def __init__(self, parent=None):
        super(PlotConfiguration, self).__init__(parent)
        self._rospack = rospkg.RosPack()
        plot_configuration_file = os.path.join(
            self._rospack.get_path('sleo_testsuite'), 'resource/ui',
            'plot_configuration.ui')
        # loadUi(plot_configuration_file, self)
        loadUi(plot_configuration_file, self, {'DataPlot': DataPlot})
        self._plot_widget = PlotWidget()
        self._plot_widget.setWindowTitle("Plot Profile")
        self._plot_widget.topic_edit.setText(
            "/sleo_velocity_controller/cmd_vel")
        self.horizontalLayout_4.addWidget(self._plot_widget)

        self._plot_widget.switch_data_plot_widget(self._widget_data_plot)

        self._old_cmd_topic = self._cmd_topic_comboBox.currentText()
        self._old_odom_topic = self._odom_topic_comboBox.currentText()

        # Get current topic list and fileter contains topics we will use
        self._topics_and_types = rospy.get_published_topics()
        for topic, type in self._topics_and_types:
            #print 'topic: '+ topic + ' type: ' + type + '\n'
            if type == 'geometry_msgs/Twist':
                self._cmd_topic_comboBox.addItem(topic)
            if type == 'nav_msgs/Odometry':
                self._odom_topic_comboBox.addItem(topic)
Esempio n. 2
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 def setupUi(self):
     self._ui.setupUi(self)
     self._plot_layout = QVBoxLayout(self._ui.battery_profile_group_box)
     self._plot_widget = PlotWidget()
     self._plot_widget.setWindowTitle("Battery Profile")
     self._plot_widget.topic_edit.setText(self._battery_topic_name)
     self._plot_layout.addWidget(self._plot_widget)
     self._plot_widget.switch_data_plot_widget(
         FullSizeDataPlot(self._plot_widget))
     self._ui.start_button.setEnabled(True)
     self._ui.stop_button.setEnabled(False)
Esempio n. 3
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 def restore(self):
     '''
       Restore the frame after a hibernate.
     '''
     self._plot_widget = PlotWidget()
     self._plot_widget.setWindowTitle("Error")
     self._plot_layout.addWidget(self._plot_widget)
     self._plot_widget.switch_data_plot_widget(DataPlot(self._plot_widget))
     self._plot_widget.data_plot.dynamic_range = True
     self._plot_widget_live = PlotWidget()
     self._plot_widget_live.setWindowTitle("Live Graphs")
     self._plot_widget_live.switch_data_plot_widget(DataPlot(self._plot_widget_live))
     self._plot_layout.addWidget(self._plot_widget_live)
Esempio n. 4
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    def restore(self):
        '''
          Restore the frame after a hibernate.
        '''
        self._plot_widget = PlotWidget()
        self._plot_widget.setWindowTitle("Battery Profile")
        self._plot_widget.topic_edit.setText(self._battery_topic_name)
        self._plot_layout.addWidget(self._plot_widget)

