def __init__(self, host, console, hal):
t = threading.Thread(target=self.run_server)
self.payload = {
'robot_coord': '',
'robot_contorno': '',
'text_buffer': '',
'laser': '',
'sonar_sensor': '',
'pos_vertices': '',
'laser_global': '',
'EnableMapping': ''
}
# self.map_message = {
# 'EnableMapping': ''
# }
self.server = None
self.client = None
self.host = host
self.acknowledge = False
self.acknowledge_lock = threading.Lock()
# Take the console object to set the same websocket and client
self.console = console
self.hal = hal
t.start()
pose3d_object = ListenerPose3d("/robot0/odom")
laser_object = ListenerLaser("/robot0/laser_1")
self.map = Map(laser_object, pose3d_object)
def __init__(self, host, hal):
t = threading.Thread(target=self.run_server)
self.payload = {'image': '', 'map': '', 'array': ''}
self.server = None
self.client = None
self.host = host
self.image_to_be_shown = None
self.image_to_be_shown_updated = False
self.image_show_lock = threading.Lock()
self.array_lock = threading.Lock()
self.array = None
self.acknowledge = False
self.acknowledge_lock = threading.Lock()
self.mapXY = None
self.worldXY = None
# Take the console object to set the same websocket and client
self.hal = hal
t.start()
# Create the lap object
self.pose3d_object = ListenerPose3d("/taxi_holo/odom")
self.map = Map(self.pose3d_object)
def __init__(self, host, console, hal):
t = threading.Thread(target=self.run_server)
self.payload = {'image': '', 'lap': '', 'map': '', 'text_buffer': ''}
self.server = None
self.client = None
self.host = host
# Image variables
self.image_to_be_shown = None
self.image_to_be_shown_updated = False
self.image_show_lock = threading.Lock()
self.acknowledge = False
self.acknowledge_lock = threading.Lock()
# Take the console object to set the same websocket and client
self.console = console
self.hal = hal
t.start()
# Create the map object
laser_object = ListenerLaser("/F1ROS/laser/scan")
pose3d_object = ListenerPose3d("/F1ROS/odom")
self.map = Map(laser_object, pose3d_object)
# Create the lap object
self.lap = Lap(self.map)
def __init__(self, host, hal):
t = threading.Thread(target=self.run_server)
self.payload = {'image': '','lap': '', 'map': '', 'v':'','w':''}
self.server = None
self.client = None
self.host = host
# Image variables
self.image_to_be_shown = None
self.image_to_be_shown_updated = False
self.image_show_lock = threading.Lock()
self.acknowledge = False
self.acknowledge_lock = threading.Lock()
# Get HAL object
self.hal = hal
t.start()
# Create the lap object
pose3d_object = ListenerPose3d("/F1ROS/odom")
self.lap = Lap(pose3d_object)
self.map = Map(pose3d_object)
def __init__(self, host):
rospy.init_node("GUI")
self.payload = {'image': '','lap': '', 'map': '', 'v':'','w':''}
self.server = None
self.client = None
self.host = host
# Image variable
self.shared_image = SharedImage("guiimage")
# Get HAL variables
self.shared_v = SharedValue("velocity")
self.shared_w = SharedValue("angular")
# Create the lap object
pose3d_object = ListenerPose3d("/F1ROS/odom")
self.lap = Lap(pose3d_object)
self.map = Map(pose3d_object)
# Event objects for multiprocessing
self.ack_event = multiprocessing.Event()
self.cli_event = multiprocessing.Event()
# Start server thread
t = threading.Thread(target=self.run_server)
t.start()
def __init__(self):
rospy.init_node("HAL")
self.motors = PublisherMotors("/roombaROS/cmd_vel", 4, 0.3)
self.pose3d = ListenerPose3d("/roombaROS/odom")
self.laser = ListenerLaser("/roombaROS/laser/scan")
self.bumper = ListenerBumper("/roombaROS/events/bumper")
self.camera_lock = threading.Lock()
def __init__(self):
rospy.init_node("HAL")
self.image = None
self.camera = ListenerCamera("/F1ROS/cameraL/image_raw")
