print("Receiving " + "VacuumCleaner.Pose3D" + " from ROS messages") topicP = cfg.getProperty("VacuumCleaner.Pose3D"+".Topic") pose3d = ListenerPose3d(topicP) # -------- L A S E R -------------------------------------------------- print("Receiving " + "VacuumCleaner.Laser" + " LaserData from ROS messages") topicL = cfg.getProperty("VacuumCleaner.Laser"+".Topic") laser = ListenerLaser(topicL) # -------- B U M P E R -------------------------------------------------- print("Receiving " + "VacuumCleaner.Bumper" + " from ROS messages") topicB = cfg.getProperty("VacuumCleaner.Bumper"+".Topic") bumper = ListenerBumper(topicB) algorithm=MyAlgorithm(pose3d, motors,laser, bumper) app = QApplication(sys.argv) myGUI = MainWindow(pose3d) myGUI.setMotors(motors) myGUI.setPose3D(pose3d) myGUI.setLaser(laser) myGUI.setBumper(bumper) myGUI.setAlgorithm(algorithm) myGUI.show() t2 = ThreadGUI(myGUI) t2.daemon=True t2.start() sys.exit(app.exec_())
from gui.threadGUI import ThreadGUI from parallelIce.motors import Motors from parallelIce.pose3dClient import Pose3DClient from parallelIce.laserClient import LaserClient from parallelIce.bumperClient import BumperClient import easyiceconfig as EasyIce from MyAlgorithm import MyAlgorithm if __name__ == "__main__": ic = EasyIce.initialize(sys.argv) motors = Motors(ic, "VacuumCleaner.Motors") pose3d = Pose3DClient(ic, "VacuumCleaner.Pose3D", True) laser = LaserClient(ic, "VacuumCleaner.Laser", True) bumper = BumperClient(ic, "VacuumCleaner.Bumper", True) algorithm = MyAlgorithm(pose3d, motors, laser, bumper) app = QApplication(sys.argv) myGUI = MainWindow(pose3d) myGUI.setMotors(motors) myGUI.setPose3D(pose3d) myGUI.setLaser(laser) myGUI.setBumper(bumper) myGUI.setAlgorithm(algorithm) myGUI.show() t2 = ThreadGUI(myGUI) t2.daemon = True t2.start() sys.exit(app.exec_())