def __init__(self, parent, id=wx.ID_ANY, title='PR2 GUI', pos=wx.DefaultPosition, size=(1280, 1024), style=wx.DEFAULT_FRAME_STYLE):
wx.Frame.__init__(self, parent, id, title, pos, size, style)
rospy.ready('pr2_gui', anonymous=True)
self._config = wx.Config("pr2_gui")
self._aui_manager = wx.aui.AuiManager(self)
self._visualizer_panel = visualizer_panel.DefaultVisualizationPanel(self)
media_path = rostools.packspec.get_pkg_dir( "gazebo_robot_description" )
media_path += "/world/Media/";
media_paths = [media_path]
media_paths.append(media_path)
media_paths.append(media_path + "fonts")
media_paths.append(media_path + "materials")
media_paths.append(media_path + "materials/scripts")
media_paths.append(media_path + "materials/programs")
media_paths.append(media_path + "materials/textures")
media_paths.append(media_path + "models")
media_paths.append(media_path + "models/pr2")
ogre_tools.initializeResources( media_paths )
self._visualizer_panel.createDefaultVisualizers()
self._rosout_panel = wx_rosout.RosoutPanel(self)
self._monitor_panel = MonitorPanel(self)
self._monitor_panel.set_new_errors_callback(self.on_monitor_errors_received)
self._interpreter = wx.py.shell.Shell(self)
self._hardware_panel = hardware_panel.HardwarePanel(self)
self._aui_manager.AddPane(self._visualizer_panel, wx.aui.AuiPaneInfo().CenterPane().Center().Name('3dvis').Caption('3D Visualization'), '3D Visualization')
self._aui_manager.AddPane(self._interpreter, wx.aui.AuiPaneInfo().BottomDockable().Bottom().Name('interpreter').Caption('Python Interpreter').Hide(), 'Python Interpreter')
self._aui_manager.AddPane(self._rosout_panel, wx.aui.AuiPaneInfo().BottomDockable().Bottom().Layer(1).BestSize(wx.Size(700, 200)).Name('rosout').Caption('Rosout'), 'Rosout')
self._aui_manager.AddPane(self._monitor_panel, wx.aui.AuiPaneInfo().BottomDockable().Bottom().Layer(1).BestSize(wx.Size(700,600)).Name('runtime_monitor').Caption('Runtime Monitor'), 'Runtime Monitor')
self._aui_manager.AddPane(self._hardware_panel, wx.aui.AuiPaneInfo().BottomDockable().Bottom().Layer(1).BestSize(wx.Size(300,200)).Name('hardware').Caption('Hardware'), 'Hardware')
self.add_camera_pane("forearm_r", False)
self.add_camera_pane("forearm_l", False)
self.add_camera_pane("axis_r", True)
self.add_camera_pane("axis_l", True)
self.add_camera_pane("stereo_l", False)
self._aui_manager.Update()
self.load_config()
self.create_menu_bar()
self.Bind(wx.aui.EVT_AUI_PANE_CLOSE, self.on_pane_close)
self.Bind(wx.EVT_CLOSE, self.on_close)
def __init__(
self,
parent,
id=wx.ID_ANY,
title="Standalone Visualizer",
pos=wx.DefaultPosition,
size=(800, 600),
style=wx.DEFAULT_FRAME_STYLE,
):
wx.Frame.__init__(self, parent, id, title, pos, size, style)
ogre_tools.initializeOgre()
visualizer_panel = ogre_visualizer.VisualizationPanel(self)
self._package_path = rostools.packspec.get_pkg_dir("ogre_visualizer")
self._global_config_path = os.path.join(self._package_path, "configs")
self._visualizer_panel = visualizer_panel
media_path = rostools.packspec.get_pkg_dir("gazebo_robot_description")
media_path += "/world/Media/"
media_paths = [media_path]
media_paths.append(media_path)
media_paths.append(media_path + "fonts")
media_paths.append(media_path + "materials")
media_paths.append(media_path + "materials/scripts")
media_paths.append(media_path + "materials/programs")
media_paths.append(media_path + "materials/textures")
media_paths.append(media_path + "models")
media_paths.append(media_path + "models/pr2_new")
ogre_tools.initializeResources(media_paths)
self.init_config()
self.init_menu()
manager = visualizer_panel.getManager()
# Load our window options
(x, y) = self.GetPositionTuple()