self.motors = PublisherMotors("/F1ROS/cmd_vel", 4, 0.3)
self.pose3d = ListenerPose3d("/F1ROS/odom")
self.laser = ListenerLaser("/F1ROS/laser/scan")
def __init__(self):
rospy.init_node("HAL")
# Shared memory variables
self.image = None
self.v = None
self.w = None
self.p3d = None
if os.getcwd() == "/":
f = open("/RoboticsAcademy/exercises/car_junction/web-template/stop_conf.yml", "r")
else:
f = open("stop_conf.yml", "r")
cfg = yaml.load(f)
ymlNode = cfg['Stop']
#node = rospy.init_node(ymlNode["NodeName"], anonymous=True)
# ------------ M O T O R S ----------------------------------
print("Publishing "+ "Stop.Motors" + " with ROS messages")
topicM = cfg['Stop']["Motors"]["Topic"]
maxW = cfg['Stop']["Motors"]["maxW"]
if not maxW:
maxW = 0.5
print ("Stop.Motors"+".maxW not provided, the default value is used: "+ repr(maxW))
maxV = cfg['Stop']["Motors"]["maxV"]
if not maxV:
maxV = 5
print ("Stop.Motors"+".maxV not provided, the default value is used: "+ repr(maxV))
self.motors = PublisherMotors(topicM, maxV, maxW)
# ----------------- P O S E 3 D -------------------------------------
print("Receiving " + "Stop.Pose3D" + " from ROS messages")
topicP = cfg['Stop']["Pose3D"]["Topic"]
self.pose3d = ListenerPose3d(topicP)
# -------- C A M E R A C E N T R A L --------------------------------------
print("Receiving " + "Stop.CameraC" + " CameraData from ROS messages")
topicCameraC = cfg['Stop']["CameraC"]["Topic"]
self.cameraC = ListenerCamera(topicCameraC)
# -------- C A M E R A L E F T --------------------------------------------
print("Receiving " + "Stop.CameraL" + " CameraData from ROS messages")
topicCameraL = cfg['Stop']["CameraL"]["Topic"]
self.cameraL = ListenerCamera(topicCameraL)
# -------- C A M E R A R I G H T ------------------------------------------
print("Receiving " + "Stop.CameraR" + " CameraData from ROS messages")
topicCameraR = cfg['Stop']["CameraR"]["Topic"]
self.cameraR = ListenerCamera(topicCameraR)
self.template = cv2.imread('assets/img/template.png',0)
def __init__(self):
self.config = Config()
self.motors = PublisherMotors(self.config.topic_motors, self.config.max_velV, self.config.max_velW)
self.pose3d = ListenerPose3d(self.config.topic_pose)
self.sonar_0 = ListenerSonar(self.config.topic_sonar_0)
self.sonar_1 = ListenerSonar(self.config.topic_sonar_1)
self.sonar_2 = ListenerSonar(self.config.topic_sonar_2)
self.sonar_3 = ListenerSonar(self.config.topic_sonar_3)
self.sonar_4 = ListenerSonar(self.config.topic_sonar_4)
self.sonar_5 = ListenerSonar(self.config.topic_sonar_5)
self.sonar_6 = ListenerSonar(self.config.topic_sonar_6)
self.sonar_7 = ListenerSonar(self.config.topic_sonar_7)
self.laser = ListenerLaser(self.config.topic_laser)
def __init__(self, host, hal):
t = threading.Thread(target=self.run_server)
self.payload = {'map': ''}
self.server = None
self.client = None
self.host = host
self.acknowledge = False
self.acknowledge_lock = threading.Lock()
self.hal = hal
t.start()
# Create the lap object
pose3d_object = ListenerPose3d("/roombaROS/odom")
self.map = Map(pose3d_object)
def __init__(self, host, console):
t = threading.Thread(target=self.run_server)
self.payload = {'canvas': None,'image': '', 'shape': []}
self.server = None
self.client = None
self.host = host
self.payload_lock = threading.Lock()
# Take the console object to set the same websocket and client
self.console = console
t.start()
# Create the lap object
pose3d_object = ListenerPose3d("/roombaROS/odom")
self.map = Map(pose3d_object)
def __init__(self, host, console, hal):
t = threading.Thread(target=self.run_server)
self.payload = {'map': '', 'text_buffer': ''}
self.server = None
self.client = None
self.host = host
self.acknowledge = False
