def __init__(self, context):
Plugin.__init__(self, context)
self.setObjectName('RqtGraspViewer')
self._widget = QWidget()
ui_file = os.path.join(rospkg.RosPack().get_path('rqt_grasp_viewer'),
'ui', 'RqtGraspViewer.ui')
loadUi(ui_file, self._widget)
self._widget.setObjectName('RqtGraspViewerUi')
context.add_widget(self._widget)
main_layout = QHBoxLayout()
self._default_labels = [
"obj_id", "object", "grasp_id", "grasp", "quality"
]
self._filemodel = QStandardItemModel(0, 5)
self._filemodel.setHorizontalHeaderLabels(self._default_labels)
self._table_view = QTableView()
self._table_view.setModel(self._filemodel)
self._table_view.resizeColumnsToContents()
main_layout.addWidget(self._table_view)
self._widget.scrollarea.setLayout(main_layout)
self.init_services()
self.init_subscribers()
# self._table_view.clicked.connect(self.on_table_view_clicked)
self._table_view.selectionModel().selectionChanged.connect(
self.on_table_view_select)
def __init__(self, context):
Plugin.__init__(self, context)
self.setObjectName('RqtGraspViewer')
self._widget = QWidget()
ui_file = os.path.join(rospkg.RosPack().get_path('rqt_grasp_viewer'), 'ui', 'RqtGraspViewer.ui')
loadUi(ui_file, self._widget)
self._widget.setObjectName('RqtGraspViewerUi')
context.add_widget(self._widget)
main_layout = QHBoxLayout()
self._default_labels = ["obj_id", "object", "grasp_id", "grasp", "quality"]
self._filemodel = QStandardItemModel(0, 5)
self._filemodel.setHorizontalHeaderLabels(self._default_labels)
self._table_view = QTableView()
self._table_view.setModel(self._filemodel)
self._table_view.resizeColumnsToContents()
main_layout.addWidget(self._table_view)
self._widget.scrollarea.setLayout(main_layout)
self.init_services()
self.init_subscribers()
# self._table_view.clicked.connect(self.on_table_view_clicked)
self._table_view.selectionModel().selectionChanged.connect(self.on_table_view_select)
class GraspViewerGUI(Plugin):
"""
a rqtgui plugin for the grasp viewer
"""
def __init__(self, context):
Plugin.__init__(self, context)
self.setObjectName('RqtGraspViewer')
self._widget = QWidget()
ui_file = os.path.join(rospkg.RosPack().get_path('rqt_grasp_viewer'),
'ui', 'RqtGraspViewer.ui')
loadUi(ui_file, self._widget)
self._widget.setObjectName('RqtGraspViewerUi')
context.add_widget(self._widget)
main_layout = QHBoxLayout()
self._default_labels = [
"obj_id", "object", "grasp_id", "grasp", "quality"
]
self._filemodel = QStandardItemModel(0, 5)
self._filemodel.setHorizontalHeaderLabels(self._default_labels)
self._table_view = QTableView()
self._table_view.setModel(self._filemodel)
self._table_view.resizeColumnsToContents()
main_layout.addWidget(self._table_view)
self._widget.scrollarea.setLayout(main_layout)
self.init_services()
self.init_subscribers()
# self._table_view.clicked.connect(self.on_table_view_clicked)
self._table_view.selectionModel().selectionChanged.connect(
self.on_table_view_select)
#self._widget.treeWidget.itemClicked.connect(self.on_posture_clicked)
def init_services(self):
"""
Init services
"""
service_name = '/display_grasp'
try:
rospy.wait_for_service(service_name)
self._grasp_viz_client = rospy.ServiceProxy(
service_name, DisplayGrasps)
rospy.loginfo("Found %s", service_name)
except rospy.ROSException:
rospy.logerr("%s did not show up. Giving up", service_name)
def init_subscribers(self):
"""
Sets up an action client to communicate with the trajectory controller
"""
self._grasp_sub = rospy.Subscriber("/grasp_manager/result",
GraspPlanningActionResult,
self.graspable_result_cb)
def graspable_result_cb(self, msg):
result = msg.result
if len(result.grasps) > 0:
fm = self._filemodel
fm.clear()
fm.setHorizontalHeaderLabels(self._default_labels)
self.grasps = result.grasps
self.populate_table()
def populate_table(self):
"""
update table
"""
fm = self._filemodel
i = 0
for j, grasp in enumerate(self.grasps):
item_id = QStandardItem(str(i))
item_id.setEditable(False)
item_obj = QStandardItem("unknown")
item_obj.setEditable(False)
idem_grasp_id = QStandardItem(str(j))
idem_grasp_id.setEditable(False)
item_grasp = QStandardItem(grasp.id)
item_grasp.setEditable(False)
item_grasp_quality = QStandardItem(str(grasp.grasp_quality))
item_grasp_quality.setEditable(False)
fm.appendRow([
item_id, item_obj, idem_grasp_id, item_grasp,
item_grasp_quality
])
self._table_view.resizeColumnsToContents()
#fm = self._filemodel[group_name]
#item_idx = fm.index(idx, 0)
#fm.setData(item_idx, str(time_from_start))
