def mouseReleaseEvent(self, event):
if event.button() == Qt.MidButton:
close_index = self.tabBar().tabAt(event.pos())
if close_index > -1:
self.tabCloseRequested.emit(close_index)
event.setAccepted(True)
if not event.isAccepted():
QTabWidget.mouseReleaseEvent(event)
def mouseReleaseEvent(self, event):
if event.button() == Qt.MidButton:
close_index = self.tabBar().tabAt(event.pos())
if close_index > -1:
self.tabCloseRequested.emit(close_index)
event.setAccepted(True)
if not event.isAccepted():
QTabWidget.mouseReleaseEvent(event)
def __init__(self, parent=None):
QTabWidget.__init__(self, parent)
tab_bar = DetachableTabBar(self)
tab_bar.detach_tab_signal.connect(self.detach_tab)
tab_bar.move_tab_signal.connect(self.move_tab)
tab_bar.empty_signal.connect(self._on_empty_tabbar)
self.tabCloseRequested.connect(self._close_requested)
self.setTabBar(tab_bar)
self.setAcceptDrops(True)
self.setTabPosition(QTabWidget.North)
# self.setDocumentMode(True)
self.setTabsClosable(True)
self.setObjectName("tabWidget")
def __init__(self, parent, updater, config):
super(TabGroup, self).__init__(updater, config)
self.parent = parent
if not self.parent.tab_bar:
self.parent.tab_bar = QTabWidget()
parent.tab_bar.addTab(self, self.name)
def __init__(self, context):
super(MoveitCommanderWidget, self).__init__()
self.setObjectName('MoveitCommanderWidget')
self.groups = self.get_groups()
self.commanders = [
moveit_commander.MoveGroupCommander(group) for group in self.groups
]
# list of QLineEdit fields used to display joint values
self.text_joint_values = []
self.MAX_COLUMNS = 4
self.tab_widget = QTabWidget()
for g in self.groups:
frame = self.setup_group_frame(g)
self.tab_widget.addTab(frame, g)
widget_layout = QVBoxLayout()
widget_layout.addWidget(self.tab_widget)
self.setLayout(widget_layout)
def removeTab(self, index, detach=False):
# inform about tab was removed and forward contained page to subscriber
widget = self.widget(index)
QTabWidget.removeTab(self, index)
if not detach:
self.tab_removed_signal.emit(widget)
def closeEvent(self, event):
self.clear()
QTabWidget.closeEvent(self, event)
class MoveitCommanderWidget(QWidget):
"""
Provides a UI for Moveit Commander
- parses rosparam 'robot_description_semantic' to get content of robot srdf
- there are tabs for each move_group group
- for each group, there is a set of buttons with the named targets
- for each group, there is a button to get current joint values and a button to move to specific joint values
"""
def __init__(self, context):
super(MoveitCommanderWidget, self).__init__()
self.setObjectName('MoveitCommanderWidget')
self.groups = self.get_groups()
self.commanders = [
moveit_commander.MoveGroupCommander(group) for group in self.groups
]
# list of QLineEdit fields used to display joint values
self.text_joint_values = []
self.MAX_COLUMNS = 4
self.tab_widget = QTabWidget()
for g in self.groups:
frame = self.setup_group_frame(g)
self.tab_widget.addTab(frame, g)
widget_layout = QVBoxLayout()
widget_layout.addWidget(self.tab_widget)
self.setLayout(widget_layout)
def setup_group_frame(self, group):
layout = QVBoxLayout()
# grid for buttons for named targets
grid = QGridLayout()
grid.setSpacing(1)
self.button_group = QButtonGroup(self)
row = 0
column = 0
named_targets = self.get_named_targets(group)
for target in named_targets:
button = QPushButton(target)
self.button_group.addButton(button)
grid.addWidget(button, row, column)
column += 1
if column >= self.MAX_COLUMNS:
row += 1
column = 0
self.button_group.buttonClicked.connect(self._handle_button_clicked)
