コード例 #1
0
def main():
    util.controlset = controlset.ControlSet()
    util.costmap = util.CostMap()
    root = graphics.root
    root.title("Lattice Planner")
    root.configure(background = 'grey')
    graphics.canvas.pack()

    # x initial
    entryLabel_x1 = Label(root)
    entryLabel_x1["text"] = "init: X"
    entryLabel_x1.pack(side = LEFT)
    entryWidget_x1 = Entry(root)
    entryWidget_x1["width"] = 5
    entryWidget_x1.pack(side = LEFT)

    # y initial
    entryLabel_y1 = Label(root)
    entryLabel_y1["text"] = "Y"
    entryLabel_y1.pack(side = LEFT)
    entryWidget_y1 = Entry(root)
    entryWidget_y1["width"] = 5
    entryWidget_y1.pack(side = LEFT)

    # theta initial
    entryLabel_th1 = Label(root)
    entryLabel_th1["text"] = "TH"
    entryLabel_th1.pack(side = LEFT)
    entryWidget_th1 = Entry(root)
    entryWidget_th1["width"] = 5
    entryWidget_th1.pack(side = LEFT)

    # d goal (cm)
    entryLabel_d = Label(root)
    entryLabel_d["text"] = "    goal: d"
    entryLabel_d.pack(side = LEFT)
    entryWidget_d = Entry(root)
    entryWidget_d["width"] = 5
    entryWidget_d.pack(side = LEFT)

    # theta goal
    entryLabel_th = Label(root)
    entryLabel_th["text"] = "TH"
    entryLabel_th.pack(side = LEFT)
    entryWidget_th = Entry(root)
    entryWidget_th["width"] = 5
    entryWidget_th.pack(side = LEFT)
    
    b = Button(root,text = "Go",command = lambda: startPlanner(float(entryWidget_x1.get()),float(entryWidget_y1.get()),float(entryWidget_th1.get()),float(entryWidget_d.get()),float(entryWidget_th.get())))
    g = Button(root,text = "Show lattice",command = lambda:graphics.draw_lattice())
    g.pack(side = RIGHT)
    b.pack(side = RIGHT)
    util.costmap.draw_costmap()
    graphics.draw_court()
   
    root.mainloop()
コード例 #2
0
ファイル: GUI.py プロジェクト: EVMakers/ballbot
def initialize_gui():    
    global root                 
    rospy.init_node('GUI')
    while not rospy.is_shutdown():
        root = graphics.root
        root.protocol("WM_DELETE_WINDOW", windowclosed)
        root.title("Lattice Planner")
        root.configure(background = 'grey')
        graphics.canvas.pack()        

        # d goal (cm)
        entryLabel_d = Label(root)
        entryLabel_d["text"] = "goal: d"
        entryLabel_d.pack(side = LEFT)
        entryWidget_d = Entry(root)
        entryWidget_d["width"] = 5
        entryWidget_d.pack(side = LEFT)

        # theta goal
        entryLabel_th = Label(root)
        entryLabel_th["text"] = "TH"
        entryLabel_th.pack(side = LEFT)
        entryWidget_th = Entry(root)
        entryWidget_th["width"] = 5
        entryWidget_th.pack(side = LEFT)
    
        # Buttons
        
        b = Button(root,text = "Newball",command = lambda: startPlanner(d_goal = float(entryWidget_d.get()),th_goal = float(entryWidget_th.get()),
                                                                        goaltype = "newball"))
        
        b.pack(side = LEFT)
        g = Button(root,text = "Show lattice",command = lambda:graphics.draw_lattice())
        g.pack(side = RIGHT)

        # goal_x (cm)
        entryLabel_x = Label(root)
        entryLabel_x["text"] = "goal: x"
        entryLabel_x.pack(side = LEFT)
        entryWidget_x = Entry(root)
        entryWidget_x["width"] = 5
        entryWidget_x.pack(side = LEFT)

