def __init__(self, side, gui, parent=None): self.side = side self.gui = gui QtGui.QDialog.__init__(self, parent) self.setObjectName('PoseSaver') large_box = QtGui.QVBoxLayout() # Textbox to enter words for PR2 to say default_text = self.get_default_name() name_textbox = QtGui.QLineEdit(default_text) name_textbox.setFixedWidth(450) # Set a handler on the textbox to retrieve the text when button clicked self.name_textbox = name_textbox button_box = QtGui.QHBoxLayout() button_box.addItem(QtGui.QSpacerItem(15, 20)) save_button = self.create_button('Save!', self.save_pose) save_button.setDefault(True) button_box.addWidget(save_button) button_box.addWidget(name_textbox) button_box.addStretch(1) large_box.addLayout(button_box) self.setLayout(large_box)
def __init__(self): QtGui.QWidget.__init__(self) self._status = "unknown" self._layout = QtGui.QGridLayout(self) self._widgets = dict() self.__logging_cb_signal.connect(self.logging_cb) self.__start_logging_signal.connect(self.start_logging) self.__stop_logging_signal.connect(self.stop_logging) self._add_widget("pid_label", QtGui.QLabel("PID:", self)) self._add_widget("pid", QtGui.QLineEdit(self)) self._widgets["pid"].setMaximumWidth(50) self._add_widget("label_status", QtGui.QLabel(self)) self._widgets["label_status"].setText("Status: Unknown") self._widgets["label_status"].setTextFormat(QtCore.Qt.RichText) self._add_widget("button_start", QtGui.QPushButton("START", self)) self._add_widget("button_stop", QtGui.QPushButton("STOP", self)) self._widgets["button_start"].clicked.connect( self.__start_logging_signal.emit) self._widgets["button_stop"].clicked.connect( self.__stop_logging_signal.emit) self._widgets["label_warning"] = QtGui.QLabel(self) self._layout.addWidget(self._widgets["label_warning"], 1, 0, 1, 2) self._widgets["label_warning"].setTextFormat(QtCore.Qt.RichText) rospy.Subscriber("/data_logger/status", String, self.__logging_cb_signal.emit) self._logging_start = rospy.ServiceProxy('/data_logger/start', DataLoggerStart) self._logging_stop = rospy.ServiceProxy('/data_logger/stop', DataLoggerStop)
def __init__(self, parent=None): QtGui.QDialog.__init__(self, parent) self.setObjectName('FindDialog') self.setWindowTitle('Search') self.verticalLayout = QtGui.QVBoxLayout(self) self.verticalLayout.setObjectName("verticalLayout") self.content = QtGui.QWidget(self) self.contentLayout = QtGui.QFormLayout(self.content) # self.contentLayout.setFieldGrowthPolicy(QtGui.QFormLayout.AllNonFixedFieldsGrow) # self.contentLayout.setVerticalSpacing(0) self.contentLayout.setContentsMargins(0, 0, 0, 0) self.verticalLayout.addWidget(self.content) label = QtGui.QLabel("Find:", self.content) self.search_field = QtGui.QLineEdit(self.content) self.contentLayout.addRow(label, self.search_field) replace_label = QtGui.QLabel("Replace:", self.content) self.replace_field = QtGui.QLineEdit(self.content) self.contentLayout.addRow(replace_label, self.replace_field) self.recursive = QtGui.QCheckBox("recursive search") self.contentLayout.addRow(self.recursive) self.result_label = QtGui.QLabel("") self.verticalLayout.addWidget(self.result_label) self.found_files = QtGui.QListWidget() self.found_files.setVisible(False) self.found_files.setSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Expanding) self.verticalLayout.addWidget(self.found_files) self.buttonBox = QtGui.QDialogButtonBox(self) self.find_button = QtGui.QPushButton(self.tr("&Find")) self.find_button.setDefault(True) self.buttonBox.addButton(self.find_button, QtGui.QDialogButtonBox.ActionRole) self.replace_button = QtGui.QPushButton(self.tr("&Replace/Find")) self.buttonBox.addButton(self.replace_button, QtGui.QDialogButtonBox.ActionRole) self.buttonBox.addButton(QtGui.QDialogButtonBox.Close) self.buttonBox.setOrientation(QtCore.Qt.Horizontal) self.buttonBox.setObjectName("buttonBox") self.verticalLayout.addWidget(self.buttonBox) # QtCore.QObject.connect(self.buttonBox, QtCore.SIGNAL("accepted()"), self.accept) QtCore.QObject.connect(self.buttonBox, QtCore.SIGNAL("rejected()"), self.reject) QtCore.QMetaObject.connectSlotsByName(self) self.search_text = '' self.search_pos = QtGui.QTextCursor()
def __init__(self, host, masteruri=None, parent=None): PackageDialog.__init__(self, parent) self.host = host self.setWindowTitle('Run') ns_name_label = QtGui.QLabel("NS/Name:", self.content) self.ns_field = QtGui.QComboBox(self.content) self.ns_field.setSizePolicy(QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Fixed)) self.ns_field.setEditable(True) ns_history = nm.history().cachedParamValues('run_dialog/NS') ns_history.insert(0, '/') self.ns_field.addItems(ns_history) self.name_field = QtGui.QLineEdit(self.content) self.name_field.setEnabled(False) horizontalLayout = QtGui.QHBoxLayout() horizontalLayout.addWidget(self.ns_field) horizontalLayout.addWidget(self.name_field) self.contentLayout.addRow(ns_name_label, horizontalLayout) args_label = QtGui.QLabel("Args:", self.content) self.args_field = QtGui.QComboBox(self.content) self.args_field.setSizeAdjustPolicy(QtGui.QComboBox.AdjustToMinimumContentsLength) self.args_field.setSizePolicy(QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Fixed)) self.args_field.setEditable(True) self.contentLayout.addRow(args_label, self.args_field) args_history = nm.history().cachedParamValues('run_dialog/Args') args_history.insert(0, '') self.args_field.addItems(args_history) host_label = QtGui.QLabel("Host:", self.content) self.host_field = QtGui.QComboBox(self.content) # self.host_field.setSizeAdjustPolicy(QtGui.QComboBox.AdjustToContents) self.host_field.setSizePolicy(QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Fixed)) self.host_field.setEditable(True) host_label.setBuddy(self.host_field) self.contentLayout.addRow(host_label, self.host_field) self.host_history = host_history = nm.history().cachedParamValues('/Host') if self.host in host_history: host_history.remove(self.host) host_history.insert(0, self.host) self.host_field.addItems(host_history) master_label = QtGui.QLabel("ROS Master URI:", self.content) self.master_field = QtGui.QComboBox(self.content) self.master_field.setSizePolicy(QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Fixed)) self.master_field.setEditable(True) master_label.setBuddy(self.host_field) self.contentLayout.addRow(master_label, self.master_field) self.master_history = master_history = nm.history().cachedParamValues('/Optional Parameter/ROS Master URI') self.masteruri = "ROS_MASTER_URI" if masteruri is None else masteruri if self.masteruri in master_history: master_history.remove(self.masteruri) master_history.insert(0, self.masteruri) self.master_field.addItems(master_history) # self.package_field.setFocus(QtCore.Qt.TabFocusReason) self.package_field.textChanged.connect(self.on_package_selected) self.binary_field.activated[str].connect(self.on_binary_selected)