        self._data_plot = DataPlot(self._plot_widget)
        self._data_plot.set_autoscale(y=False)
        self._data_plot.set_ylim([0, 180])
        self._plot_widget.switch_data_plot_widget(self._data_plot)
 def setupUi(self):
     self._ui.setupUi(self)
     self._plot_layout = QVBoxLayout(self._ui.scan_angle_group_box)
     self._plot_widget = PlotWidget()
     self._plot_widget.setWindowTitle("Error")
     self._plot_layout.addWidget(self._plot_widget)
     self._plot_widget.switch_data_plot_widget(FullSizeDataPlot(self._plot_widget))
     self._plot_widget.data_plot.dynamic_range = True
     self._plot_widget_live = PlotWidget()
     self._plot_widget_live.setWindowTitle("Live Graphs")
     self._plot_widget_live.switch_data_plot_widget(MatDataPlot(self._plot_widget_live))
     self._plot_layout.addWidget(self._plot_widget_live)
     self._ui.start_button.setEnabled(True)
     self._ui.stop_button.setEnabled(False)
 def setupUi(self):
     self._ui.setupUi(self)
     self._plot_layout = QVBoxLayout(self._ui.scan_angle_group_box)
     self._plot_widget = PlotWidget()
     self._plot_widget.setWindowTitle("Error")
     self._plot_layout.addWidget(self._plot_widget)
     self._plot_widget.switch_data_plot_widget(FullSizeDataPlot(self._plot_widget))
     self._plot_widget.data_plot.dynamic_range = True
     self._plot_widget_live = PlotWidget()
     self._plot_widget_live.setWindowTitle("Live Graphs")
     self._plot_widget_live.switch_data_plot_widget(MatDataPlot(self._plot_widget_live))
     self._plot_layout.addWidget(self._plot_widget_live)
     self._ui.start_button.setEnabled(True)
     self._ui.stop_button.setEnabled(False)
Esempio n. 7
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    def setupUi(self, cmd_vel_topic_name):
        self._ui.setupUi(self)
        self._cmd_vel_topic_name = cmd_vel_topic_name
        self._plot_layout = QVBoxLayout(self._ui.battery_profile_group_box)
        self._plot_widget = PlotWidget()
        self._plot_widget.setWindowTitle("Battery Profile")
        self._plot_widget.topic_edit.setText(self._battery_topic_name)
        self._plot_layout.addWidget(self._plot_widget)

        self._data_plot = DataPlot(self._plot_widget)
        self._data_plot.set_autoscale(y=False)
        self._data_plot.set_ylim([0, 180])
        self._plot_widget.switch_data_plot_widget(self._data_plot)
        self._ui.start_button.setEnabled(True)
        self._ui.stop_button.setEnabled(False)
 def setupUi(self):
     self._ui.setupUi(self)
     self._plot_layout = QVBoxLayout(self._ui.battery_profile_group_box)
     self._plot_widget = PlotWidget()
     self._plot_widget.setWindowTitle("Battery Profile")
     self._plot_widget.topic_edit.setText(self._battery_topic_name)
     self._plot_layout.addWidget(self._plot_widget)
     self._plot_widget.switch_data_plot_widget(FullSizeDataPlot(self._plot_widget))
     self._ui.start_button.setEnabled(True)
     self._ui.stop_button.setEnabled(False)
Esempio n. 9
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class BatteryProfileFrame(QFrame):
    def __init__(self, parent=None):
        super(BatteryProfileFrame, self).__init__(parent)
        self._cmd_vel_topic_name = '/mobile_base/commands/velocity'
        self._battery_topic_name = "/mobile_base/sensors/core/battery"
        self._ui = Ui_battery_profile_frame()
        self._motion = None
        self.robot_state_subscriber = None
        self._motion_thread = None

    def setupUi(self, cmd_vel_topic_name):
        self._ui.setupUi(self)
        self._cmd_vel_topic_name = cmd_vel_topic_name
        self._plot_layout = QVBoxLayout(self._ui.battery_profile_group_box)
        self._plot_widget = PlotWidget()
        self._plot_widget.setWindowTitle("Battery Profile")
        self._plot_widget.topic_edit.setText(self._battery_topic_name)
        self._plot_layout.addWidget(self._plot_widget)

        self._data_plot = DataPlot(self._plot_widget)
        self._data_plot.set_autoscale(y=False)
        self._data_plot.set_ylim([0, 180])
        self._plot_widget.switch_data_plot_widget(self._data_plot)
        self._ui.start_button.setEnabled(True)
        self._ui.stop_button.setEnabled(False)

    def shutdown(self):
        '''
          Used to terminate the plugin
        '''
        rospy.loginfo("Kobuki TestSuite: battery test shutdown")
        self._stop()

    ##########################################################################
    # 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.
        '''
        self._stop()
    
    def restore(self):
        '''
          Restore the frame after a hibernate.
        '''
        pass


    ##########################################################################
    # Motion Callbacks
    ##########################################################################