self.acknowledge_lock = threading.Lock()
# Take the console object to set the same websocket and client
self.console = console
self.hal = hal
t.start()
# Create the lap object
pose3d_object = ListenerPose3d("/roombaROS/odom")
self.map = Map(pose3d_object)
if __name__ == '__main__':
if len(sys.argv) < 2:
print(
'ERROR: python2 globalNavigation.py [MAP CONFIG file] [YAML CONFIG file]'
)
sys.exit(-1)
app = QApplication(sys.argv)
frame = MainWindow()
grid = Grid(frame)
removeMapFromArgs()
motors = PublisherMotors("/amazon_warehouse_robot/cmd_vel", 0.5, 0.01)
pose = ListenerPose3d("/amazon_warehouse_robot/odom")
vel = Velocity(0, 0, motors.getMaxV(), motors.getMaxW())
frame.setVelocity(vel)
sensor = Sensor(grid, pose, True)
sensor.setGetPathSignal(frame.getPathSig)
frame.setGrid(grid)
frame.setSensor(sensor)
algorithm = MyAlgorithm(grid, sensor, vel)
frame.setAlgorithm(algorithm)
frame.show()
t1 = ThreadMotors(motors, vel)
t1.daemon = True
t1.start()
print("Stop.Motors" +
".maxW not provided, the default value is used: " + repr(maxW))
maxV = cfg.getPropertyWithDefault("Stop.Motors" + ".maxV", 5)
if not maxV:
maxV = 5
print("Stop.Motors" +
".maxV not provided, the default value is used: " + repr(maxV))
# motors = PublisherMotors("/opel/cmd_vel", maxV, maxW)
motors = PublisherMotors(topicM, maxV, maxW)
# ----------------- P O S E 3 D -------------------------------------
print("Receiving " + "Stop.Pose3D" + " from ROS messages")
topicP = cfg.getProperty("Stop.Pose3D" + ".Topic")
pose3d = ListenerPose3d(topicP)
# pose3d = ListenerPose3d("/opel/odom")
# -------- C A M E R A C E N T R A L --------------------------------------
print("Receiving " + "Stop.CameraC" + " CameraData from ROS messages")
topicCameraC = cfg.getProperty("Stop.CameraC" + ".Topic")
cameraC = ListenerCamera(topicCameraC)
# cameraC = ListenerCamera("/opel/cameraC/image_raw")
# -------- C A M E R A L E F T --------------------------------------------
print("Receiving " + "Stop.CameraL" + " CameraData from ROS messages")
topicCameraL = cfg.getProperty("Stop.CameraL" + ".Topic")
cameraL = ListenerCamera(topicCameraL)
# cameraL = ListenerCamera("/opel/cameraL/image_raw")
# -------- C A M E R A R I G H T ------------------------------------------
if __name__ == '__main__':
if len(sys.argv) < 2:
print('ERROR: python2 globalNavigation.py [MAP CONFIG file] [YAML CONFIG file]')
sys.exit(-1)
app = QApplication(sys.argv)
frame = MainWindow()
grid = Grid(frame)
removeMapFromArgs()
motors = PublisherMotors("/taxi_holo/cmd_vel", 4, 0.3)
pose = ListenerPose3d("/taxi_holo/odom")
vel = Velocity(0, 0, motors.getMaxV(), motors.getMaxW())
frame.setVelocity(vel)
sensor = Sensor(grid, pose, True)
sensor.setGetPathSignal(frame.getPathSig)
frame.setGrid(grid)
frame.setSensor(sensor)
algorithm = MyAlgorithm(grid, sensor, vel)
frame.setAlgorithm(algorithm)
frame.show()
t1 = ThreadMotors(motors, vel)
t1.daemon = True
t1.start()
import sys, os
from PyQt5.QtWidgets import QApplication
from gui.GUI import MainWindow
from gui.threadGUI import ThreadGUI
from MyAlgorithm import MyAlgorithm
from interfaces.camera import ListenerCamera
from interfaces.pose3d import ListenerPose3d
from interfaces.laser import ListenerLaser
from interfaces.motors import PublisherMotors
if __name__ == "__main__":
camera = ListenerCamera("/F1ROS/cameraL/image_raw")
motors = PublisherMotors("/F1ROS/cmd_vel", 3, 0.5)
pose3d = ListenerPose3d("/F1ROS/odom")
laser = ListenerLaser("/F1ROS/laser/scan")
algorithm = MyAlgorithm(pose3d, laser, motors)
app = QApplication(sys.argv)
myGUI = MainWindow()
myGUI.setCamera(camera)
myGUI.setMotors(motors)
myGUI.setPose3D(pose3d)
myGUI.setLaser(laser)
myGUI.setAlgorithm(algorithm)
myGUI.show()