(width, height) = self.GetSizeTuple()
if self._config.HasEntry(self._CONFIG_WINDOW_X):
x = self._config.ReadInt(self._CONFIG_WINDOW_X)
if self._config.HasEntry(self._CONFIG_WINDOW_Y):
y = self._config.ReadInt(self._CONFIG_WINDOW_Y)
if self._config.HasEntry(self._CONFIG_WINDOW_WIDTH):
width = self._config.ReadInt(self._CONFIG_WINDOW_WIDTH)
if self._config.HasEntry(self._CONFIG_WINDOW_HEIGHT):
height = self._config.ReadInt(self._CONFIG_WINDOW_HEIGHT)
self.SetPosition((x, y))
self.SetSize((width, height))
manager.loadConfig(self._config)
self.Bind(wx.EVT_CLOSE, self.on_close)
def __init__(self,
parent,
id=wx.ID_ANY,
title='Standalone Visualizer',
pos=wx.DefaultPosition,
size=(800, 600),
style=wx.DEFAULT_FRAME_STYLE):
wx.Frame.__init__(self, parent, id, title, pos, size, style)
ogre_tools.initializeOgre()
visualizer_panel = ogre_visualizer.VisualizationPanel(self)
self._package_path = rostools.packspec.get_pkg_dir('ogre_visualizer')
self._global_config_path = os.path.join(self._package_path, "configs")
self._visualizer_panel = visualizer_panel
media_path = rostools.packspec.get_pkg_dir("gazebo_robot_description")
media_path += "/world/Media/"
media_paths = [media_path]
media_paths.append(media_path)
media_paths.append(media_path + "fonts")
media_paths.append(media_path + "materials")
media_paths.append(media_path + "materials/scripts")
media_paths.append(media_path + "materials/programs")
media_paths.append(media_path + "materials/textures")
media_paths.append(media_path + "models")
media_paths.append(media_path + "models/pr2")
ogre_tools.initializeResources(media_paths)
self.init_config()
self.init_menu()
manager = visualizer_panel.getManager()
# Load our window options
(x, y) = self.GetPositionTuple()
(width, height) = self.GetSizeTuple()
if (self._config.HasEntry(self._CONFIG_WINDOW_X)):
x = self._config.ReadInt(self._CONFIG_WINDOW_X)
if (self._config.HasEntry(self._CONFIG_WINDOW_Y)):
y = self._config.ReadInt(self._CONFIG_WINDOW_Y)
if (self._config.HasEntry(self._CONFIG_WINDOW_WIDTH)):
width = self._config.ReadInt(self._CONFIG_WINDOW_WIDTH)
if (self._config.HasEntry(self._CONFIG_WINDOW_HEIGHT)):
height = self._config.ReadInt(self._CONFIG_WINDOW_HEIGHT)
self.SetPosition((x, y))
self.SetSize((width, height))
manager.loadConfig(self._config)
self.Bind(wx.EVT_CLOSE, self.on_close)
def __init__(self, parent, id=wx.ID_ANY, title='Standalone Visualizer', pos=wx.DefaultPosition, size=(800, 600), style=wx.DEFAULT_FRAME_STYLE):
wx.Frame.__init__(self, parent, id, title, pos, size, style)
self._config = wx.Config("standalone_visualizer")
ogre_tools.initializeOgre()
visualizer_panel = ogre_visualizer.VisualizationPanel(self)
self._visualizer_panel = visualizer_panel
media_path = rostools.packspec.get_pkg_dir( "gazebo_robot_description" )
media_path += "/world/Media/";
media_paths = [media_path]
media_paths.append( media_path )
media_paths.append( media_path + "fonts" )
media_paths.append( media_path + "materials" )
media_paths.append( media_path + "materials/scripts" )
media_paths.append( media_path + "materials/programs" )
media_paths.append( media_path + "materials/textures" )
media_paths.append( media_path + "models" )
media_paths.append( media_path + "models/pr2_new" )
ogre_tools.initializeResources( media_paths )
visualizer_panel.createGridVisualizer( "Grid", True )
visualizer_panel.createAxesVisualizer( "Origin Axes", False )
visualizer_panel.createMarkerVisualizer( "Visualization Markers", True )
robot_vis = visualizer_panel.createRobotModelVisualizer( "Robot Model", False )
robot_vis.setRobotDescription( "robotdesc/pr2" )