def __init__(self, path, parent=None): QtGui.QWidget.__init__(self, parent) self.path = path self._layout = QtGui.QHBoxLayout(self) self._layout.setContentsMargins(0, 0, 0, 0) self._layout.setSpacing(0) self._button = QtGui.QPushButton('...') self._button.setMaximumSize(QtCore.QSize(24, 20)) self._button.clicked.connect(self._on_path_select_clicked) self._layout.addWidget(self._button) self._lineedit = QtGui.QLineEdit(path) self._lineedit.returnPressed.connect(self._on_editing_finished) self._layout.addWidget(self._lineedit) self.setLayout(self._layout) self.setFocusProxy(self._button) self.setAutoFillBackground(True)
def __init__(self, parent=None): super(LineEditDialog, self).__init__() self.value = None vbox = QtGui.QVBoxLayout(self) # combo box model = QtGui.QStandardItemModel(self) for elm in rospy.get_param_names(): model.setItem(model.rowCount(), 0, QtGui.QStandardItem(elm)) self.combo_box = QtGui.QComboBox(self) self.line_edit = QtGui.QLineEdit() self.combo_box.setLineEdit(self.line_edit) self.combo_box.setCompleter(QtGui.QCompleter()) self.combo_box.setModel(model) self.combo_box.completer().setModel(model) self.combo_box.lineEdit().setText('') vbox.addWidget(self.combo_box) # button button = QPushButton() button.setText("Done") button.clicked.connect(self.buttonCallback) vbox.addWidget(button) self.setLayout(vbox)
def __init__(self, items=list(), buttons=QtGui.QDialogButtonBox.Cancel | QtGui.QDialogButtonBox.Ok, exclusive=False, preselect_all=False, title='', description='', icon='', parent=None, select_if_single=True): ''' Creates an input dialog. @param items: a list with strings @type items: C{list()} ''' QtGui.QDialog.__init__(self, parent=parent) self.setObjectName(' - '.join(['SelectDialog', str(items)])) self.verticalLayout = QtGui.QVBoxLayout(self) self.verticalLayout.setObjectName("verticalLayout") self.verticalLayout.setContentsMargins(1, 1, 1, 1) # add filter row self.filter_frame = QtGui.QFrame(self) filterLayout = QtGui.QHBoxLayout(self.filter_frame) filterLayout.setContentsMargins(1, 1, 1, 1) label = QtGui.QLabel("Filter:", self.filter_frame) self.filter_field = QtGui.QLineEdit(self.filter_frame) filterLayout.addWidget(label) filterLayout.addWidget(self.filter_field) self.filter_field.textChanged.connect(self._on_filter_changed) self.verticalLayout.addWidget(self.filter_frame) if description: self.description_frame = QtGui.QFrame(self) descriptionLayout = QtGui.QHBoxLayout(self.description_frame) # descriptionLayout.setContentsMargins(1, 1, 1, 1) if icon: self.icon_label = QtGui.QLabel(self.description_frame) self.icon_label.setSizePolicy(QtGui.QSizePolicy.Fixed, QtGui.QSizePolicy.Fixed) self.icon_label.setPixmap( QtGui.QPixmap(icon).scaled(30, 30, QtCore.Qt.KeepAspectRatio)) descriptionLayout.addWidget(self.icon_label) self.description_label = QtGui.QLabel(self.description_frame) self.description_label.setWordWrap(True) self.description_label.setText(description) descriptionLayout.addWidget(self.description_label) self.verticalLayout.addWidget(self.description_frame) # create area for the parameter self.scrollArea = scrollArea = QtGui.QScrollArea(self) self.scrollArea.setFocusPolicy(QtCore.Qt.NoFocus) scrollArea.setObjectName("scrollArea") scrollArea.setWidgetResizable(True) self.content = MainBox(self) scrollArea.setWidget(self.content) self.verticalLayout.addWidget(scrollArea) # add select all option if not exclusive: self._ignore_next_toggle = False options = QtGui.QWidget(self) hLayout = QtGui.QHBoxLayout(options) hLayout.setContentsMargins(1, 1, 1, 1) self.select_all_checkbox = QtGui.QCheckBox('all') self.select_all_checkbox.setTristate(True) self.select_all_checkbox.stateChanged.connect( self._on_select_all_checkbox_stateChanged) hLayout.addWidget(self.select_all_checkbox) self.content.toggled.connect(self._on_main_toggle) # add spacer spacerItem = QtGui.QSpacerItem(515, 20, QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Minimum) hLayout.addItem(spacerItem) self.verticalLayout.addWidget(options) # create buttons self.buttonBox = QtGui.QDialogButtonBox(self) self.buttonBox.setObjectName("buttonBox") self.buttonBox.setOrientation(QtCore.Qt.Horizontal) self.buttonBox.setStandardButtons(buttons) self.buttonBox.accepted.connect(self.accept) self.buttonBox.rejected.connect(self.reject) self.verticalLayout.addWidget(self.buttonBox) # set the input fields if items: self.content.createFieldsFromValues(items, exclusive) if (select_if_single and len(items) == 1) or preselect_all: self.select_all_checkbox.setCheckState(QtCore.Qt.Checked) if not items or len(items) < 11: self.filter_frame.setVisible(False)
def __init__(self, params=dict(), buttons=QtGui.QDialogButtonBox.Cancel|QtGui.QDialogButtonBox.Ok, sidebar_var='', parent=None): ''' Creates an input dialog. @param params: a dictionary with parameter names and (type, values). The C{value}, can be a primitive value, a list with values or parameter dictionary to create groups. In this case the type is the name of the group. @type params: C{dict(str:(str, {value, [..], dict()}))} ''' QtGui.QDialog.__init__(self, parent=parent) self.setObjectName('ParameterDialog - %s'%str(params)) self.