# grid for show joint value and move arm buttons/text field
joint_values_grid = QGridLayout()
joint_values_grid.setSpacing(1)
button_show_joint_values = QPushButton('Current Joint Values')
button_show_joint_values.clicked[bool].connect(
self._handle_show_joint_values_clicked)
line_edit = QLineEdit()
self.text_joint_values.append(line_edit)
button_move_to = QPushButton('Move to')
button_move_to.clicked[bool].connect(self._handle_move_to_clicked)
joint_values_grid.addWidget(button_show_joint_values, 0, 1)
joint_values_grid.addWidget(line_edit, 0, 2)
joint_values_grid.addWidget(button_move_to, 0, 3)
layout.addLayout(grid)
line = QFrame()
line.setFrameShape(QFrame.HLine)
line.setFrameShadow(QFrame.Sunken)
layout.addWidget(line)
layout.addLayout(joint_values_grid)
frame = QFrame()
frame.setLayout(layout)
return frame
def _handle_button_clicked(self, button):
commander = self.commanders[self.tab_widget.currentIndex()]
rospy.loginfo('Moving ' + commander.get_name() + ' to: ' +
button.text())
try:
commander.set_named_target(str(button.text()))
except Exception as e:
rospy.logerr('Unable to set target: %s' % (str(e)))
return
error_code = commander.go(wait=True)
if error_code == moveit_msgs.msg.MoveItErrorCodes.SUCCESS:
rospy.loginfo("Succeeded")
else:
rospy.logerr("Movement failed with error code: %d", error_code)
def _handle_show_joint_values_clicked(self, checked):
commander = self.commanders[self.tab_widget.currentIndex()]
l = commander.get_current_joint_values()
l = [round(ll, 6) for ll in l]
self.text_joint_values[self.tab_widget.currentIndex()].setText(str(l))
def _handle_move_to_clicked(self, checked):
commander = self.commanders[self.tab_widget.currentIndex()]
# parse string as list
l = ast.literal_eval(
str(self.text_joint_values[self.tab_widget.currentIndex()].text()))
if all(isinstance(x, float) for x in l):
try:
commander.set_joint_value_target(l)
except Exception as e:
rospy.logerr('Unable to set target position: %s' % (str(e)))
return
error_code = commander.go(wait=True)
if error_code == moveit_msgs.msg.MoveItErrorCodes.SUCCESS:
rospy.loginfo("Succeeded")
else:
rospy.logerr("Movement failed with error code: %d", error_code)
else:
rospy.logerr("Malformed joint angle list")
def get_named_targets(self, group_name):
s = rospy.get_param('/robot_description_semantic')
rex = "group_state[ \\\\\n\r\f\v\t]*name=\"[a-zA-Z0-9_/\n\r ]*\"[ \\\\\n\r\f\v\t]*group=\"[ \\\\\n\r\f\v\t]*" \
+ group_name + "\""
p = re.compile(rex)
# returns a list of 'group_state name="named_target"' entries
l = p.findall(s)
pp = re.compile("name=\"[a-zA-Z0-9_/\n\r ]*\"")
named_targets = [pp.findall(ll)[0][6:-1].strip() for ll in l]
return named_targets
def get_groups(self):
s = rospy.get_param('/robot_description_semantic')
p = re.compile("group[ \\\\\n\r\f\v\t]*name=\"[a-zA-Z0-9_/\n\r ]*\"")
# returns a list of 'group name="group_name"' entries
l = p.findall(s)
pp = re.compile("name=\"[a-zA-Z0-9_/\n\r ]*\"")
groups = [pp.findall(ll)[0][6:-1].strip() for ll in l]
return groups
def widget(self, index):
'''
This is an overloaded function to use with LineNumberWidget
'''
return QTabWidget.widget(self, index).get_text_edit()
def currentWidget(self):
'''
This is an overloaded function to use with LineNumberWidget
'''
return QTabWidget.currentWidget(self).get_text_edit()
def widget(self, index):
'''
This is an overloaded function to use with LineNumberWidget
'''
return QTabWidget.widget(self, index).get_text_edit()
def currentWidget(self):
'''
This is an overloaded function to use with LineNumberWidget
'''
return QTabWidget.currentWidget(self).get_text_edit()