    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)
        if not self._motion: 
            self._motion = Rotate(self._cmd_vel_topic_name)
            self._motion.init(self._ui.angular_speed_spinbox.value())
        if not self.robot_state_subscriber:
            self.robot_state_subscriber = rospy.Subscriber("/mobile_base/events/robot_state", RobotStateEvent, self.robot_state_callback)
        rospy.sleep(0.5)
        self._plot_widget._start_time = rospy.get_time()
        self._plot_widget.enable_timer(True)
        try:
            self._plot_widget.remove_topic(self._battery_topic_name)
        except KeyError:
            pass
        self._plot_widget.add_topic(self._battery_topic_name)
        self._motion_thread = WorkerThread(self._motion.execute, self._run_finished)
        self._motion_thread.start()

    @Slot()
    def on_stop_button_clicked(self):
        '''
          Hardcore stoppage - straight to zero.
        '''
        self._stop()
        
    def _stop(self):
        self._plot_widget.enable_timer(False) # pause plot rendering
        if self._motion_thread:
            self._motion.stop()
            self._motion_thread.wait()
            self._motion_thread = None
        if self._motion:
            self._motion.shutdown()
            self._motion = None
        if self.robot_state_subscriber:
            self.robot_state_subscriber.unregister()
            self.robot_state_subscriber = None
        self._ui.start_button.setEnabled(True)
        self._ui.stop_button.setEnabled(False)
        
    @pyqtSlot(float)
    def on_angular_speed_spinbox_valueChanged(self, value):
        if self._motion:
            self._motion.init(self._ui.angular_speed_spinbox.value())

    ##########################################################################
    # External Slot Callbacks
    ##########################################################################
    @Slot(str)
    def on_cmd_vel_topic_combo_box_currentIndexChanged(self, topic_name):
        '''
          To be connected to the configuration dock combo box (via the main testsuite frame)
        '''
        self._cmd_vel_topic_name = topic_name
        print("DudetteBattery %s" % topic_name)

    ##########################################################################
    # Ros Callbacks
    ##########################################################################

    def robot_state_callback(self, data):
        if data.state == RobotStateEvent.OFFLINE:
            self.stop()
class BatteryProfileFrame(QFrame):
    def __init__(self, parent=None):
        super(BatteryProfileFrame, self).__init__(parent)
        self._cmd_vel_topic_name = "/mobile_base/commands/velocity"
        self._battery_topic_name = "/mobile_base/sensors/core/battery"
        self._ui = Ui_battery_profile_frame()
        self._motion = None
        self.robot_state_subscriber = None
        self._motion_thread = None

    def setupUi(self, cmd_vel_topic_name):
        self._ui.setupUi(self)
        self._cmd_vel_topic_name = cmd_vel_topic_name
        self._plot_layout = QVBoxLayout(self._ui.battery_profile_group_box)
        self._plot_widget = PlotWidget()
        self._plot_widget.setWindowTitle("Battery Profile")
        self._plot_widget.topic_edit.setText(self._battery_topic_name)
        self._plot_layout.addWidget(self._plot_widget)
        self._plot_widget.switch_data_plot_widget(FullSizeDataPlot(self._plot_widget))
        self._ui.start_button.setEnabled(True)
        self._ui.stop_button.setEnabled(False)

    def shutdown(self):
        """
          Used to terminate the plugin
        """
        rospy.loginfo("Kobuki TestSuite: battery test shutdown")
        self._stop()

    ##########################################################################
    # 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.
        """
        self._stop()

    def restore(self):
        """
          Restore the frame after a hibernate.
        """
        pass

    ##########################################################################
    # Motion Callbacks
    ##########################################################################

    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)
        if not self._motion:
            self._motion = Rotate(self._cmd_vel_topic_name)
            self._motion.init(self._ui.angular_speed_spinbox.value())
        if not self.robot_state_subscriber:
            self.robot_state_subscriber = rospy.Subscriber(
                "/mobile_base/events/robot_state", RobotStateEvent, self.robot_state_callback
            )
        rospy.sleep(0.5)
        self._plot_widget._start_time = rospy.get_time()
        self._plot_widget.enable_timer(True)
        try:
            self._plot_widget.remove_topic(self._battery_topic_name)
        except KeyError:
            pass
        self._plot_widget.add_topic(self._battery_topic_name)
        self._motion_thread = WorkerThread(self._motion.execute, self._run_finished)
        self._motion_thread.start()