__current_path = nm.settings().current_dialog_path self.horizontalLayout = QtGui.QHBoxLayout(self) self.horizontalLayout.setObjectName("horizontalLayout") self.horizontalLayout.setContentsMargins(1, 1, 1, 1) self.verticalLayout = QtGui.QVBoxLayout() self.verticalLayout.setObjectName("verticalLayout") self.verticalLayout.setContentsMargins(1, 1, 1, 1) # add filter row self.filter_frame = QtGui.QFrame(self) filterLayout = QtGui.QHBoxLayout(self.filter_frame) filterLayout.setContentsMargins(1, 1, 1, 1) label = QtGui.QLabel("Filter:", self.filter_frame) self.filter_field = QtGui.QLineEdit(self.filter_frame) filterLayout.addWidget(label) filterLayout.addWidget(self.filter_field) self.filter_field.textChanged.connect(self._on_filter_changed) self.filter_visible = True self.verticalLayout.addWidget(self.filter_frame) # create area for the parameter self.scrollArea = scrollArea = ScrollArea(self); scrollArea.setObjectName("scrollArea") scrollArea.setWidgetResizable(True) self.content = MainBox('/', 'str', False, self) scrollArea.setWidget(self.content) self.verticalLayout.addWidget(scrollArea) # add info text field self.info_field = QtGui.QTextEdit(self) self.info_field.setVisible(False) palette = QtGui.QPalette() brush = QtGui.QBrush(QtGui.QColor(255, 254, 242)) brush.setStyle(QtCore.Qt.SolidPattern) palette.setBrush(QtGui.QPalette.Active, QtGui.QPalette.Base, brush) brush = QtGui.QBrush(QtGui.QColor(255, 254, 242)) brush.setStyle(QtCore.Qt.SolidPattern) palette.setBrush(QtGui.QPalette.Inactive, QtGui.QPalette.Base, brush) brush = QtGui.QBrush(QtGui.QColor(244, 244, 244)) brush.setStyle(QtCore.Qt.SolidPattern) palette.setBrush(QtGui.QPalette.Disabled, QtGui.QPalette.Base, brush) self.info_field.setPalette(palette) self.info_field.setFrameShadow(QtGui.QFrame.Plain) self.info_field.setReadOnly(True) self.info_field.setTextInteractionFlags(QtCore.Qt.LinksAccessibleByKeyboard|QtCore.Qt.LinksAccessibleByMouse|QtCore.Qt.TextBrowserInteraction|QtCore.Qt.TextSelectableByKeyboard|QtCore.Qt.TextSelectableByMouse) self.info_field.setObjectName("dialog_info_field") self.verticalLayout.addWidget(self.info_field) # create buttons self.buttonBox = QtGui.QDialogButtonBox(self) self.buttonBox.setObjectName("buttonBox") self.buttonBox.setOrientation(QtCore.Qt.Horizontal) self.buttonBox.setStandardButtons(buttons) self.buttonBox.accepted.connect(self.accept) self.buttonBox.rejected.connect(self.reject) self.verticalLayout.addWidget(self.buttonBox) self.horizontalLayout.addLayout(self.verticalLayout) # add side bar for checklist values = nm.history().cachedParamValues('/%s'%sidebar_var) self.sidebar_frame = QtGui.QFrame() self.sidebar_frame.setObjectName(sidebar_var) sidebarframe_verticalLayout = QtGui.QVBoxLayout(self.sidebar_frame) sidebarframe_verticalLayout.setObjectName("sidebarframe_verticalLayout") sidebarframe_verticalLayout.setContentsMargins(1, 1, 1, 1) self._sidebar_selected = 0 if len(values) > 1 and sidebar_var in params: self.horizontalLayout.addWidget(self.sidebar_frame) try: self.sidebar_default_val = params[sidebar_var][1] except: self.sidebar_default_val = '' values.sort() for v in values: checkbox = QtGui.QCheckBox(v) checkbox.stateChanged.connect(self._on_sidebar_stateChanged) self.sidebar_frame.layout().addWidget(checkbox) self.sidebar_frame.layout().addItem(QtGui.QSpacerItem(100, 20, QtGui.QSizePolicy.Minimum, QtGui.QSizePolicy.Expanding)) # set the input fields if params: self.content.createFieldFromValue(params) self.setInfoActive(False) if self.filter_frame.isVisible(): self.filter_field.setFocus() self.setMinimumSize(350,200)
def __init__(self, context): super(SimpleGUI, self).__init__(context) self.setObjectName('SimpleGUI') self._widget = QWidget() self._widget.setFixedSize(600, 600) self._sound_client = SoundClient() rospy.Subscriber('robotsound', SoundRequest, self.sound_cb) QtGui.QToolTip.setFont(QtGui.QFont('SansSerif', 10)) self.sound_sig.connect(self.sound_sig_cb) large_box = QtGui.QVBoxLayout() #Sound textbox sound_textbox = QtGui.QLineEdit("Squirtle Squirtle") #Default Text sound_textbox.setFixedWidth(450) #Set a handle on the textbox to retrieve the text when button clicked self.sound_textbox = sound_textbox button_box = QtGui.QHBoxLayout() button_box.addItem(QtGui.QSpacerItem(15, 20)) button_box.addWidget(self.create_button('Speak', self.command_cb)) button_box.addWidget(sound_textbox) button_box.addStretch(1) large_box.addLayout(button_box) speech_box = QtGui.QHBoxLayout() speech_box.addItem(QtGui.QSpacerItem(15, 20)) self.speech_label = QtGui.QLabel('Robot has not spoken yet.') palette = QtGui.QPalette() palette.setColor(QtGui.QPalette.Foreground, QtCore.Qt.blue) self.speech_label.setPalette(palette) speech_box.addWidget(self.speech_label) large_box.addLayout(speech_box) large_box.addStretch(1) #large_box.addItem(QtGui.QSpacerItem(50,20)) up_head = Head(Head.UP) head_box = QtGui.QVBoxLayout() up_head_box = QtGui.QHBoxLayout() up_head_button = self.create_button('^', up_head.create_closure()) #large_box.addWidget(up_head_button) down_head = Head(Head.DOWN) down_head_box = QtGui.QHBoxLayout() down_head_button = self.create_button('v', down_head.create_closure()) #large_box.addWidget(down_head_button) right_head = Head(Head.RIGHT) right_head_button = self.create_button('>', right_head.create_closure()) #large_box.addWidget(right_head_button) left_head = Head(Head.LEFT) left_head_button = self.create_button('<', left_head.create_closure()) left_right_head_box = QtGui.QHBoxLayout() up_head_box.addItem(QtGui.QSpacerItem(235, 20)) up_head_box.addWidget(up_head_button) up_head_box.addItem(QtGui.QSpacerItem(275, 20)) left_right_head_box.addItem(QtGui.QSpacerItem(160, 20)) left_right_head_box.addWidget(left_head_button) left_right_head_box.addItem(QtGui.QSpacerItem(60, 20)) left_right_head_box.addWidget(right_head_button) left_right_head_box.addItem(QtGui.QSpacerItem(225, 20)) down_head_box.addItem(QtGui.QSpacerItem(235, 20)) down_head_box.addWidget(down_head_button) down_head_box.addItem(QtGui.QSpacerItem(275, 20)) head_box.addLayout(up_head_box) head_box.addLayout(left_right_head_box) head_box.addLayout(down_head_box) large_box.addLayout(head_box) #large_box.addItem(QtGui.QSpacerItem(500,20)) #large_box.addWidget(left_head_button) gripper = Gripper(Gripper.RIGHT, Gripper.OPEN) right_gripper = self.create_button('Right gripper!', gripper.create_closure()) gripper = Gripper(Gripper.LEFT, Gripper.OPEN) left_gripper = self.create_button('Left gripper!', gripper.create_closure()) large_box.addItem(QtGui.QSpacerItem(100, 250)) gripper_box = QtGui.QHBoxLayout() gripper_box.addItem(QtGui.QSpacerItem(75, 20)) gripper_box.addWidget(left_gripper) gripper_box.addItem(QtGui.QSpacerItem(450, 20)) gripper_box.addWidget(right_gripper) gripper_box.addItem(QtGui.QSpacerItem(75, 