def __init__(self, parent=None):
super(WanderingFrame, self).__init__(parent)
self._ui = Ui_wandering_frame()
self.bump_subscriber = rospy.Subscriber('/mobile_base/events/bumper', BumperEvent, self.bumper_event_callback)
self._motion = SafeWandering('/mobile_base/commands/velocity','/odom', '/mobile_base/events/bumper', '/mobile_base/events/cliff')
self._motion_thread = None
self._is_alive = False # Used to indicate whether the frame is alive or not (see hibernate/restore methods)
class WanderingFrame(QFrame):
def __init__(self, parent=None):
super(WanderingFrame, self).__init__(parent)
self._ui = Ui_wandering_frame()
self.bump_subscriber = rospy.Subscriber('/mobile_base/events/bumper',
BumperEvent,
self.bumper_event_callback)
self._motion = SafeWandering('/mobile_base/commands/velocity', '/odom',
'/mobile_base/events/bumper',
'/mobile_base/events/cliff')
self._motion_thread = None
self._is_alive = False # Used to indicate whether the frame is alive or not (see hibernate/restore methods)
def setupUi(self):
self._ui.setupUi(self)
self._ui.start_button.setEnabled(True)
self._ui.stop_button.setEnabled(False)
self._motion.init(self._ui.speed_spinbox.value(), -0.1,
self._ui.angular_speed_spinbox.value())
def shutdown(self):
'''
Used to terminate the plugin
'''
rospy.loginfo("Kobuki TestSuite: wandering test shutdown")
self._motion.shutdown()
self.bump_subscriber.unregister()
##########################################################################
# Widget Management
##########################################################################
def hibernate(self):
'''
This gets called when the frame goes out of focus (tab switch).
Disable everything to avoid running N tabs in parallel when in
reality we are only running one.
'''
pass
def restore(self):
'''
Restore the frame after a hibernate.
'''
pass
##########################################################################
# Motion Callbacks
##########################################################################
def stop(self):
self._motion.stop()
self._ui.start_button.setEnabled(True)
self._ui.stop_button.setEnabled(False)
def _run_finished(self):
self._ui.start_button.setEnabled(True)
self._ui.stop_button.setEnabled(False)
##########################################################################
# Qt Callbacks
##########################################################################
@Slot()
def on_start_button_clicked(self):
self._ui.start_button.setEnabled(False)
self._ui.stop_button.setEnabled(True)
self._motion_thread = WorkerThread(self._motion.execute,
self._run_finished)
self._motion_thread.start()
@Slot()
def on_stop_button_clicked(self):
self.stop()
@pyqtSlot(float)
def on_speed_spinbox_valueChanged(self, value):
# could use value, but easy to set like this
self._motion.init(self._ui.speed_spinbox.value(), -0.1,
self._ui.angular_speed_spinbox.value())
@pyqtSlot(float)
def on_angular_speed_spinbox_valueChanged(self, value):
# could use value, but easy to set like this
self._motion.init(self._ui.speed_spinbox.value(), -0.1,
self._ui.angular_speed_spinbox.value())
##########################################################################
# Ros Callbacks
##########################################################################
def bumper_event_callback(self, msg):
if msg.state == BumperEvent.PRESSED:
if msg.bumper == BumperEvent.LEFT:
self._ui.left_bump_counter_lcd.display(
self._ui.left_bump_counter_lcd.intValue() + 1)
elif msg.bumper == BumperEvent.RIGHT:
self._ui.right_bump_counter_lcd.display(
self._ui.right_bump_counter_lcd.intValue() + 1)
else:
self._ui.centre_bump_counter_lcd.display(
self._ui.centre_bump_counter_lcd.intValue() + 1)
#!/usr/bin/env python
import roslib; roslib.load_manifest('kobuki_testsuite')
import rospy
from kobuki_testsuite import SafeWandering
if __name__ == '__main__':
cmdvel_topic = '/mobile_base/commands/velocity'
odom_topic = '/odom'
bump_topic = '/mobile_base/events/bumper'
cliff_topic = '/mobile_base/events/cliff'