    @Slot()
    def on_stop_button_clicked(self):
        """
          Hardcore stoppage - straight to zero.
        """
        self._stop()

    def _stop(self):
        self._plot_widget.enable_timer(False)  # pause plot rendering
        if self._motion_thread:
            self._motion.stop()
            self._motion_thread.wait()
            self._motion_thread = None
        if self._motion:
            self._motion.shutdown()
            self._motion = None
        if self.robot_state_subscriber:
            self.robot_state_subscriber.unregister()
            self.robot_state_subscriber = None
        self._ui.start_button.setEnabled(True)
        self._ui.stop_button.setEnabled(False)

    @pyqtSlot(float)
    def on_angular_speed_spinbox_valueChanged(self, value):
        if self._motion:
            self._motion.init(self._ui.angular_speed_spinbox.value())

    ##########################################################################
    # External Slot Callbacks
    ##########################################################################
    @Slot(str)
    def on_cmd_vel_topic_combo_box_currentIndexChanged(self, topic_name):
        """
          To be connected to the configuration dock combo box (via the main testsuite frame)
        """
        self._cmd_vel_topic_name = topic_name
        print("DudetteBattery %s" % topic_name)

    ##########################################################################
    # Ros Callbacks
    ##########################################################################

    def robot_state_callback(self, data):
        if data.state == RobotStateEvent.OFFLINE:
            self.stop()
Esempio n. 11
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class GyroDriftFrame(QFrame):
    def __init__(self, parent=None):
        super(GyroDriftFrame, self).__init__(parent)
        self._ui = Ui_gyro_drift_frame()
        self._laser_scan_angle_topic_name = '/laser_scan_angle'
        self._gyro_scan_angle_topic_name = '/gyro_scan_angle'
        self._error_scan_angle_topic_name = '/error_scan_angle'
        self._cmd_vel_topic_name = '/mobile_base/commands/velocity'
        self._gyro_topic_name = '/mobile_base/sensors/imu_data'
        self._motion = None
        self._scan_to_angle = None
        self._motion_thread = None
        self._plot_widget = None
        self._plot_widget_live = None

    def setupUi(self):
        self._ui.setupUi(self)
        self._plot_layout = QVBoxLayout(self._ui.scan_angle_group_box)
        self._ui.start_button.setEnabled(True)
        self._ui.stop_button.setEnabled(False)

    def shutdown(self):
        '''
          Used to terminate the plugin
        '''
        rospy.loginfo("Kobuki TestSuite: gyro drift shutdown")
        self._stop()

    ##########################################################################
    # Widget Management
    ##########################################################################

    def _pause_plots(self):
        '''
         Pause plots, more importantly, pause greedy plot rendering
        '''
        if self._plot_widget:
            self._plot_widget.enable_timer(False)
        if self._plot_widget_live:
            self._plot_widget_live.enable_timer(False)

    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.
        '''
        self._stop()
        self._plot_layout.removeWidget(self._plot_widget)
        self._plot_layout.removeWidget(self._plot_widget_live)
        self._plot_widget = None
        self._plot_widget_live = None

    def restore(self):
        '''
          Restore the frame after a hibernate.
        '''
        self._plot_widget = PlotWidget()
        self._plot_widget.setWindowTitle("Error")
        self._plot_layout.addWidget(self._plot_widget)
        self._plot_widget.switch_data_plot_widget(DataPlot(self._plot_widget))
        self._plot_widget.data_plot.dynamic_range = True
        self._plot_widget_live = PlotWidget()
        self._plot_widget_live.setWindowTitle("Live Graphs")
        self._plot_widget_live.switch_data_plot_widget(DataPlot(self._plot_widget_live))
        self._plot_layout.addWidget(self._plot_widget_live)