20)) large_box.addLayout(gripper_box) base_box = QtGui.QVBoxLayout() large_box.addItem(QtGui.QSpacerItem(100, 100)) #forward forward_base_box = QtGui.QHBoxLayout() forward_base = Base(Base.FORWARD) forward_base_button = self.create_button('move forward', forward_base.create_closure()) forward_base_box.addItem(QtGui.QSpacerItem(400, 20)) forward_base_box.addWidget(forward_base_button) forward_base_box.addItem(QtGui.QSpacerItem(400, 20)) base_box.addLayout(forward_base_box) #large_box.addWidget(forward_base_button) #left left_right_base_box = QtGui.QHBoxLayout() left_base = Base(Base.LEFT) left_base_button = self.create_button('move left', left_base.create_closure()) #large_box.addWidget(left_base_button) #right right_base = Base(Base.RIGHT) right_base_button = self.create_button('move right', right_base.create_closure()) left_right_base_box.addItem(QtGui.QSpacerItem(300, 20)) left_right_base_box.addWidget(left_base_button) left_right_base_box.addItem(QtGui.QSpacerItem(50, 20)) left_right_base_box.addWidget(right_base_button) left_right_base_box.addItem(QtGui.QSpacerItem(300, 20)) base_box.addLayout(left_right_base_box) #large_box.addWidget(right_base_button) #backward backward_base_box = QtGui.QHBoxLayout() backward_base = Base(Base.BACKWARD) backward_base_button = self.create_button( 'move backward', backward_base.create_closure()) backward_base_box.addItem(QtGui.QSpacerItem(400, 20)) backward_base_box.addWidget(backward_base_button) backward_base_box.addItem(QtGui.QSpacerItem(400, 20)) base_box.addLayout(backward_base_box) #large_box.addWidget(backward_base_button) large_box.addLayout(base_box) turn_base_box = QtGui.QHBoxLayout() #turn left turnleft_base = Base(Base.TURNLEFT) turnleft_base_button = self.create_button( ' /\n<--', turnleft_base.create_closure()) #large_box.addWidget(turnleft_base_button) #turn right turnright_base = Base(Base.TURNRIGHT) turnright_base_button = self.create_button( '\\\n -->', turnright_base.create_closure()) turn_base_box.addItem(QtGui.QSpacerItem(75, 20)) turn_base_box.addWidget(turnright_base_button) turn_base_box.addItem(QtGui.QSpacerItem(225, 20)) turn_base_box.addWidget(turnleft_base_button) turn_base_box.addItem(QtGui.QSpacerItem(100, 20)) large_box.addLayout(turn_base_box) #large_box.addWidget(turnright_base_button) self._widget.setObjectName('SimpleGUI') self._widget.setLayout(large_box) context.add_widget(self._widget) self._widget.setStyleSheet( "QWidget { image: url(%s) }" % "/home/vjampala/catkin_ws/src/cse481/hw1/rqt_simplegui/rosie_background.jpg" )
def __init__(self, context): self.prompt_width = 170 self.input_width = 250 super(SimpleGUI, self).__init__(context) self.setObjectName('SimpleGUI') self._widget = QWidget() self._sound_client = SoundClient() #find relative path for files to load self.local_dir = os.path.dirname(__file__) self.dir = os.path.join(self.local_dir, './lib/rqt_simplegui/') if not os.path.isdir(self.dir): os.makedirs(self.dir) #need to add any additional subfolders as needed if not os.path.isdir(self.dir + 'animations/'): os.makedirs(self.dir + 'animations/') # Creates a subscriber to the ROS topic, having msg type SoundRequest rospy.Subscriber('robotsound', SoundRequest, self.sound_cb) QtGui.QToolTip.setFont(QtGui.QFont('SansSerif', 10)) self.sound_sig.connect(self.sound_sig_cb) # Code used for saving/ loading arm poses for the robot switch_srv_name = 'pr2_controller_manager/switch_controller' rospy.loginfo('Waiting for switch controller service...') rospy.wait_for_service(switch_srv_name) self.switch_service_client = rospy.ServiceProxy( switch_srv_name, SwitchController) self.r_joint_names = [ 'r_shoulder_pan_joint', 'r_shoulder_lift_joint', 'r_upper_arm_roll_joint', 'r_elbow_flex_joint', 'r_forearm_roll_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint' ] self.l_joint_names = [ 'l_shoulder_pan_joint', 'l_shoulder_lift_joint', 'l_upper_arm_roll_joint', 'l_elbow_flex_joint', 'l_forearm_roll_joint', 'l_wrist_flex_joint', 'l_wrist_roll_joint' ] self.all_joint_names = [] self.all_joint_poses = [] # Hash tables storing the name of the pose and the # associated positions for that pose, initially empty self.saved_l_poses = {} self.saved_r_poses = {} # Hash tables for storing name of animations and the associated pose list self.saved_animations = {} self.lock = threading.Lock() rospy.Subscriber('joint_states', JointState, self.joint_states_cb) #parsing for animations dir = os.path.dirname(__file__) qWarning(dir) filename = os.path.join(self.dir, 'animations/') ani_path = filename ani_listing = os.listdir(ani_path) for infile in ani_listing: pose_left = [] pose_right = [] left_gripper_states = [] right_gripper_states = [] line_num = 1 for line in fileinput.input(ani_path + infile): if (line_num % 2 == 1): pose = [float(x) for x in line.split()] pose_left.append(pose[:len(pose) / 2]) pose_right.append(pose[len(pose) / 2:]) else: states = line.split() left_gripper_states.append(states[0]) right_gripper_states.append(states[1]) line_num += 1 self.saved_animations[os.path.splitext(infile)[0]] = Quad( pose_left, pose_right, left_gripper_states, right_gripper_states) # Create a trajectory action client r_traj_controller_name = '/r_arm_controller/joint_trajectory_action' self.r_traj_action_client = SimpleActionClient(r_traj_controller_name, JointTrajectoryAction) rospy.loginfo( 'Waiting for a response from the trajectory action server for RIGHT arm...' ) self.r_traj_action_client.wait_for_server() l_traj_controller_name = '/l_arm_controller/joint_trajectory_action' self.l_traj_action_client = SimpleActionClient(l_traj_controller_name, JointTrajectoryAction) rospy.loginfo( 'Waiting for a response from the trajectory action server for LEFT arm...' ) self.l_traj_action_client.wait_for_server() # Navigation functionality initialization self.roomNav = RoomNavigator() self._tf_listener = TransformListener() self.animPlay = AnimationPlayer(None, None, None, None) # Detection and pickup functionality self.pap = PickAndPlaceManager(self._tf_listener, self.roomNav, self.animPlay) QtGui.QToolTip.setFont(QtGui.QFont('SansSerif', 10)) self.joint_sig.connect(self.joint_sig_cb) # Create a large vertical box that is top aligned large_box = QtGui.QVBoxLayout() large_box.setAlignment(QtCore.Qt.AlignTop) large_box.setMargin(0) large_box.addItem(QtGui.QSpacerItem(10, 0)) # Buttons for controlling the head of the robot head_box = QtGui.QHBoxLayout() head_box.addItem(QtGui.QSpacerItem(230, 0)) head_box.addWidget(self.create_pressed_button('Head Up')) head_box.addStretch(1) large_box.addLayout(head_box) button_box = QtGui.QHBoxLayout() button_box.addItem(QtGui.QSpacerItem(80, 0)) button_box.addWidget(self.create_pressed_button('Head Turn Left')) button_box.addWidget(self.create_pressed_button('Head Down')) button_box.addWidget(self.create_pressed_button('Head Turn Right')) button_box.addStretch(1) button_box.setMargin(0) button_box.setSpacing(0) large_box.addLayout(button_box) # Shows what the robot says speech_box = QtGui.QHBoxLayout() self.speech_label = QtGui.QLabel('Robot has not spoken yet') palette = QtGui.QPalette() palette.setColor(QtGui.QPalette.Foreground, QtCore.Qt.blue) self.speech_label.setPalette(palette) # speech_box.addItem(QtGui.QSpacerItem(100, 0)) #speech_box.addWidget(self.speech_label) # large_box.addLayout(speech_box) # Speak button speak_button_box = QtGui.QHBoxLayout() speech_prompt = QtGui.QLabel('Enter Speech Text:') speech_prompt.setFixedWidth(self.prompt_width) speak_button_box.addWidget(speech_prompt) robot_says = QtGui.QLineEdit(self._widget) robot_says.setFixedWidth(self.input_width) robot_says.textChanged[str].connect(self.onChanged) # speak_button_box.addWidget(robot_says) speak_button_box.addWidget(self.create_button('Speak')) speak_button_box.addStretch(1) large_box.addLayout(speak_button_box) large_box.addItem(QtGui.QSpacerItem(0, 50)) # Buttons for arm poses pose_button_box1 = QtGui.QHBoxLayout() pose_button_box1.addItem(QtGui.QSpacerItem(150, 0)) pose_button_box1.addWidget(self.create_button('Relax Left Arm')) pose_button_box1.addWidget(self.create_button('Relax Right Arm')) pose_button_box1.addStretch(1) large_box.addLayout(pose_button_box1) # Buttons for grippers gripper_button_box = QtGui.QHBoxLayout() gripper_button_box.addItem(QtGui.QSpacerItem(150, 0)) gripper_button_box.addWidget(self.create_button('Open Left Gripper')) gripper_button_box.addWidget(self.create_button('Open Right Gripper')) gripper_button_box.addStretch(1) large_box.addLayout(gripper_button_box) large_box.addItem(QtGui.QSpacerItem(0, 25)) # Buttons for animation animation_box = QtGui.QHBoxLayout() play_anim_label = QtGui.QLabel('Select Animation:') play_anim_label.setFixedWidth(self.prompt_width) animation_box.addWidget(play_anim_label) self.saved_animations_list = QtGui.QComboBox(self._widget) animation_box.addWidget(self.saved_animations_list) pose_time_label = QtGui.QLabel('Duration(sec):') pose_time_label.setFixedWidth(100) animation_box.addWidget(pose_time_label) self.pose_time = QtGui.QLineEdit(self._widget) self.pose_time.setFixedWidth(50) self.pose_time.setText('2.0') animation_box.addWidget(self.pose_time) animation_box.addWidget(self.create_button('Play Animation')) animation_box.addStretch(1) large_box.addLayout(animation_box) animation_box2 = QtGui.QHBoxLayout() animation_name_label = QtGui.QLabel('Enter Animation Name:') animation_name_label.setFixedWidth(self.prompt_width) animation_box2.addWidget(animation_name_label) self.animation_name = QtGui.QLineEdit(self._widget) self.animation_name.setFixedWidth(self.input_width) animation_box2.addWidget(self.animation_name) animation_box2.addWidget(self.create_button('Save Animation')) animation_box2.addStretch(1) large_box.addLayout(animation_box2) animation_box3 = QtGui.QHBoxLayout() pose_name_label = QtGui.QLabel('Enter Pose Name:') pose_name_label.setFixedWidth(self.prompt_width) animation_box3.addWidget(pose_name_label) self.pose_name_temp = QtGui.QLineEdit(self._widget) self.pose_name_temp.setFixedWidth(self.input_width) animation_box3.addWidget(self.pose_name_temp) animation_box3.addWidget(self.create_button('Add Current Pose')) animation_box3.addStretch(1) large_box.addLayout(animation_box3) # Playing around with UI stuff play_box = QtGui.QHBoxLayout() pose_sequence_label = QtGui.QLabel('Current Pose Sequence:') pose_sequence_label.setFixedWidth(self.prompt_width) pose_sequence_label.setAlignment(QtCore.Qt.AlignTop) self.list_widget = QListWidget() self.list_widget.setDragDropMode(QAbstractItemView.InternalMove) self.list_widget.setMaximumSize(self.input_width, 200) play_box.addWidget(pose_sequence_label) play_box.addWidget(self.list_widget) play_box.addStretch(1) large_box.addLayout(play_box) large_box.addItem(QtGui.QSpacerItem(0, 50)) # Buttons for first row of base controls first_base_button_box = QtGui.QHBoxLayout() first_base_button_box.addItem(QtGui.QSpacerItem(70, 0)) first_base_button_box.addWidget( self.create_pressed_button('Rotate Left')) first_base_button_box.addWidget(self.create_pressed_button('^')) first_base_button_box.addWidget( self.create_pressed_button('Rotate Right')) first_base_button_box.addStretch(1) large_box.addLayout(first_base_button_box) # Buttons for second row of base controls second_base_button_box = QtGui.QHBoxLayout() second_base_button_box.addItem(QtGui.QSpacerItem(70, 0)) second_base_button_box.addWidget(self.create_pressed_button('<')) second_base_button_box.addWidget(self.create_pressed_button('v')) second_base_button_box.addWidget(self.create_pressed_button('>')) second_base_button_box.addWidget(self.create_button('Move to Bin')) second_base_button_box.addWidget(self.create_button('Object Detect')) second_base_button_box.addWidget(self.create_button('Clean Room')) second_base_button_box.addStretch(1) large_box.addLayout(second_base_button_box) # Animation related items to store intermediate pose co-ordinates to save self.animation_map = {} self.create_state = False self._widget.setObjectName('SimpleGUI') self._widget.setLayout(large_box) context.add_widget(self._widget) # Look straight and down when launched self.head_x = 1.0 self.head_y = 0.0 self.head_z = 0.5 self.head_action(self.head_x, self.head_y, self.head_z) # Set grippers to closed on initialization self.left_gripper_state = '' self.right_gripper_state = '' self.gripper_action('l', 0.0) self.gripper_action('r', 0.0) # Lab 6 self.marker_publisher = rospy.Publisher('visualization_marker', Marker) # Saved states for poses saved_pose_box = QtGui.QHBoxLayout() self.saved_left_poses = QtGui.QLabel('') self.saved_right_poses = QtGui.QLabel('') saved_pose_box.addWidget(self.saved_left_poses) saved_pose_box.addWidget(self.saved_right_poses) large_box.addLayout(saved_pose_box) # Preload the map of animations self.saved_animations_list.addItems(self.saved_animations.keys()) # Move the torso all the way down # self.torso_down(True) # Autonomous navigation stuff ''' self.locations = [Pose(Point(2.48293590546, 3.90075874329, 0.000), Quaternion(0.000, 0.000, -0.783917630973, 0.620864838632)), Pose(Point(3.70106744766, 0.304672241211, 0.000), Quaternion(0.000, 0.000, 0.950186880196, -0.311680754463)), Pose(Point(2.57326722145, 1.51304531097, 0.000), Quaternion(0.000, 0.000, 0.96127194482, -0.275601611212)), Pose(Point(1.28060531616, 1.52380752563, 0.000), Quaternion(0.000, 0.000, 0.946345258806, -0.323157316388)), Pose(Point(2.11048603058, 0.420155525208, 0.000), Quaternion(0.000, 0.000, 0.945222393391, -0.326427062346)), Pose(Point(2.82733058929, -0.739856719971, 0.000), Quaternion(0.000, 0.000, 0.945473998362, -0.325697587373)), Pose(Point(1.29184818268, -1.90485572815, 0.000), Quaternion(0.000, 0.000, 0.942275557345, -0.334838429739)), Pose(Point(0.722846984863, -1.0921459198, 0.000), Quaternion(0.000, 0.000, 0.949330143731, -0.314280572424))] ''' self.locations = [ Pose(Point(2.04748392105, 2.04748010635, 0.000), Quaternion(0.000, 0.000, -0.776968030817, 0.629540053601)), Pose(Point(2.34193611145, 1.43208932877, 0), Quaternion(0, 0, -0.841674385779, 0.539985396398)), Pose(Point(3.43202018738, -0.258297920227, 0.000), Quaternion(0.000, 0.000, 0.996656413122, -0.0817067572629)), Pose(Point(0.931655406952, -1.96435832977, 0.000), Quaternion(0.000, 0.000, 0.691187586713, 0.722675390458)), Pose(Point(-0.369112968445, 0.0330476760864, 0.000), Quaternion(0.000, 0.000, 0.0275340398899, 0.999620866453)) ] self.index = 1 rospy.loginfo("Completed GUI initialization")
def __init__(self, context): super(SimpleGUI, self).__init__(context) self.setObjectName('SimpleGUI') self._widget = QWidget() self._widget.setFixedSize(600, 600) self._sound_client = SoundClient() rospy.Subscriber('robotsound', SoundRequest, self.sound_cb) QtGui.QToolTip.setFont(QtGui.QFont('SansSerif', 10)) self.sound_sig.connect(self.sound_sig_cb) large_box = QtGui.QVBoxLayout() # Textbox to enter words for PR2 to say sound_textbox = QtGui.QLineEdit("Squirtle Squirtle") # Default Text sound_textbox.setFixedWidth(450) self.marker_publisher = rospy.Publisher('visualization_marker', Marker) # Set a handler on the textbox to retrieve the text when button clicked self.sound_textbox = sound_textbox button_box = QtGui.QHBoxLayout() button_box.addItem(QtGui.QSpacerItem(15, 20)) button_box.addWidget(self.create_button('Speak', self.command_cb)) button_box.addWidget(sound_textbox) button_box.addStretch(1) large_box.addLayout(button_box) speech_box = QtGui.QHBoxLayout() speech_box.addItem(QtGui.QSpacerItem(15, 20)) self.speech_label = QtGui.QLabel('Robot has not spoken yet') palette = QtGui.QPalette() palette.setColor(QtGui.QPalette.Foreground, QtCore.Qt.blue) self.speech_label.setPalette(palette) speech_box.addWidget(self.speech_label) large_box.addLayout(speech_box) large_box.addStretch(1) #large_box.addItem(QtGui.QSpacerItem(50,20)) # Buttons to move the PR2's head up_head = Head(Head.UP, self) head_box = QtGui.QVBoxLayout() up_head_box = QtGui.QHBoxLayout() up_head_button = self.create_button('^', up_head.create_closure()) down_head = Head(Head.DOWN, self) down_head_box = QtGui.QHBoxLayout() down_head_button = self.create_button('v', down_head.create_closure()) right_head = Head(Head.RIGHT, self) right_head_button = self.create_button('>', right_head.create_closure()) left_head = Head(Head.LEFT, self) left_head_button = self.create_button('<', left_head.create_closure()) left_right_head_box = QtGui.QHBoxLayout() up_head_box.addItem(QtGui.QSpacerItem(235, 20)) up_head_box.addWidget(up_head_button) up_head_box.addItem(QtGui.QSpacerItem(275, 20)) left_right_head_box.addItem(QtGui.QSpacerItem(160, 20)) left_right_head_box.addWidget(left_head_button) left_right_head_box.addItem(QtGui.QSpacerItem(60, 20)) left_right_head_box.addWidget(right_head_button) left_right_head_box.addItem(QtGui.QSpacerItem(225, 20)) down_head_box.addItem(QtGui.QSpacerItem(235, 20)) down_head_box.addWidget(down_head_button) down_head_box.addItem(QtGui.QSpacerItem(275, 20)) head_box.addLayout(up_head_box) head_box.addLayout(left_right_head_box) head_box.addLayout(down_head_box) large_box.addLayout(head_box) # Buttons to move the grippers gripper = Gripper(Gripper.RIGHT, Gripper.OPEN, self) right_gripper = self.create_button('Right gripper', gripper.create_closure()) gripper = Gripper(Gripper.LEFT, Gripper.OPEN, self) left_gripper = self.create_button('Left gripper', gripper.create_closure()) large_box.addItem(QtGui.QSpacerItem(100, 250)) gripper_box = QtGui.QHBoxLayout() gripper_box.addItem(QtGui.QSpacerItem(75, 20)) gripper_box.addWidget(left_gripper) gripper_box.addItem(QtGui.QSpacerItem(450, 20)) gripper_box.addWidget(right_gripper) gripper_box.addItem(QtGui.QSpacerItem(75, 20)) large_box.addLayout(gripper_box) # Buttons to move the base base_box = QtGui.QVBoxLayout() large_box.addItem(QtGui.QSpacerItem(100, 100)) forward_base_box = QtGui.QHBoxLayout() forward_base = Base(Base.FORWARD, self) forward_base_button = self.create_button('move forward', forward_base.create_closure()) forward_base_box.addItem(QtGui.QSpacerItem(400, 20)) forward_base_box.addWidget(forward_base_button) forward_base_box.addItem(QtGui.QSpacerItem(400, 20)) base_box.addLayout(forward_base_box) left_right_base_box = QtGui.QHBoxLayout() left_base = Base(Base.LEFT, self) left_base_button = self.create_button('move left', left_base.create_closure()) right_base = Base(Base.RIGHT, self) right_base_button = self.create_button('move right', right_base.create_closure()) left_right_base_box.addItem(QtGui.QSpacerItem(300, 20)) left_right_base_box.addWidget(left_base_button) left_right_base_box.addItem(QtGui.QSpacerItem(50, 20)) left_right_base_box.addWidget(right_base_button) left_right_base_box.addItem(QtGui.QSpacerItem(300, 20)) base_box.addLayout(left_right_base_box) backward_base_box = QtGui.QHBoxLayout() backward_base = Base(Base.BACKWARD, self) backward_base_button = self.create_button( 'move backward', backward_base.create_closure()) backward_base_box.addItem(QtGui.QSpacerItem(400, 20)) backward_base_box.addWidget(backward_base_button) backward_base_box.addItem(QtGui.QSpacerItem(400, 20)) base_box.addLayout(backward_base_box) large_box.addLayout(base_box) turn_base_box = QtGui.QHBoxLayout() counter_base = Base(Base.COUNTER, self) counter_base_button = self.create_button('\\\n -->', counter_base.create_closure()) clockwise_base = Base(Base.CLOCKWISE, self) clockwise_base_button = self.create_button( ' /\n<--', clockwise_base.create_closure()) turn_base_box.addItem(QtGui.QSpacerItem(75, 20)) turn_base_box.addWidget(counter_base_button) turn_base_box.addItem(QtGui.QSpacerItem(225, 20)) turn_base_box.addWidget(clockwise_base_button) turn_base_box.addItem(QtGui.QSpacerItem(100, 20)) large_box.addLayout(turn_base_box) self._widget.setObjectName('SimpleGUI') self._widget.setLayout(large_box) context.add_widget(self._widget) self._widget.setStyleSheet( "QWidget { image: url(%s) }" % (str(os.path.dirname(os.path.realpath(__file__))) + "/../../rosie_background.jpg"))
def __init__(self, context): super(Milestone1GUI, self).__init__(context) self._sound_client = SoundClient() rospy.Subscriber('robotsound', SoundRequest, self.sound_cb) switch_srv_name = 'pr2_controller_manager/switch_controller' rospy.loginfo('Waiting for switch controller service...') rospy.wait_for_service(switch_srv_name) self.switch_service_client = rospy.ServiceProxy( switch_srv_name, SwitchController) self.r_joint_names = [ 'r_shoulder_pan_joint', 'r_shoulder_lift_joint', 'r_upper_arm_roll_joint', 'r_elbow_flex_joint', 'r_forearm_roll_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint' ] self.l_joint_names = [ 'l_shoulder_pan_joint', 'l_shoulder_lift_joint', 'l_upper_arm_roll_joint', 'l_elbow_flex_joint', 'l_forearm_roll_joint', 'l_wrist_flex_joint', 'l_wrist_roll_joint' ] # Create a trajectory action client r_traj_controller_name = '/r_arm_controller/joint_trajectory_action' self.r_traj_action_client = SimpleActionClient(r_traj_controller_name, JointTrajectoryAction) rospy.loginfo( 'Waiting for a response from the trajectory action server for RIGHT arm...' ) self.r_traj_action_client.wait_for_server() l_traj_controller_name = '/l_arm_controller/joint_trajectory_action' self.l_traj_action_client = SimpleActionClient(l_traj_controller_name, JointTrajectoryAction) rospy.loginfo( 'Waiting for a response from the trajectory action server for LEFT arm...' ) self.l_traj_action_client.wait_for_server() #init torso self.torso = Torso() #init gripper self.l_gripper = Gripper('l') self.r_gripper = Gripper('r') #init navigation self.navigation = Navigation() self._widget = QWidget() self._widget.setFixedSize(600, 600) QtGui.QToolTip.setFont(QtGui.QFont('SansSerif', 10)) large_box = QtGui.QVBoxLayout() #Button for outreaching to recieve book from Human button_box = QtGui.QVBoxLayout() box_1 = QtGui.QHBoxLayout() box_2 = QtGui.QHBoxLayout() box_3 = QtGui.QHBoxLayout() box_4 = QtGui.QHBoxLayout() box_5 = QtGui.QHBoxLayout() box_6 = QtGui.QHBoxLayout() box_7 = QtGui.QHBoxLayout() box_8 = QtGui.QHBoxLayout() box_9 = QtGui.QHBoxLayout() box_10 = QtGui.QHBoxLayout() box_1.addItem(QtGui.QSpacerItem(15, 2)) box_1.addWidget( self.create_button('Prepare To Take', self.prepare_to_take)) box_1.addItem(QtGui.QSpacerItem(445, 2)) box_2.addItem(QtGui.QSpacerItem(15, 2)) box_2.addWidget( self.create_button('Take From Human', self.take_from_human)) box_2.addItem(QtGui.QSpacerItem(445, 2)) box_3.addItem(QtGui.QSpacerItem(15, 2)) box_3.addWidget( self.create_button('Prepare To Navigate', self.prepare_to_navigate)) box_3.addItem(QtGui.QSpacerItem(445, 2)) # Button to move to shelf box_5.addItem(QtGui.QSpacerItem(15, 2)) box_5.addWidget( self.create_button('Navigate To Shelf', self.navigate_to_shelf)) box_5.addItem(QtGui.QSpacerItem(445, 2)) box_4.addItem(QtGui.QSpacerItem(15, 2)) box_4.addWidget( self.create_button('Place On Shelf', self.place_on_shelf)) box_4.addItem(QtGui.QSpacerItem(445, 2)) box_6.addItem(QtGui.QSpacerItem(15, 2)) box_6.addWidget( self.create_button('Give Information', self.give_information)) box_6.addItem(QtGui.QSpacerItem(445, 2)) box_7.addItem(QtGui.QSpacerItem(15, 2)) box_7.addWidget( self.create_button('Navigate To Person', self.navigate_to_person)) box_7.addItem(QtGui.QSpacerItem(445, 2)) self.book_textbox = QtGui.QLineEdit() self.book_textbox.setFixedWidth(100) box_8.addItem(QtGui.QSpacerItem(15, 2)) box_8.addWidget(self.book_textbox) box_8.addWidget( self.create_button('Pick Up Book', self.pick_up_from_shelf_button)) box_8.addItem(QtGui.QSpacerItem(445, 2)) box_9.addItem(QtGui.QSpacerItem(15, 2)) box_9.addWidget(self.create_button('Localize', self.spin_base)) box_9.addItem(QtGui.QSpacerItem(445, 2)) box_10.addItem(QtGui.QSpacerItem(15, 2)) box_10.addWidget( self.create_button('Non-nav Pick Up', self.pick_up_from_shelf)) box_10.addItem(QtGui.QSpacerItem(445, 2)) button_box.addItem(QtGui.QSpacerItem(20, 120)) button_box.addLayout(box_1) button_box.addLayout(box_2) button_box.addLayout(box_3) button_box.addLayout(box_5) button_box.addLayout(box_4) button_box.addLayout(box_6) button_box.addLayout(box_7) button_box.addLayout(box_8) button_box.addLayout(box_9) button_box.addLayout(box_10) button_box.addItem(QtGui.QSpacerItem(20, 240)) large_box.addLayout(button_box) self.marker_perception = ReadMarkers() self.speech_recognition = SpeechRecognition(self) self.bookDB = BookDB() self.book_map = self.bookDB.getAllBookCodes() self._widget.setObjectName('Milestone1GUI') self._widget.setLayout(large_box) context.add_widget(self._widget) self._widget.setStyleSheet( "QWidget { image: url(%s) }" % (str(os.path.dirname(os.path.realpath(__file__))) + "/../../librarian_gui_background.jpg"))
