def __init__(self, parent, id=wx.ID_ANY, title='PR2 GUI', pos=wx.DefaultPosition, size=(1280, 1024), style=wx.DEFAULT_FRAME_STYLE): wx.Frame.__init__(self, parent, id, title, pos, size, style) rospy.ready('pr2_gui', anonymous=True) self._config = wx.Config("pr2_gui") self._aui_manager = wx.aui.AuiManager(self) self._visualizer_panel = visualizer_panel.DefaultVisualizationPanel(self) media_path = rostools.packspec.get_pkg_dir( "gazebo_robot_description" ) media_path += "/world/Media/"; media_paths = [media_path] media_paths.append(media_path) media_paths.append(media_path + "fonts") media_paths.append(media_path + "materials") media_paths.append(media_path + "materials/scripts") media_paths.append(media_path + "materials/programs") media_paths.append(media_path + "materials/textures") media_paths.append(media_path + "models") media_paths.append(media_path + "models/pr2") ogre_tools.initializeResources( media_paths ) self._visualizer_panel.createDefaultVisualizers() self._rosout_panel = wx_rosout.RosoutPanel(self) self._monitor_panel = MonitorPanel(self) self._monitor_panel.set_new_errors_callback(self.on_monitor_errors_received) self._interpreter = wx.py.shell.Shell(self) self._hardware_panel = hardware_panel.HardwarePanel(self) self._aui_manager.AddPane(self._visualizer_panel, wx.aui.AuiPaneInfo().CenterPane().Center().Name('3dvis').Caption('3D Visualization'), '3D Visualization') self._aui_manager.AddPane(self._interpreter, wx.aui.AuiPaneInfo().BottomDockable().Bottom().Name('interpreter').Caption('Python Interpreter').Hide(), 'Python Interpreter') self._aui_manager.AddPane(self._rosout_panel, wx.aui.AuiPaneInfo().BottomDockable().Bottom().Layer(1).BestSize(wx.Size(700, 200)).Name('rosout').Caption('Rosout'), 'Rosout') self._aui_manager.AddPane(self._monitor_panel, wx.aui.AuiPaneInfo().BottomDockable().Bottom().Layer(1).BestSize(wx.Size(700,600)).Name('runtime_monitor').Caption('Runtime Monitor'), 'Runtime Monitor') self._aui_manager.AddPane(self._hardware_panel, wx.aui.AuiPaneInfo().BottomDockable().Bottom().Layer(1).BestSize(wx.Size(300,200)).Name('hardware').Caption('Hardware'), 'Hardware') self.add_camera_pane("forearm_r", False) self.add_camera_pane("forearm_l", False) self.add_camera_pane("axis_r", True) self.add_camera_pane("axis_l", True) self.add_camera_pane("stereo_l", False) self._aui_manager.Update() self.load_config() self.create_menu_bar() self.Bind(wx.aui.EVT_AUI_PANE_CLOSE, self.on_pane_close) self.Bind(wx.EVT_CLOSE, self.on_close)
def __init__( self, parent, id=wx.ID_ANY, title="Standalone Visualizer", pos=wx.DefaultPosition, size=(800, 600), style=wx.DEFAULT_FRAME_STYLE, ): wx.Frame.__init__(self, parent, id, title, pos, size, style) ogre_tools.initializeOgre() visualizer_panel = ogre_visualizer.VisualizationPanel(self) self._package_path = rostools.packspec.get_pkg_dir("ogre_visualizer") self._global_config_path = os.path.join(self._package_path, "configs") self._visualizer_panel = visualizer_panel media_path = rostools.packspec.get_pkg_dir("gazebo_robot_description") media_path += "/world/Media/" media_paths = [media_path] media_paths.append(media_path) media_paths.append(media_path + "fonts") media_paths.append(media_path + "materials") media_paths.append(media_path + "materials/scripts") media_paths.append(media_path + "materials/programs") media_paths.append(media_path + "materials/textures") media_paths.append(media_path + "models") media_paths.append(media_path + "models/pr2_new") ogre_tools.initializeResources(media_paths) self.init_config() self.init_menu() manager = visualizer_panel.getManager() # Load our window options (x, y) = self.GetPositionTuple() (width, height) = self.GetSizeTuple() if self._config.HasEntry(self._CONFIG_WINDOW_X): x = self._config.ReadInt(self._CONFIG_WINDOW_X) if self._config.HasEntry(self._CONFIG_WINDOW_Y): y = self._config.ReadInt(self._CONFIG_WINDOW_Y) if self._config.HasEntry(self._CONFIG_WINDOW_WIDTH): width = self._config.ReadInt(self._CONFIG_WINDOW_WIDTH) if self._config.HasEntry(self._CONFIG_WINDOW_HEIGHT): height = self._config.ReadInt(self._CONFIG_WINDOW_HEIGHT) self.SetPosition((x, y)) self.SetSize((width, height)) manager.loadConfig(self._config) self.Bind(wx.EVT_CLOSE, self.on_close)
def __init__(self, parent, id=wx.ID_ANY, title='Standalone Visualizer', pos=wx.DefaultPosition, size=(800, 600), style=wx.DEFAULT_FRAME_STYLE): wx.Frame.__init__(self, parent, id, title, pos, size, style) ogre_tools.initializeOgre() visualizer_panel = ogre_visualizer.VisualizationPanel(self) self._package_path = rostools.packspec.get_pkg_dir('ogre_visualizer') self._global_config_path = os.path.join(self._package_path, "configs") self._visualizer_panel = visualizer_panel media_path = rostools.packspec.get_pkg_dir("gazebo_robot_description") media_path += "/world/Media/" media_paths = [media_path] media_paths.append(media_path) media_paths.append(media_path + "fonts") media_paths.append(media_path + "materials") media_paths.append(media_path + "materials/scripts") media_paths.append(media_path + "materials/programs") media_paths.append(media_path + "materials/textures") media_paths.append(media_path + "models") media_paths.append(media_path + "models/pr2") ogre_tools.initializeResources(media_paths) self.init_config() self.init_menu() manager = visualizer_panel.getManager() # Load our window options (x, y) = self.GetPositionTuple() (width, height) = self.GetSizeTuple() if (self._config.HasEntry(self._CONFIG_WINDOW_X)): x = self._config.ReadInt(self._CONFIG_WINDOW_X) if (self._config.HasEntry(self._CONFIG_WINDOW_Y)): y = self._config.ReadInt(self._CONFIG_WINDOW_Y) if (self._config.HasEntry(self._CONFIG_WINDOW_WIDTH)): width = self._config.ReadInt(self._CONFIG_WINDOW_WIDTH) if (self._config.HasEntry(self._CONFIG_WINDOW_HEIGHT)): height = self._config.ReadInt(self._CONFIG_WINDOW_HEIGHT) self.SetPosition((x, y)) self.SetSize((width, height)) manager.loadConfig(self._config) self.Bind(wx.EVT_CLOSE, self.on_close)
def __init__(self, parent, id=wx.ID_ANY, title='Standalone Visualizer', pos=wx.DefaultPosition, size=(800, 600), style=wx.DEFAULT_FRAME_STYLE): wx.Frame.__init__(self, parent, id, title, pos, size, style) self._config = wx.Config("standalone_visualizer") ogre_tools.initializeOgre() visualizer_panel = ogre_visualizer.VisualizationPanel(self) self._visualizer_panel = visualizer_panel media_path = rostools.packspec.get_pkg_dir( "gazebo_robot_description" ) media_path += "/world/Media/"; media_paths = [media_path] media_paths.append( media_path ) media_paths.append( media_path + "fonts" ) media_paths.append( media_path + "materials" ) media_paths.append( media_path + "materials/scripts" ) media_paths.append( media_path + "materials/programs" ) media_paths.append( media_path + "materials/textures" ) media_paths.append( media_path + "models" ) media_paths.append( media_path + "models/pr2_new" ) ogre_tools.initializeResources( media_paths ) visualizer_panel.createGridVisualizer( "Grid", True ) visualizer_panel.createAxesVisualizer( "Origin Axes", False ) visualizer_panel.createMarkerVisualizer( "Visualization Markers", True ) robot_vis = visualizer_panel.createRobotModelVisualizer( "Robot Model", False ) robot_vis.setRobotDescription( "robotdesc/pr2" ) planning = visualizer_panel.createPlanningVisualizer( "Planning", False ) planning.initialize( "robotdesc/pr2", "display_kinematic_path" ) point_cloud = visualizer_panel.createPointCloudVisualizer( "Stereo Full Cloud", True ) point_cloud.setTopic( "videre/cloud" ) point_cloud.setColor( 1.0, 1.0, 1.0 ) point_cloud = visualizer_panel.createPointCloudVisualizer( "Head Full Cloud", True ) point_cloud.setTopic( "full_cloud" ) point_cloud.setColor( 1.0, 1.0, 0.0 ) point_cloud = visualizer_panel.createPointCloudVisualizer( "World 3D Map", True ) point_cloud.setTopic( "world_3d_map" ) point_cloud.setColor( 1.0, 0.0, 0.0 ) point_cloud.setBillboardSize( 0.01 ) laser_scan = visualizer_panel.createLaserScanVisualizer( "Head Scan", True ) laser_scan.setScanTopic( "tilt_scan" ) laser_scan.setColor( 1.0, 0.0, 0.0 ) laser_scan.setDecayTime( 30.0 ) laser_scan = visualizer_panel.createLaserScanVisualizer( "Floor Scan", True ) laser_scan.setScanTopic( "base_scan" ) laser_scan.setColor( 0.0, 1.0, 0.0 ) laser_scan.setDecayTime( 0.0 ) visualizer_panel.createOctreeVisualizer( "Octree", True ).setOctreeTopic( "full_octree" ) # Load our window options (x, y) = self.GetPositionTuple() (width, height) = self.GetSizeTuple() if (self._config.HasEntry(self._CONFIG_WINDOW_X)): x = self._config.ReadInt(self._CONFIG_WINDOW_X) if (self._config.HasEntry(self._CONFIG_WINDOW_Y)): y = self._config.ReadInt(self._CONFIG_WINDOW_Y) if (self._config.HasEntry(self._CONFIG_WINDOW_WIDTH)): width = self._config.ReadInt(self._CONFIG_WINDOW_WIDTH) if (self._config.HasEntry(self._CONFIG_WINDOW_HEIGHT)): height = self._config.ReadInt(self._CONFIG_WINDOW_HEIGHT) self.SetPosition((x, y)) self.SetSize((width, height)) visualizer_panel.loadConfig(self._config) self.Bind(wx.EVT_CLOSE, self.on_close)
def __init__(self, parent, id=wx.ID_ANY, title='Standalone Visualizer', pos=wx.DefaultPosition, size=(800, 600), style=wx.DEFAULT_FRAME_STYLE): wx.Frame.__init__(self, parent, id, title, pos, size, style) self._config = wx.Config("standalone_visualizer") ogre_tools.initializeOgre() visualizer_panel = ogre_visualizer.VisualizationPanel(self) self._visualizer_panel = visualizer_panel media_path = rostools.packspec.get_pkg_dir("gazebo_robot_description") media_path += "/world/Media/" media_paths = [media_path] media_paths.append(media_path) media_paths.append(media_path + "fonts") media_paths.append(media_path + "materials") media_paths.append(media_path + "materials/scripts") media_paths.append(media_path + "materials/programs") media_paths.append(media_path + "materials/textures") media_paths.append(media_path + "models") media_paths.append(media_path + "models/pr2_new") ogre_tools.initializeResources(media_paths) visualizer_panel.createGridVisualizer("Grid", True) visualizer_panel.createAxesVisualizer("Origin Axes", False) visualizer_panel.createMarkerVisualizer("Visualization Markers", True) robot_vis = visualizer_panel.createRobotModelVisualizer( "Robot Model", False) robot_vis.setRobotDescription("robotdesc/pr2") planning = visualizer_panel.createPlanningVisualizer("Planning", False) planning.initialize("robotdesc/pr2", "display_kinematic_path") point_cloud = visualizer_panel.createPointCloudVisualizer( "Stereo Full Cloud", True) point_cloud.setTopic("videre/cloud") point_cloud.setColor(1.0, 1.0, 1.0) point_cloud = visualizer_panel.createPointCloudVisualizer( "Head Full Cloud", True) point_cloud.setTopic("full_cloud") point_cloud.setColor(1.0, 1.0, 0.0) point_cloud = visualizer_panel.createPointCloudVisualizer( "World 3D Map", True) point_cloud.setTopic("world_3d_map") point_cloud.setColor(1.0, 0.0, 0.0) point_cloud.setBillboardSize(0.01) laser_scan = visualizer_panel.createLaserScanVisualizer( "Head Scan", True) laser_scan.setScanTopic("tilt_scan") laser_scan.setColor(1.0, 0.0, 0.0) laser_scan.setDecayTime(30.0) laser_scan = visualizer_panel.createLaserScanVisualizer( "Floor Scan", True) laser_scan.setScanTopic("base_scan") laser_scan.setColor(0.0, 1.0, 0.0) laser_scan.setDecayTime(0.0) visualizer_panel.createOctreeVisualizer( "Octree", True).setOctreeTopic("full_octree") # Load our window options (x, y) = self.GetPositionTuple() (width, height) = self.GetSizeTuple() if (self._config.HasEntry(self._CONFIG_WINDOW_X)): x = self._config.ReadInt(self._CONFIG_WINDOW_X) if (self._config.HasEntry(self._CONFIG_WINDOW_Y)): y = self._config.ReadInt(self._CONFIG_WINDOW_Y) if (self._config.HasEntry(self._CONFIG_WINDOW_WIDTH)): width = self._config.ReadInt(self._CONFIG_WINDOW_WIDTH) if (self._config.HasEntry(self._CONFIG_WINDOW_HEIGHT)): height = self._config.ReadInt(self._CONFIG_WINDOW_HEIGHT) self.SetPosition((x, y)) self.SetSize((width, height)) visualizer_panel.loadConfig(self._config) self.Bind(wx.EVT_CLOSE, self.on_close)
def __init__(self, parent, id=wx.ID_ANY, title='PR2 GUI', pos=wx.DefaultPosition, size=(1280, 1024), style=wx.DEFAULT_FRAME_STYLE): wx.Frame.__init__(self, parent, id, title, pos, size, style) rospy.ready('pr2_gui', anonymous=True) self._config = wx.Config("pr2_gui") self._aui_manager = wx.aui.AuiManager(self) self._visualizer_panel = visualizer_panel.DefaultVisualizationPanel( self) media_path = rostools.packspec.get_pkg_dir("gazebo_robot_description") media_path += "/world/Media/" media_paths = [media_path] media_paths.append(media_path) media_paths.append(media_path + "fonts") media_paths.append(media_path + "materials") media_paths.append(media_path + "materials/scripts") media_paths.append(media_path + "materials/programs") media_paths.append(media_path + "materials/textures") media_paths.append(media_path + "models") media_paths.append(media_path + "models/pr2_new") ogre_tools.initializeResources(media_paths) self._visualizer_panel.createDefaultVisualizers() self._rosout_panel = wx_rosout.RosoutPanel(self) self._monitor_panel = MonitorPanel(self) self._monitor_panel.set_new_errors_callback( self.on_monitor_errors_received) self._interpreter = wx.py.shell.Shell(self) self._hardware_panel = hardware_panel.HardwarePanel(self) self._aui_manager.AddPane( self._visualizer_panel, wx.aui.AuiPaneInfo().CenterPane().Center().Name('3dvis').Caption( '3D Visualization'), '3D Visualization') self._aui_manager.AddPane( self._interpreter, wx.aui.AuiPaneInfo().BottomDockable().Bottom().Name( 'interpreter').Caption('Python Interpreter').Hide(), 'Python Interpreter') self._aui_manager.AddPane( self._rosout_panel, wx.aui.AuiPaneInfo().BottomDockable().Bottom().Layer(1).BestSize( wx.Size(700, 200)).Name('rosout').Caption('Rosout'), 'Rosout') self._aui_manager.AddPane( self._monitor_panel, wx.aui.AuiPaneInfo().BottomDockable().Bottom().Layer(1).BestSize( wx.Size( 700, 600)).Name('runtime_monitor').Caption('Runtime Monitor'), 'Runtime Monitor') self._aui_manager.AddPane( self._hardware_panel, wx.aui.AuiPaneInfo().BottomDockable().Bottom().Layer(1).BestSize( wx.Size(300, 200)).Name('hardware').Caption('Hardware'), 'Hardware') self.add_camera_pane("forearm_right", False) self.add_camera_pane("forearm_left", False) self.add_camera_pane("axis_right", True) self.add_camera_pane("axis_left", True) self.add_camera_pane("stereo_left", False) self._aui_manager.Update() self.load_config() self.create_menu_bar() self.Bind(wx.aui.EVT_AUI_PANE_CLOSE, self.on_pane_close) self.Bind(wx.EVT_CLOSE, self.on_close)