    ##########################################################################
    # Qt Callbacks
    ##########################################################################
    @Slot()
    def on_start_button_clicked(self):
        self._ui.start_button.setEnabled(False)
        self._ui.stop_button.setEnabled(True)
        if not self._scan_to_angle:
            self._scan_to_angle = ScanToAngle('/scan',self._laser_scan_angle_topic_name)
        if not self._motion:
            self._motion = DriftEstimation(self._laser_scan_angle_topic_name, self._gyro_scan_angle_topic_name, self._error_scan_angle_topic_name, self._cmd_vel_topic_name,self._gyro_topic_name)
            self._motion.init(self._ui.angular_speed_spinbox.value())
        rospy.sleep(0.5)
        self._plot_widget._start_time = rospy.get_time()
        self._plot_widget.enable_timer(True)
        try:
            self._plot_widget.remove_topic(self._error_scan_angle_topic_name+'/scan_angle')
            self._plot_widget_live.remove_topic(self._laser_scan_angle_topic_name+'/scan_angle')
            self._plot_widget_live.remove_topic(self._gyro_scan_angle_topic_name+'/scan_angle')
            self._plot_widget_live.remove_topic(self._cmd_vel_topic_name+'/angular/z')
        except KeyError:
            pass
        self._plot_widget_live.add_topic(self._cmd_vel_topic_name+'/angular/z')
        self._plot_widget_live.add_topic(self._laser_scan_angle_topic_name+'/scan_angle')
        self._plot_widget_live.add_topic(self._gyro_scan_angle_topic_name+'/scan_angle')
        self._plot_widget.add_topic(self._error_scan_angle_topic_name+'/scan_angle')
        self._motion_thread = WorkerThread(self._motion.execute, None)
        self._motion_thread.start()

    @Slot()
    def on_stop_button_clicked(self):
        self._stop()

    def _stop(self):
        self._pause_plots()
        if self._scan_to_angle:
            self._scan_to_angle.shutdown()
            self._scan_to_angle = None
        if self._motion:
            self._motion.stop()
        if self._motion_thread:
            self._motion_thread.wait()
            self._motion_thread = None
        if self._motion:
            self._motion.shutdown()
            self._motion = None
        self._ui.start_button.setEnabled(True)
        self._ui.stop_button.setEnabled(False)

    @pyqtSlot(float)
    def on_angular_speed_spinbox_valueChanged(self, value):
        if self._motion:
            self._motion.init(self._ui.angular_speed_spinbox.value())
Esempio n. 12
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class PlotConfiguration(QFrame):
    def __init__(self, parent=None):
        super(PlotConfiguration, self).__init__(parent)
        self._rospack = rospkg.RosPack()
        plot_configuration_file = os.path.join(
            self._rospack.get_path('sleo_testsuite'), 'resource/ui',
            'plot_configuration.ui')
        # loadUi(plot_configuration_file, self)
        loadUi(plot_configuration_file, self, {'DataPlot': DataPlot})
        self._plot_widget = PlotWidget()
        self._plot_widget.setWindowTitle("Plot Profile")
        self._plot_widget.topic_edit.setText(
            "/sleo_velocity_controller/cmd_vel")
        self.horizontalLayout_4.addWidget(self._plot_widget)

        self._plot_widget.switch_data_plot_widget(self._widget_data_plot)

        self._old_cmd_topic = self._cmd_topic_comboBox.currentText()
        self._old_odom_topic = self._odom_topic_comboBox.currentText()

        # Get current topic list and fileter contains topics we will use
        self._topics_and_types = rospy.get_published_topics()
        for topic, type in self._topics_and_types:
            #print 'topic: '+ topic + ' type: ' + type + '\n'
            if type == 'geometry_msgs/Twist':
                self._cmd_topic_comboBox.addItem(topic)
            if type == 'nav_msgs/Odometry':
                self._odom_topic_comboBox.addItem(topic)

    def shutdown(self):
        '''
          Used to terminate the plugin
        '''
        rospy.loginfo("Sleo TestSuite: Plot configuration frame shutdown")