def __init__(self, context): super(WaterPulse, self).__init__(context) self.setObjectName('WaterPulse') self._widget = QWidget() self._widget.setFixedSize(600, 600) self._sound_client = SoundClient() rospy.Subscriber('robotsound', SoundRequest, self.sound_cb) self.l_joint_names = [ 'l_shoulder_pan_joint', 'l_shoulder_lift_joint', 'l_upper_arm_roll_joint', 'l_elbow_flex_joint', 'l_forearm_roll_joint', 'l_wrist_flex_joint', 'l_wrist_roll_joint' ] l_traj_contoller_name = None l_traj_controller_name = '/l_arm_controller/joint_trajectory_action' self.l_traj_action_client = SimpleActionClient(l_traj_controller_name, JointTrajectoryAction) rospy.loginfo('Waiting for a response from the trajectory ' + 'action server for LEFT arm...') self.l_traj_action_client.wait_for_server() QtGui.QToolTip.setFont(QtGui.QFont('SansSerif', 10)) self.sound_sig.connect(self.sound_sig_cb) large_box = QtGui.QVBoxLayout() # Textbox to enter words for PR2 to say sound_textbox = QtGui.QLineEdit("Squirtle Squirtle") # Default Text sound_textbox.setFixedWidth(450) self.marker_publisher = rospy.Publisher('visualization_marker', Marker) # Set a handler on the textbox to retrieve the text when button clicked self.sound_textbox = sound_textbox button_box = QtGui.QHBoxLayout() button_box.addItem(QtGui.QSpacerItem(15, 20)) button_box.addWidget(self.create_button('Speak', self.command_cb)) button_box.addWidget(sound_textbox) button_box.addStretch(1) large_box.addLayout(button_box) # 'Trick or Treat' & 'Thank You' Buttons halloween_box = QtGui.QHBoxLayout() halloween_box.addItem(QtGui.QSpacerItem(15, 20)) halloween_box.addWidget( self.create_button('Trick or Treat', self.command_cb)) halloween_box.addWidget( self.create_button('Thank You', self.command_cb)) halloween_box.addStretch(1) large_box.addLayout(halloween_box) # Buttons to move the PR2's head up_head = Head(Head.UP, self) head_box = QtGui.QVBoxLayout() up_head_box = QtGui.QHBoxLayout() up_head_button = self.create_button('^', up_head.create_closure()) down_head = Head(Head.DOWN, self) down_head_box = QtGui.QHBoxLayout() down_head_button = self.create_button('v', down_head.create_closure()) right_head = Head(Head.RIGHT, self) right_head_button = self.create_button('>', right_head.create_closure()) left_head = Head(Head.LEFT, self) left_head_button = self.create_button('<', left_head.create_closure()) left_right_head_box = QtGui.QHBoxLayout() head_speed_sld = QtGui.QSlider(QtCore.Qt.Horizontal) head_speed_sld.setFocusPolicy(QtCore.Qt.NoFocus) head_speed_sld.setMinimum(1) head_speed_sld.setMaximum(5) head_speed_sld.valueChanged[int].connect(Head.set_speed) up_head_box.addItem(QtGui.QSpacerItem(235, 20)) up_head_box.addWidget(up_head_button) up_head_box.addItem(QtGui.QSpacerItem(275, 20)) left_right_head_box.addItem(QtGui.QSpacerItem(160, 20)) left_right_head_box.addWidget(left_head_button) left_right_head_box.addItem(QtGui.QSpacerItem(60, 20)) left_right_head_box.addWidget(right_head_button) left_right_head_box.addItem(QtGui.QSpacerItem(225, 20)) down_head_box.addItem(QtGui.QSpacerItem(235, 20)) down_head_box.addWidget(down_head_button) down_head_box.addItem(QtGui.QSpacerItem(275, 20)) head_sld_box = QtGui.QHBoxLayout() head_sld_box.addItem(QtGui.QSpacerItem(225, 20)) head_sld_box.addWidget(head_speed_sld) head_sld_box.addItem(QtGui.QSpacerItem(225, 20)) head_box.addLayout(up_head_box) head_box.addLayout(left_right_head_box) head_box.addLayout(down_head_box) head_box.addLayout(head_sld_box) large_box.addLayout(head_box) # Buttons to move the grippers gripper = Gripper(Gripper.RIGHT, Gripper.OPEN, self) right_gripper = self.create_button('Right gripper', gripper.create_closure()) gripper = Gripper(Gripper.LEFT, Gripper.OPEN, self) left_gripper = self.create_button('Left gripper', gripper.create_closure()) knock_button = self.create_button('Knock', self.knock) large_box.addItem(QtGui.QSpacerItem(100, 250)) gripper_box = QtGui.QHBoxLayout() gripper_box.addItem(QtGui.QSpacerItem(75, 20)) gripper_box.addWidget(left_gripper) gripper_box.addWidget(knock_button) gripper_box.addItem(QtGui.QSpacerItem(450, 20)) gripper_box.addWidget(right_gripper) gripper_box.addItem(QtGui.QSpacerItem(75, 20)) large_box.addLayout(gripper_box) # Buttons to move the base base_box = QtGui.QVBoxLayout() large_box.addItem(QtGui.QSpacerItem(100, 100)) forward_base_box = QtGui.QHBoxLayout() forward_base = Base(Base.FORWARD, self) forward_base_button = self.create_button('move forward', forward_base.create_closure()) forward_base_box.addItem(QtGui.QSpacerItem(400, 20)) forward_base_box.addWidget(forward_base_button) forward_base_box.addItem(QtGui.QSpacerItem(400, 20)) base_box.addLayout(forward_base_box) left_right_base_box = QtGui.QHBoxLayout() left_base = Base(Base.LEFT, self) left_base_button = self.create_button('move left', left_base.create_closure()) right_base = Base(Base.RIGHT, self) right_base_button = self.create_button('move right', right_base.create_closure()) left_right_base_box.addItem(QtGui.QSpacerItem(300, 20)) left_right_base_box.addWidget(left_base_button) left_right_base_box.addItem(QtGui.QSpacerItem(50, 20)) left_right_base_box.addWidget(right_base_button) left_right_base_box.addItem(QtGui.QSpacerItem(300, 20)) base_box.addLayout(left_right_base_box) backward_base_box = QtGui.QHBoxLayout() backward_base = Base(Base.BACKWARD, self) backward_base_button = self.create_button( 'move backward', backward_base.create_closure()) backward_base_box.addItem(QtGui.QSpacerItem(400, 20)) backward_base_box.addWidget(backward_base_button) backward_base_box.addItem(QtGui.QSpacerItem(400, 20)) base_box.addLayout(backward_base_box) large_box.addLayout(base_box) turn_base_box = QtGui.QHBoxLayout() counter_base = Base(Base.COUNTER, self) counter_base_button = self.create_button('\\\n -->', counter_base.create_closure()) clockwise_base = Base(Base.CLOCKWISE, self) clockwise_base_button = self.create_button( ' /\n<--', clockwise_base.create_closure()) turn_base_box.addItem(QtGui.QSpacerItem(75, 20)) turn_base_box.addWidget(counter_base_button) turn_base_box.addItem(QtGui.QSpacerItem(225, 20)) turn_base_box.addWidget(clockwise_base_button) turn_base_box.addItem(QtGui.QSpacerItem(100, 20)) large_box.addLayout(turn_base_box) self._widget.setObjectName('WaterPulse') self._widget.setLayout(large_box) context.add_widget(self._widget) self._widget.setStyleSheet( "QWidget { image: url(%s) }" % (str(os.path.dirname(os.path.realpath(__file__))) + "/../../rosie_background.jpg"))
def setup_ui(self, name): self._line_edit = QtGui.QLineEdit() self._line_edit.returnPressed.connect(self.input_text) self._horizontal_layout.addWidget(self._line_edit) self.setLayout(self._horizontal_layout)