t2 = ThreadGUI(myGUI)
t2.daemon = True
def __init__(self):
rospy.init_node("HAL")
self.pose3d = ListenerPose3d("/taxi_holo/odom")
self.motors = PublisherMotors("/taxi_holo/cmd_vel", 4, 0.3)
self.camera_lock = threading.Lock()
from MyAlgorithm import MyAlgorithm
import rospy
import threading
from jderobotTypes import LaserData, CMDVel, Pose3d, SonarData
from gui.threadPublisher import ThreadPublisher
sys.path.append('/home/vladkrav/TFM/AmigoBot/web-template')
from interfaces.motors import PublisherMotors
from interfaces.pose3d import ListenerPose3d
from interfaces.laser import ListenerLaser
from interfaces.sonar import ListenerSonar
if __name__ == "__main__":
motors = PublisherMotors("/robot0/cmd_vel", 0.2, 0.2)
pose3d = ListenerPose3d("/robot0/odom")
laser = ListenerLaser("/robot0/laser_1")
sonar_0 = ListenerSonar("/robot0/sonar_0")
sonar_1 = ListenerSonar("/robot0/sonar_1")
sonar_2 = ListenerSonar("/robot0/sonar_2")
sonar_3 = ListenerSonar("/robot0/sonar_3")
sonar_4 = ListenerSonar("/robot0/sonar_4")
sonar_5 = ListenerSonar("/robot0/sonar_5")
sonar_6 = ListenerSonar("/robot0/sonar_6")
sonar_7 = ListenerSonar("/robot0/sonar_7")
sonar = [sonar_0, sonar_1, sonar_2, sonar_3, sonar_4, sonar_5, sonar_6, sonar_7]
#Run your Algorithm with your solution
algorithm=MyAlgorithm(pose3d, motors, laser, sonar)
#app = QApplication(sys.argv)
from interfaces.camera import ListenerCamera
from interfaces.pose3d import ListenerPose3d
from interfaces.laser import ListenerLaser
from interfaces.motors import PublisherMotors
if __name__ == "__main__":
cfg = config.load(sys.argv[1])
#cam_path = cfg.getProperty("ObstacleAvoidance.CameraPath")
mot_path = cfg.getProperty("ObstacleAvoidance.MotorsPath")
odo_path = cfg.getProperty("ObstacleAvoidance.Pose3DPath")
las_path = cfg.getProperty("ObstacleAvoidance.LaserPath")
#camera = ListenerCamera(cam_path)
motors = PublisherMotors(mot_path, 4, 0.3)
pose3d = ListenerPose3d(odo_path)
laser = ListenerLaser(las_path)
algorithm=MyAlgorithm(pose3d, laser, motors)
app = QApplication(sys.argv)
myGUI = MainWindow()
#myGUI.setCamera(camera)
myGUI.setMotors(motors)
myGUI.setPose3D(pose3d)
myGUI.setLaser(laser)
myGUI.setAlgorithm(algorithm)
myGUI.show()
t2 = ThreadGUI(myGUI)
t2.daemon=True
#
import sys
from gui.GUI import MainWindow
from gui.threadGUI import ThreadGUI
from MyAlgorithm import MyAlgorithm
from PyQt5.QtWidgets import QApplication
from interfaces.camera import ListenerCamera
from interfaces.pose3d import ListenerPose3d
from interfaces.motors import PublisherMotors
if __name__ == "__main__":
camera = ListenerCamera("/F1ROS/cameraL/image_raw")
motors = PublisherMotors("/F1ROS/cmd_vel", 4, 0.3)
pose3d = ListenerPose3d("/F1ROS/odom")
pose3dphantom = ListenerPose3d("/F1ROS_phantom/odom")
algorithm = MyAlgorithm(camera, motors, pose3d)
app = QApplication(sys.argv)
myGUI = MainWindow()
myGUI.setCamera(camera)
myGUI.setMotors(motors)
myGUI.setPose3D(pose3d, pose3dphantom)
myGUI.setAlgorithm(algorithm)
myGUI.show()
t2 = ThreadGUI(myGUI)
t2.daemon = True
t2.start()
if __name__ == '__main__':
if len(sys.argv) < 2:
print('ERROR: python2 globalNavigation.py [MAP CONFIG file] [YAML CONFIG file]')
sys.exit(-1)
app = QApplication(sys.argv)
frame = MainWindow()
grid = Grid(frame)
removeMapFromArgs()
motors = PublisherMotors("/cmd_vel", 0.5, 0.1)
pose = ListenerPose3d("/odom")
vel = Velocity(0, 0, motors.getMaxV(), motors.getMaxW())
frame.setVelocity(vel)
sensor = Sensor(grid, pose, True)
sensor.setGetPathSignal(frame.getPathSig)
frame.setGrid(grid)
frame.setSensor(sensor)
algorithm = MyAlgorithm(grid, sensor, vel)
frame.setAlgorithm(algorithm)
frame.show()
t1 = ThreadMotors(motors, vel)
t1.daemon = True
t1.start()