rospy.init_node('safe_wandering')
wanderer = SafeWandering(cmdvel_topic,odom_topic, bump_topic, cliff_topic)
rospy.loginfo("Starting to wander")
wanderer.init(0.1,-0.1, 1.65)
wanderer.execute()
rospy.loginfo("Stopping wandering")
wanderer.stop()
class WanderingFrame(QFrame):
def __init__(self, parent=None):
super(WanderingFrame, self).__init__(parent)
self._ui = Ui_wandering_frame()
self.bump_subscriber = rospy.Subscriber('/mobile_base/events/bumper', BumperEvent, self.bumper_event_callback)
self._motion = SafeWandering('/mobile_base/commands/velocity','/odom', '/mobile_base/events/bumper', '/mobile_base/events/cliff')
self._motion_thread = None
self._is_alive = False # Used to indicate whether the frame is alive or not (see hibernate/restore methods)
def setupUi(self):
self._ui.setupUi(self)
self._ui.start_button.setEnabled(True)
self._ui.stop_button.setEnabled(False)
self._motion.init(self._ui.speed_spinbox.value(), -0.1, self._ui.angular_speed_spinbox.value())
def shutdown(self):
'''
Used to terminate the plugin
'''
rospy.loginfo("Kobuki TestSuite: wandering test shutdown")
self._motion.shutdown()
self.bump_subscriber.unregister()
##########################################################################
# Widget Management
##########################################################################
def hibernate(self):
'''
This gets called when the frame goes out of focus (tab switch).
Disable everything to avoid running N tabs in parallel when in
reality we are only running one.
'''
pass
def restore(self):
'''
Restore the frame after a hibernate.
'''
pass
##########################################################################
# Motion Callbacks
##########################################################################
def stop(self):
self._motion.stop()
self._ui.start_button.setEnabled(True)
self._ui.stop_button.setEnabled(False)
def _run_finished(self):
self._ui.start_button.setEnabled(True)
self._ui.stop_button.setEnabled(False)
##########################################################################
# Qt Callbacks
##########################################################################
@Slot()
def on_start_button_clicked(self):
self._ui.start_button.setEnabled(False)
self._ui.stop_button.setEnabled(True)
self._motion_thread = WorkerThread(self._motion.execute, self._run_finished)
self._motion_thread.start()
@Slot()
def on_stop_button_clicked(self):
self.stop()
@pyqtSlot(float)
def on_speed_spinbox_valueChanged(self, value):
# could use value, but easy to set like this
self._motion.init(self._ui.speed_spinbox.value(), -0.1, self._ui.angular_speed_spinbox.value())
@pyqtSlot(float)
def on_angular_speed_spinbox_valueChanged(self, value):
# could use value, but easy to set like this
self._motion.init(self._ui.speed_spinbox.value(), -0.1, self._ui.angular_speed_spinbox.value())
##########################################################################
# Ros Callbacks
##########################################################################
def bumper_event_callback(self, msg):
if msg.state == BumperEvent.PRESSED:
if msg.bumper == BumperEvent.LEFT:
self._ui.left_bump_counter_lcd.display(self._ui.left_bump_counter_lcd.intValue()+1)
elif msg.bumper == BumperEvent.RIGHT:
self._ui.right_bump_counter_lcd.display(self._ui.right_bump_counter_lcd.intValue()+1)
else:
self._ui.centre_bump_counter_lcd.display(self._ui.centre_bump_counter_lcd.intValue()+1)
#!/usr/bin/env python
import roslib
roslib.load_manifest('kobuki_testsuite')
import rospy
from kobuki_testsuite import SafeWandering
if __name__ == '__main__':
cmdvel_topic = '/mobile_base/commands/velocity'
odom_topic = '/odom'
bump_topic = '/mobile_base/events/bumper'
cliff_topic = '/mobile_base/events/cliff'
rospy.init_node('safe_wandering')
wanderer = SafeWandering(cmdvel_topic, odom_topic, bump_topic, cliff_topic)
rospy.loginfo("Starting to wander")
wanderer.init(0.1, -0.1, 1.65)
wanderer.execute()
rospy.loginfo("Stopping wandering")
wanderer.stop()