        # goal_y (cm)
        entryLabel_y = Label(root)
        entryLabel_y["text"] = "goal: y"
        entryLabel_y.pack(side = LEFT)
        entryWidget_y = Entry(root)
        entryWidget_y["width"] = 5
        entryWidget_y.pack(side = LEFT)

        # goal_theta (cm)
        entryLabel_th2 = Label(root)
        entryLabel_th2["text"] = "goal: theta"
        entryLabel_th2.pack(side = LEFT)
        entryWidget_th2 = Entry(root)
        entryWidget_th2["width"] = 5
        entryWidget_th2.pack(side = LEFT)

        b2 = Button(root,text = "GoToPose",command = lambda: startPlanner(x_goal = float(entryWidget_x.get()),y_goal = float(entryWidget_y.get()),
                                                                         th_goal_abs = float(entryWidget_th2.get()),
                                                                        goaltype = "gotopose"))
        b2.pack(side = RIGHT)
    
        graphics.draw_court()
        graphics.draw_landmarks()
        graphics.canvas.configure(cursor = "crosshair")        
        graphics.canvas.bind("<Button-1>", onclick)

        rospy.Subscriber("pose",Pose, received_odometry)
        rospy.Subscriber("path",Path,received_path)
        root.mainloop()
コード例 #3
0
def initialize_gui():
    global root
    rospy.init_node('GUI')
    while not rospy.is_shutdown():
        root = graphics.root
        root.protocol("WM_DELETE_WINDOW", windowclosed)
        root.title("Lattice Planner")
        root.configure(background='grey')
        graphics.canvas.pack()

        # d goal (cm)
        entryLabel_d = Label(root)
        entryLabel_d["text"] = "goal: d"
        entryLabel_d.pack(side=LEFT)
        entryWidget_d = Entry(root)
        entryWidget_d["width"] = 5
        entryWidget_d.pack(side=LEFT)

        # theta goal
        entryLabel_th = Label(root)
        entryLabel_th["text"] = "TH"
        entryLabel_th.pack(side=LEFT)
        entryWidget_th = Entry(root)
        entryWidget_th["width"] = 5
        entryWidget_th.pack(side=LEFT)

        # Buttons

        b = Button(
            root,
            text="Newball",
            command=lambda: startPlanner(d_goal=float(entryWidget_d.get()),
                                         th_goal=float(entryWidget_th.get()),
                                         goaltype="newball"))

        b.pack(side=LEFT)
        g = Button(root,
                   text="Show lattice",
                   command=lambda: graphics.draw_lattice())
        g.pack(side=RIGHT)

        # goal_x (cm)
        entryLabel_x = Label(root)
        entryLabel_x["text"] = "goal: x"
        entryLabel_x.pack(side=LEFT)
        entryWidget_x = Entry(root)
        entryWidget_x["width"] = 5
        entryWidget_x.pack(side=LEFT)

        # goal_y (cm)
        entryLabel_y = Label(root)
        entryLabel_y["text"] = "goal: y"
        entryLabel_y.pack(side=LEFT)
        entryWidget_y = Entry(root)
        entryWidget_y["width"] = 5
        entryWidget_y.pack(side=LEFT)

        # goal_theta (cm)
        entryLabel_th2 = Label(root)
        entryLabel_th2["text"] = "goal: theta"
        entryLabel_th2.pack(side=LEFT)
        entryWidget_th2 = Entry(root)
        entryWidget_th2["width"] = 5
        entryWidget_th2.pack(side=LEFT)

        b2 = Button(root,
                    text="GoToPose",
                    command=lambda: startPlanner(
                        x_goal=float(entryWidget_x.get()),
                        y_goal=float(entryWidget_y.get()),
                        th_goal_abs=float(entryWidget_th2.get()),
                        goaltype="gotopose"))
        b2.pack(side=RIGHT)

        graphics.draw_court()
        graphics.draw_landmarks()
        graphics.canvas.configure(cursor="crosshair")
        graphics.canvas.bind("<Button-1>", onclick)

        rospy.Subscriber("pose", Pose, received_odometry)
        rospy.Subscriber("path", Path, received_path)
        root.mainloop()