getCameraClient("mbotSuite_py.PiCamera")
irl = jdrc.getCameraClient("mbotSuite_py.IRLeft")
irr = jdrc.getCameraClient("mbotSuite_py.IRRight")
sonar = jdrc.getSonarClient("mbotSuite_py.Sonar")
motors = jdrc.getMotorsClient("mbotSuite_py.Motors")
app = QApplication(sys.argv)
frame = MainWindow()
frame.setMotors(motors)
frame.setCamera(camera, irl, irr)
frame.setSonar(sonar)
frame.show()
t2 = ThreadGUI(frame)
t2.daemon = True
t2.start()
sys.exit(app.exec_())