def on_table_view_clicked(self, index):
items = self._table_view.selectedIndexes()
for it in items:
print 'selected item index found at %s' % it.row()
def on_table_view_select(self, selected, deselected):
fm = self._filemodel
items = self._table_view.selectedIndexes()
if len(items) > 0:
if len(items) > 5:
rospy.logwarn("More than 5 items selected, \
but grasp viewer can only display 5 grasps at the same time"
)
req = DisplayGraspsRequest()
for it in items:
row = it.row()
obj_idx = fm.index(it.row(), 0)
obj_id = int(fm.data(obj_idx))
grasp_idx = fm.index(it.row(), 2)
grasp_id = int(fm.data(grasp_idx))
req.grasps.append(self.grasps[grasp_id])
#print "selected item index found at ", obj_id, grasp_id
self._grasp_viz_client(req)
#########
# Default methods for the rqtgui plugins
def save_settings(self, global_settings, perspective_settings):
pass
def restore_settings(self, global_settings, perspective_settings):
pass
class GraspViewerGUI(Plugin):
"""
a rqtgui plugin for the grasp viewer
"""
def __init__(self, context):
Plugin.__init__(self, context)
self.setObjectName('RqtGraspViewer')
self._widget = QWidget()
ui_file = os.path.join(rospkg.RosPack().get_path('rqt_grasp_viewer'), 'ui', 'RqtGraspViewer.ui')
loadUi(ui_file, self._widget)
self._widget.setObjectName('RqtGraspViewerUi')
context.add_widget(self._widget)
main_layout = QHBoxLayout()
self._default_labels = ["obj_id", "object", "grasp_id", "grasp", "quality"]
self._filemodel = QStandardItemModel(0, 5)
self._filemodel.setHorizontalHeaderLabels(self._default_labels)
self._table_view = QTableView()
self._table_view.setModel(self._filemodel)
self._table_view.resizeColumnsToContents()
main_layout.addWidget(self._table_view)
self._widget.scrollarea.setLayout(main_layout)
self.init_services()
self.init_subscribers()
# self._table_view.clicked.connect(self.on_table_view_clicked)
self._table_view.selectionModel().selectionChanged.connect(self.on_table_view_select)
#self._widget.treeWidget.itemClicked.connect(self.on_posture_clicked)
def init_services(self):
"""
Init services
"""
service_name = '/display_grasp'
try:
rospy.wait_for_service(service_name)
self._grasp_viz_client = rospy.ServiceProxy(service_name, DisplayGrasps)
rospy.loginfo("Found %s", service_name)
except rospy.ROSException:
rospy.logerr("%s did not show up. Giving up", service_name)
def init_subscribers(self):
"""
Sets up an action client to communicate with the trajectory controller
"""
self._grasp_sub = rospy.Subscriber("/grasp_manager/result", GraspPlanningActionResult,
self.graspable_result_cb)
def graspable_result_cb(self, msg):
result = msg.result
if len(result.grasps) > 0:
fm = self._filemodel
fm.clear()
fm.setHorizontalHeaderLabels(self._default_labels)
self.grasps = result.grasps
self.populate_table()
def populate_table(self):
"""
update table
"""
fm = self._filemodel
i = 0
for j, grasp in enumerate(self.grasps):
item_id = QStandardItem(str(i))
item_id.setEditable(False)
item_obj = QStandardItem("unknown")
item_obj.setEditable(False)
idem_grasp_id = QStandardItem(str(j))
idem_grasp_id.setEditable(False)
item_grasp = QStandardItem(grasp.id)
item_grasp.setEditable(False)
item_grasp_quality = QStandardItem(str(grasp.grasp_quality))
item_grasp_quality.setEditable(False)
fm.appendRow([item_id, item_obj, idem_grasp_id, item_grasp, item_grasp_quality])
self._table_view.resizeColumnsToContents()
#fm = self._filemodel[group_name]
#item_idx = fm.index(idx, 0)
#fm.setData(item_idx, str(time_from_start))
def on_table_view_clicked(self, index):
items = self._table_view.selectedIndexes()
for it in items:
print 'selected item index found at %s' % it.row()
def on_table_view_select(self, selected, deselected):
fm = self._filemodel
items = self._table_view.selectedIndexes()
if len(items) > 0:
if len(items) > 5:
rospy.logwarn("More than 5 items selected, \
but grasp viewer can only display 5 grasps at the same time")
req = DisplayGraspsRequest()
for it in items:
row = it.row()
obj_idx = fm.index(it.row(), 0)
obj_id = int(fm.data(obj_idx))
grasp_idx = fm.index(it.row(), 2)
grasp_id = int(fm.data(grasp_idx))
req.grasps.append(self.grasps[grasp_id])
#print "selected item index found at ", obj_id, grasp_id
self._grasp_viz_client(req)
#########
# Default methods for the rqtgui plugins
def save_settings(self, global_settings, perspective_settings):
pass
def restore_settings(self, global_settings, perspective_settings):
pass