planning = visualizer_panel.createPlanningVisualizer( "Planning", False )
planning.initialize( "robotdesc/pr2", "display_kinematic_path" )
point_cloud = visualizer_panel.createPointCloudVisualizer( "Stereo Full Cloud", True )
point_cloud.setTopic( "videre/cloud" )
point_cloud.setColor( 1.0, 1.0, 1.0 )
point_cloud = visualizer_panel.createPointCloudVisualizer( "Head Full Cloud", True )
point_cloud.setTopic( "full_cloud" )
point_cloud.setColor( 1.0, 1.0, 0.0 )
point_cloud = visualizer_panel.createPointCloudVisualizer( "World 3D Map", True )
point_cloud.setTopic( "world_3d_map" )
point_cloud.setColor( 1.0, 0.0, 0.0 )
point_cloud.setBillboardSize( 0.01 )
laser_scan = visualizer_panel.createLaserScanVisualizer( "Head Scan", True )
laser_scan.setScanTopic( "tilt_scan" )
laser_scan.setColor( 1.0, 0.0, 0.0 )
laser_scan.setDecayTime( 30.0 )
laser_scan = visualizer_panel.createLaserScanVisualizer( "Floor Scan", True )
laser_scan.setScanTopic( "base_scan" )
laser_scan.setColor( 0.0, 1.0, 0.0 )
laser_scan.setDecayTime( 0.0 )
visualizer_panel.createOctreeVisualizer( "Octree", True ).setOctreeTopic( "full_octree" )
# Load our window options
(x, y) = self.GetPositionTuple()
(width, height) = self.GetSizeTuple()
if (self._config.HasEntry(self._CONFIG_WINDOW_X)):
x = self._config.ReadInt(self._CONFIG_WINDOW_X)
if (self._config.HasEntry(self._CONFIG_WINDOW_Y)):
y = self._config.ReadInt(self._CONFIG_WINDOW_Y)
if (self._config.HasEntry(self._CONFIG_WINDOW_WIDTH)):
width = self._config.ReadInt(self._CONFIG_WINDOW_WIDTH)
if (self._config.HasEntry(self._CONFIG_WINDOW_HEIGHT)):
height = self._config.ReadInt(self._CONFIG_WINDOW_HEIGHT)
self.SetPosition((x, y))
self.SetSize((width, height))
visualizer_panel.loadConfig(self._config)
self.Bind(wx.EVT_CLOSE, self.on_close)
def __init__(self,
parent,
id=wx.ID_ANY,
title='Standalone Visualizer',
pos=wx.DefaultPosition,
size=(800, 600),
style=wx.DEFAULT_FRAME_STYLE):
wx.Frame.__init__(self, parent, id, title, pos, size, style)
self._config = wx.Config("standalone_visualizer")
ogre_tools.initializeOgre()
visualizer_panel = ogre_visualizer.VisualizationPanel(self)
self._visualizer_panel = visualizer_panel
media_path = rostools.packspec.get_pkg_dir("gazebo_robot_description")
media_path += "/world/Media/"
media_paths = [media_path]
media_paths.append(media_path)
media_paths.append(media_path + "fonts")
media_paths.append(media_path + "materials")
media_paths.append(media_path + "materials/scripts")
media_paths.append(media_path + "materials/programs")
media_paths.append(media_path + "materials/textures")
media_paths.append(media_path + "models")
media_paths.append(media_path + "models/pr2_new")
ogre_tools.initializeResources(media_paths)
visualizer_panel.createGridVisualizer("Grid", True)
visualizer_panel.createAxesVisualizer("Origin Axes", False)
visualizer_panel.createMarkerVisualizer("Visualization Markers", True)
robot_vis = visualizer_panel.createRobotModelVisualizer(
"Robot Model", False)
robot_vis.setRobotDescription("robotdesc/pr2")
planning = visualizer_panel.createPlanningVisualizer("Planning", False)
planning.initialize("robotdesc/pr2", "display_kinematic_path")
point_cloud = visualizer_panel.createPointCloudVisualizer(
"Stereo Full Cloud", True)
point_cloud.setTopic("videre/cloud")
point_cloud.setColor(1.0, 1.0, 1.0)
point_cloud = visualizer_panel.createPointCloudVisualizer(
"Head Full Cloud", True)
point_cloud.setTopic("full_cloud")
point_cloud.setColor(1.0, 1.0, 0.0)
point_cloud = visualizer_panel.createPointCloudVisualizer(
"World 3D Map", True)
point_cloud.setTopic("world_3d_map")
point_cloud.setColor(1.0, 0.0, 0.0)
point_cloud.setBillboardSize(0.01)