    def get_cmd_topic(self):
        if self._cmd_topic_comboBox.currentText() == '':
            rospy.logerr(
                "Sleo Testsuite: current command topic is empty! Please checkout whether topic is open or not."
            )
        return self._cmd_topic_comboBox.currentText()

    def get_odom_topic(self):
        if self._odom_topic_comboBox.currentText() == '':
            rospy.logerr(
                "Sleo Testsuite: current odom topic is empty! Please checkout whether topic is open or not."
            )
        return self._odom_topic_comboBox.currentText()

    def run(self, line_error_bool, Line_speed_error_bool, Angl_error_bool,
            Angl_speed_error_bool):

        self._plot_widget.clean_up_subscribers()

        if line_error_bool:
            ## whether can change to odom_linear_x_topic
            odom_linear_x_topic = '/moved_distance_topic'

            #self._plot_widget.topic_edit.setText(cmd_linear_x_topic)
            #self._plot_widget.topic_edit.setText(odom_speed_linear_x_topic)
            self._plot_widget._start_time = rospy.get_time()
            self._plot_widget.enable_timer(True)

            try:
                self._plot_widget.remove_topic(
                    self._cmd_topic_comboBox.currentText())
            except KeyError:
                pass

            self._plot_widget.add_topic(odom_linear_x_topic)

        elif Line_speed_error_bool:
            cmd_linear_x_topic = self._cmd_topic_comboBox.currentText(
            ) + '/linear/x'
            ## whether can change to odom_linear_x_topic
            odom_speed_linear_x_topic = self._odom_topic_comboBox.currentText(
            ) + '/twist/twist/linear/x'

            self._plot_widget.topic_edit.setText(cmd_linear_x_topic)
            self._plot_widget.topic_edit.setText(odom_speed_linear_x_topic)
            self._plot_widget._start_time = rospy.get_time()
            self._plot_widget.enable_timer(True)

            try:
                self._plot_widget.remove_topic(
                    self._cmd_topic_comboBox.currentText())
            except KeyError:
                pass

            self._plot_widget.add_topic(cmd_linear_x_topic)
            self._plot_widget.add_topic(odom_speed_linear_x_topic)

        elif Angl_error_bool:
            cmd_angular_z_topic = '/moved_angle_topic'

            #   self._plot_widget.topic_edit.setText(cmd_angular_z_topic)
            #   self._plot_widget.topic_edit.setText(odom_speed_linear_x_topic)
            self._plot_widget._start_time = rospy.get_time()
            self._plot_widget.enable_timer(True)

            try:
                self._plot_widget.remove_topic(
                    self._cmd_topic_comboBox.currentText())
            except KeyError:
                pass

            self._plot_widget.add_topic(cmd_angular_z_topic)

        elif Angl_speed_error_bool:
            cmd_angular_z_topic = self._cmd_topic_comboBox.currentText(
            ) + '/angular/z'
            odom_angular_speed_z_topic = self._odom_topic_comboBox.currentText(
            ) + '/twist/twist/angular/z'

            #   self._plot_widget.topic_edit.setText(cmd_angular_z_topic)
            #   self._plot_widget.topic_edit.setText(odom_speed_linear_x_topic)
            self._plot_widget._start_time = rospy.get_time()
            self._plot_widget.enable_timer(True)

            try:
                self._plot_widget.remove_topic(
                    self._cmd_topic_comboBox.currentText())
            except KeyError:
                pass

            self._plot_widget.add_topic(cmd_angular_z_topic)
            self._plot_widget.add_topic(odom_angular_speed_z_topic)

    def stop(self):
        self._plot_widget.enable_timer(False)  # pause plot rendering
class GyroDriftFrame(QFrame):
    def __init__(self, parent=None):
        super(GyroDriftFrame, self).__init__(parent)
        self._ui = Ui_gyro_drift_frame()
        self._laser_scan_angle_topic_name = "/laser_scan_angle"
        self._gyro_scan_angle_topic_name = "/gyro_scan_angle"
        self._error_scan_angle_topic_name = "/error_scan_angle"
        self._cmd_vel_topic_name = "/mobile_base/commands/velocity"
        self._gyro_topic_name = "/mobile_base/sensors/imu_data"
        self._motion = None
        self._scan_to_angle = None
        self._motion_thread = None

