def __init__(self, context):
super(JointTrajectoryController, self).__init__(context)
self.setObjectName('JointTrajectoryController')
# Create QWidget and extend it with all the attributes and children
# from the UI file
self._widget = QWidget()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_joint_trajectory_controller'),
'resource', 'joint_trajectory_controller.ui')
loadUi(ui_file, self._widget)
self._widget.setObjectName('JointTrajectoryControllerUi')
ns = rospy.get_namespace()[1:-1]
self._widget.controller_group.setTitle('ns: ' + ns)
# Setup speed scaler
speed_scaling = DoubleEditor(1.0, 100.0)
speed_scaling.spin_box.setSuffix('%')
speed_scaling.spin_box.setValue(50.0)
speed_scaling.spin_box.setDecimals(0)
speed_scaling.setEnabled(False)
self._widget.speed_scaling_layout.addWidget(speed_scaling)
self._speed_scaling_widget = speed_scaling
speed_scaling.valueChanged.connect(self._on_speed_scaling_change)
self._on_speed_scaling_change(speed_scaling.value())
# Show _widget.windowTitle on left-top of each plugin (when
# it's set in _widget). This is useful when you open multiple
# plugins at once. Also if you open multiple instances of your
# plugin at once, these lines add number to make it easy to
# tell from pane to pane.
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
# Add widget to the user interface
context.add_widget(self._widget)
# Initialize members
self._jtc_name = [] # Name of selected joint trajectory controller
self._cm_ns = [] # Namespace of the selected controller manager
self._joint_pos = {} # name->pos map for joints of selected controller
self._joint_names = [] # Ordered list of selected controller joints
self._robot_joint_limits = {} # Lazily evaluated on first use
# Timer for sending commands to active controller
self._update_cmd_timer = QTimer(self)
self._update_cmd_timer.setInterval(int(1000.0 / self._cmd_pub_freq))
self._update_cmd_timer.timeout.connect(self._update_cmd_cb)
# Timer for updating the joint widgets from the controller state
self._update_act_pos_timer = QTimer(self)
self._update_act_pos_timer.setInterval(
int(1000.0 / self._widget_update_freq))
self._update_act_pos_timer.timeout.connect(self._update_joint_widgets)
# Timer for controller manager updates
self._list_cm = ControllerManagerLister()
self._update_cm_list_timer = QTimer(self)
self._update_cm_list_timer.setInterval(
int(1000.0 / self._ctrlrs_update_freq))
self._update_cm_list_timer.timeout.connect(self._update_cm_list)
self._update_cm_list_timer.start()
# Timer for running controller updates
self._update_jtc_list_timer = QTimer(self)
self._update_jtc_list_timer.setInterval(
int(1000.0 / self._ctrlrs_update_freq))
self._update_jtc_list_timer.timeout.connect(self._update_jtc_list)
self._update_jtc_list_timer.start()
# Signal connections
w = self._widget
w.enable_button.toggled.connect(self._on_jtc_enabled)
w.jtc_combo.currentIndexChanged[str].connect(self._on_jtc_change)
w.cm_combo.currentIndexChanged[str].connect(self._on_cm_change)
self._cmd_pub = None # Controller command publisher
self._state_sub = None # Controller state subscriber
self._list_controllers = None
def __init__(self, context):
super(ControllerManager, self).__init__(context)
self.setObjectName('ControllerManager')
# Create QWidget and extend it with all the attributes and children
# from the UI file
self._widget = QWidget()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_controller_manager'),
'resource',
'controller_manager.ui')
loadUi(ui_file, self._widget)
self._widget.setObjectName('ControllerManagerUi')
# Pop-up that displays controller information
self._popup_widget = QWidget()
ui_file = os.path.join(rp.get_path('rqt_controller_manager'),
'resource',
'controller_info.ui')
loadUi(ui_file, self._popup_widget)
self._popup_widget.setObjectName('ControllerInfoUi')
# Show _widget.windowTitle on left-top of each plugin (when
# it's set in _widget). This is useful when you open multiple
# plugins at once. Also if you open multiple instances of your
# plugin at once, these lines add number to make it easy to
# tell from pane to pane.
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
# Add widget to the user interface
context.add_widget(self._widget)
# Initialize members
self._cm_ns = [] # Namespace of the selected controller manager
self._controllers = [] # State of each controller
self._table_model = None
self._controller_lister = None
# Controller manager service proxies
self._load_srv = None
self._unload_srv = None
self._switch_srv = None
# Controller state icons
rospack = rospkg.RosPack()
path = rospack.get_path('rqt_controller_manager')
self._icons = {'running': QIcon(path + '/resource/led_green.png'),
'stopped': QIcon(path + '/resource/led_red.png'),
'uninitialized': QIcon(path + '/resource/led_off.png'),
'initialized': QIcon(path + '/resource/led_red.png')}
# Controllers display
table_view = self._widget.table_view
table_view.setContextMenuPolicy(Qt.CustomContextMenu)
table_view.customContextMenuRequested.connect(self._on_ctrl_menu)
table_view.doubleClicked.connect(self._on_ctrl_info)
header = table_view.horizontalHeader()
header.setSectionResizeMode(QHeaderView.ResizeToContents)
header.setContextMenuPolicy(Qt.CustomContextMenu)
header.customContextMenuRequested.connect(self._on_header_menu)
# Timer for controller manager updates
self._list_cm = ControllerManagerLister()
self._update_cm_list_timer = QTimer(self)
self._update_cm_list_timer.setInterval(1000.0 /
self._cm_update_freq)
self._update_cm_list_timer.timeout.connect(self._update_cm_list)
self._update_cm_list_timer.start()
# Timer for running controller updates
self._update_ctrl_list_timer = QTimer(self)
self._update_ctrl_list_timer.setInterval(1000.0 /
self._cm_update_freq)
self._update_ctrl_list_timer.timeout.connect(self._update_controllers)
self._update_ctrl_list_timer.start()
# Signal connections
w = self._widget
w.cm_combo.currentIndexChanged[str].connect(self._on_cm_change)