laser_scan = visualizer_panel.createLaserScanVisualizer(
"Head Scan", True)
laser_scan.setScanTopic("tilt_scan")
laser_scan.setColor(1.0, 0.0, 0.0)
laser_scan.setDecayTime(30.0)
laser_scan = visualizer_panel.createLaserScanVisualizer(
"Floor Scan", True)
laser_scan.setScanTopic("base_scan")
laser_scan.setColor(0.0, 1.0, 0.0)
laser_scan.setDecayTime(0.0)
visualizer_panel.createOctreeVisualizer(
"Octree", True).setOctreeTopic("full_octree")
# Load our window options
(x, y) = self.GetPositionTuple()
(width, height) = self.GetSizeTuple()
if (self._config.HasEntry(self._CONFIG_WINDOW_X)):
x = self._config.ReadInt(self._CONFIG_WINDOW_X)
if (self._config.HasEntry(self._CONFIG_WINDOW_Y)):
y = self._config.ReadInt(self._CONFIG_WINDOW_Y)
if (self._config.HasEntry(self._CONFIG_WINDOW_WIDTH)):
width = self._config.ReadInt(self._CONFIG_WINDOW_WIDTH)
if (self._config.HasEntry(self._CONFIG_WINDOW_HEIGHT)):
height = self._config.ReadInt(self._CONFIG_WINDOW_HEIGHT)
self.SetPosition((x, y))
self.SetSize((width, height))
visualizer_panel.loadConfig(self._config)
self.Bind(wx.EVT_CLOSE, self.on_close)
def __init__(self,
parent,
id=wx.ID_ANY,
title='PR2 GUI',
pos=wx.DefaultPosition,
size=(1280, 1024),
style=wx.DEFAULT_FRAME_STYLE):
wx.Frame.__init__(self, parent, id, title, pos, size, style)
rospy.ready('pr2_gui', anonymous=True)
self._config = wx.Config("pr2_gui")
self._aui_manager = wx.aui.AuiManager(self)
self._visualizer_panel = visualizer_panel.DefaultVisualizationPanel(
self)
media_path = rostools.packspec.get_pkg_dir("gazebo_robot_description")
media_path += "/world/Media/"
media_paths = [media_path]
media_paths.append(media_path)
media_paths.append(media_path + "fonts")
media_paths.append(media_path + "materials")
media_paths.append(media_path + "materials/scripts")
media_paths.append(media_path + "materials/programs")
media_paths.append(media_path + "materials/textures")
media_paths.append(media_path + "models")
media_paths.append(media_path + "models/pr2_new")
ogre_tools.initializeResources(media_paths)
self._visualizer_panel.createDefaultVisualizers()
self._rosout_panel = wx_rosout.RosoutPanel(self)
self._monitor_panel = MonitorPanel(self)
self._monitor_panel.set_new_errors_callback(
self.on_monitor_errors_received)
self._interpreter = wx.py.shell.Shell(self)
self._hardware_panel = hardware_panel.HardwarePanel(self)
self._aui_manager.AddPane(
self._visualizer_panel,
wx.aui.AuiPaneInfo().CenterPane().Center().Name('3dvis').Caption(
'3D Visualization'), '3D Visualization')
self._aui_manager.AddPane(
self._interpreter,
wx.aui.AuiPaneInfo().BottomDockable().Bottom().Name(
'interpreter').Caption('Python Interpreter').Hide(),
'Python Interpreter')
self._aui_manager.AddPane(
self._rosout_panel,
wx.aui.AuiPaneInfo().BottomDockable().Bottom().Layer(1).BestSize(
wx.Size(700, 200)).Name('rosout').Caption('Rosout'), 'Rosout')
self._aui_manager.AddPane(
self._monitor_panel,
wx.aui.AuiPaneInfo().BottomDockable().Bottom().Layer(1).BestSize(
wx.Size(
700,
600)).Name('runtime_monitor').Caption('Runtime Monitor'),
'Runtime Monitor')
self._aui_manager.AddPane(
self._hardware_panel,
wx.aui.AuiPaneInfo().BottomDockable().Bottom().Layer(1).BestSize(
wx.Size(300, 200)).Name('hardware').Caption('Hardware'),
'Hardware')
self.add_camera_pane("forearm_right", False)
self.add_camera_pane("forearm_left", False)
self.add_camera_pane("axis_right", True)
self.add_camera_pane("axis_left", True)
self.add_camera_pane("stereo_left", False)
self._aui_manager.Update()
self.load_config()
self.create_menu_bar()
self.Bind(wx.aui.EVT_AUI_PANE_CLOSE, self.on_pane_close)
self.Bind(wx.EVT_CLOSE, self.on_close)
