def __init__(self, parent=None):
super(CliffSensorFrame, self).__init__(parent)
self._ui = Ui_cliff_sensor_frame()
self._motion = TravelForward('/mobile_base/commands/velocity', '/odom',
'/mobile_base/events/cliff')
self._motion_thread = None
self._distance = 1.2
self._state = CliffSensorFrame.STATE_FORWARD
self._is_alive = False # Used to indicate whether the frame is alive or not (see hibernate/restore methods)
def __init__(self, parent=None):
super(CliffSensorFrame, self).__init__(parent)
self._ui = Ui_cliff_sensor_frame()
self._motion = TravelForward('/mobile_base/commands/velocity','/odom', '/mobile_base/events/cliff')
self._motion_thread = None
self._distance = 1.2
self._state = CliffSensorFrame.STATE_FORWARD
self._is_alive = False # Used to indicate whether the frame is alive or not (see hibernate/restore methods)
class CliffSensorFrame(QFrame):
STATE_FORWARD = "forward"
STATE_BACKWARD = "backward"
STATE_STOPPED = "stopped"
def __init__(self, parent=None):
super(CliffSensorFrame, self).__init__(parent)
self._ui = Ui_cliff_sensor_frame()
self._motion = TravelForward('/mobile_base/commands/velocity','/odom', '/mobile_base/events/cliff')
self._motion_thread = None
self._distance = 1.2
self._state = CliffSensorFrame.STATE_FORWARD
self._is_alive = False # Used to indicate whether the frame is alive or not (see hibernate/restore methods)
def setupUi(self):
self._ui.setupUi(self)
self._ui.start_button.setEnabled(True)
self._ui.stop_button.setEnabled(False)
self._motion.init(self._ui.speed_spinbox.value(), self._distance)
def shutdown(self):
'''
Used to terminate the plugin
'''
rospy.loginfo("Kobuki TestSuite: cliff sensor shutdown")
self._motion.shutdown()
##########################################################################
# 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.
'''
pass
def restore(self):
'''
Restore the frame after a hibernate.
'''
pass
##########################################################################
# Motion Callbacks
##########################################################################
def _run_finished(self):
if self._state == CliffSensorFrame.STATE_STOPPED:
return
elif self._state == CliffSensorFrame.STATE_FORWARD:
self._state = CliffSensorFrame.STATE_BACKWARD
self._motion.init(-self._motion.speed, 0.2)
self._motion_thread = WorkerThread(self._motion.execute, self._run_finished)
self._motion_thread.start()
else:
self._state = CliffSensorFrame.STATE_FORWARD
self._motion.init(-self._motion.speed, self._distance)
self._motion_thread = WorkerThread(self._motion.execute, self._run_finished)
self._motion_thread.start()
##########################################################################
# Qt Callbacks
##########################################################################
@Slot()
def on_start_button_clicked(self):
self._ui.start_button.setEnabled(False)
self._ui.stop_button.setEnabled(True)
self._state = CliffSensorFrame.STATE_FORWARD
self._motion_thread = WorkerThread(self._motion.execute, self._run_finished)
self._motion_thread.start()
@Slot()
def on_stop_button_clicked(self):
self._state = CliffSensorFrame.STATE_STOPPED
self.stop()
def stop(self):
self._motion.stop()
if self._motion_thread:
self._motion_thread.wait()
self._ui.start_button.setEnabled(True)
self._ui.stop_button.setEnabled(False)
@pyqtSlot(float)
def on_speed_spinbox_valueChanged(self, value):
self._motion.init(self._ui.speed_spinbox.value(), self._distance)
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
import rospy
from kobuki_testsuite import TravelForward
# Robot moves forward
if __name__ == '__main__':
rospy.init_node('test_motionforward')
cmdvel_topic = '/mobile_base/commands/velocity'
odom_topic = '/odom'
cliff_topic = '/mobile_base/events/cliff'
travel = TravelForward(cmdvel_topic, odom_topic, cliff_topic)
travel.init(0.05, 1.8)
rospy.loginfo("Start to move forward")
travel.execute()
rospy.loginfo("Stop")
class CliffSensorFrame(QFrame):
STATE_FORWARD = "forward"
STATE_BACKWARD = "backward"
STATE_STOPPED = "stopped"
def __init__(self, parent=None):
super(CliffSensorFrame, self).__init__(parent)
self._ui = Ui_cliff_sensor_frame()
self._motion = TravelForward('/mobile_base/commands/velocity', '/odom',
'/mobile_base/events/cliff')
self._motion_thread = None
self._distance = 1.2
self._state = CliffSensorFrame.STATE_FORWARD
self._is_alive = False # Used to indicate whether the frame is alive or not (see hibernate/restore methods)
def setupUi(self):
self._ui.setupUi(self)
self._ui.start_button.setEnabled(True)
self._ui.stop_button.setEnabled(False)
self._motion.init(self._ui.speed_spinbox.value(), self._distance)
def shutdown(self):
'''
Used to terminate the plugin
'''
rospy.loginfo("Kobuki TestSuite: cliff sensor shutdown")
self._motion.shutdown()
##########################################################################
# 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.
'''
pass
def restore(self):
'''
Restore the frame after a hibernate.
'''
pass
##########################################################################
# Motion Callbacks
##########################################################################
def _run_finished(self):
if self._state == CliffSensorFrame.STATE_STOPPED:
return
elif self._state == CliffSensorFrame.STATE_FORWARD:
self._state = CliffSensorFrame.STATE_BACKWARD
self._motion.init(-self._motion.speed, 0.2)
self._motion_thread = WorkerThread(self._motion.execute,
self._run_finished)
self._motion_thread.start()
else:
self._state = CliffSensorFrame.STATE_FORWARD
self._motion.init(-self._motion.speed, self._distance)
self._motion_thread = WorkerThread(self._motion.execute,
self._run_finished)
self._motion_thread.start()
##########################################################################
# Qt Callbacks
##########################################################################
@Slot()
def on_start_button_clicked(self):
self._ui.start_button.setEnabled(False)
self._ui.stop_button.setEnabled(True)
self._state = CliffSensorFrame.STATE_FORWARD
self._motion_thread = WorkerThread(self._motion.execute,
self._run_finished)
self._motion_thread.start()
@Slot()
def on_stop_button_clicked(self):
self._state = CliffSensorFrame.STATE_STOPPED
self.stop()
def stop(self):
self._motion.stop()
if self._motion_thread:
self._motion_thread.wait()
self._ui.start_button.setEnabled(True)
self._ui.stop_button.setEnabled(False)
@pyqtSlot(float)
def on_speed_spinbox_valueChanged(self, value):
self._motion.init(self._ui.speed_spinbox.value(), self._distance)
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
import rospy
from kobuki_testsuite import TravelForward
# Robot moves forward
if __name__ == '__main__':
rospy.init_node('test_motionforward')
cmdvel_topic = '/mobile_base/commands/velocity'
odom_topic = '/odom'
cliff_topic = '/mobile_base/events/cliff'
travel = TravelForward(cmdvel_topic,odom_topic, cliff_topic)
travel.init(0.05, 1.8)
rospy.loginfo("Start to move forward")
travel.execute()
rospy.loginfo("Stop")