    def setupUi(self):
        self._ui.setupUi(self)
        self._plot_layout = QVBoxLayout(self._ui.scan_angle_group_box)
        self._plot_widget = PlotWidget()
        self._plot_widget.setWindowTitle("Error")
        self._plot_layout.addWidget(self._plot_widget)
        self._plot_widget.switch_data_plot_widget(FullSizeDataPlot(self._plot_widget))
        self._plot_widget.data_plot.dynamic_range = True
        self._plot_widget_live = PlotWidget()
        self._plot_widget_live.setWindowTitle("Live Graphs")
        self._plot_widget_live.switch_data_plot_widget(MatDataPlot(self._plot_widget_live))
        self._plot_layout.addWidget(self._plot_widget_live)
        self._ui.start_button.setEnabled(True)
        self._ui.stop_button.setEnabled(False)

    def shutdown(self):
        """
          Used to terminate the plugin
        """
        rospy.loginfo("Kobuki TestSuite: gyro drift shutdown")
        self._stop()

    ##########################################################################
    # Widget Management
    ##########################################################################

    def _pause_plots(self):
        """
         Pause plots, more importantly, pause greedy plot rendering
        """
        self._plot_widget.enable_timer(False)
        self._plot_widget_live.enable_timer(False)

    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.
        """
        self._stop()

    def restore(self):
        """
          Restore the frame after a hibernate.
        """
        pass

    ##########################################################################
    # Qt Callbacks
    ##########################################################################
    @Slot()
    def on_start_button_clicked(self):
        self._ui.start_button.setEnabled(False)
        self._ui.stop_button.setEnabled(True)
        if not self._scan_to_angle:
            self._scan_to_angle = ScanToAngle("/scan", self._laser_scan_angle_topic_name)
        if not self._motion:
            self._motion = DriftEstimation(
                self._laser_scan_angle_topic_name,
                self._gyro_scan_angle_topic_name,
                self._error_scan_angle_topic_name,
                self._cmd_vel_topic_name,
                self._gyro_topic_name,
            )
            self._motion.init(self._ui.angular_speed_spinbox.value())
        rospy.sleep(0.5)
        self._plot_widget.data_plot.reset()
        self._plot_widget._start_time = rospy.get_time()
        self._plot_widget.enable_timer(True)
        try:
            self._plot_widget.remove_topic(self._error_scan_angle_topic_name + "/scan_angle")
            self._plot_widget_live.remove_topic(self._laser_scan_angle_topic_name + "/scan_angle")
            self._plot_widget_live.remove_topic(self._gyro_scan_angle_topic_name + "/scan_angle")
            self._plot_widget_live.remove_topic(self._cmd_vel_topic_name + "/angular/z")
        except KeyError:
            pass
        self._plot_widget_live.add_topic(self._cmd_vel_topic_name + "/angular/z")
        self._plot_widget_live.add_topic(self._laser_scan_angle_topic_name + "/scan_angle")
        self._plot_widget_live.add_topic(self._gyro_scan_angle_topic_name + "/scan_angle")
        self._plot_widget.add_topic(self._error_scan_angle_topic_name + "/scan_angle")
        self._motion_thread = WorkerThread(self._motion.execute, None)
        self._motion_thread.start()

    @Slot()
    def on_stop_button_clicked(self):
        self._stop()

    def _stop(self):
        self._pause_plots()
        if self._scan_to_angle:
            self._scan_to_angle.shutdown()
            self._scan_to_angle = None
        if self._motion:
            self._motion.stop()
        if self._motion_thread:
            self._motion_thread.wait()
            self._motion_thread = None
        if self._motion:
            self._motion.shutdown()
            self._motion = None
        self._ui.start_button.setEnabled(True)
        self._ui.stop_button.setEnabled(False)

    @pyqtSlot(float)
    def on_angular_speed_spinbox_valueChanged(self, value):
        if self._motion:
            self._motion.init(self._ui.angular_speed_spinbox.value())