class RobotSteering(Plugin):
slider_factor = 1000.0
def __init__(self, context):
super(RobotSteering, self).__init__(context)
self.setObjectName('RobotSteering')
self._publisher = None
self._widget = QWidget()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_robot_steering'), 'resource', 'RobotSteering.ui')
loadUi(ui_file, self._widget)
self._widget.setObjectName('RobotSteeringUi')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number()))
context.add_widget(self._widget)
self._widget.topic_line_edit.textChanged.connect(self._on_topic_changed)
self._widget.stop_push_button.pressed.connect(self._on_stop_pressed)
self._widget.x_linear_slider.valueChanged.connect(self._on_x_linear_slider_changed)
self._widget.z_angular_slider.valueChanged.connect(self._on_z_angular_slider_changed)
self._widget.increase_x_linear_push_button.pressed.connect(self._on_strong_increase_x_linear_pressed)
self._widget.reset_x_linear_push_button.pressed.connect(self._on_reset_x_linear_pressed)
self._widget.decrease_x_linear_push_button.pressed.connect(self._on_strong_decrease_x_linear_pressed)
self._widget.increase_z_angular_push_button.pressed.connect(self._on_strong_increase_z_angular_pressed)
self._widget.reset_z_angular_push_button.pressed.connect(self._on_reset_z_angular_pressed)
self._widget.decrease_z_angular_push_button.pressed.connect(self._on_strong_decrease_z_angular_pressed)
self._widget.max_x_linear_double_spin_box.valueChanged.connect(self._on_max_x_linear_changed)
self._widget.min_x_linear_double_spin_box.valueChanged.connect(self._on_min_x_linear_changed)
self._widget.max_z_angular_double_spin_box.valueChanged.connect(self._on_max_z_angular_changed)
self._widget.min_z_angular_double_spin_box.valueChanged.connect(self._on_min_z_angular_changed)
self.shortcut_w = QShortcut(QKeySequence(Qt.Key_W), self._widget)
self.shortcut_w.setContext(Qt.ApplicationShortcut)
self.shortcut_w.activated.connect(self._on_increase_x_linear_pressed)
self.shortcut_x = QShortcut(QKeySequence(Qt.Key_X), self._widget)
self.shortcut_x.setContext(Qt.ApplicationShortcut)
self.shortcut_x.activated.connect(self._on_reset_x_linear_pressed)
self.shortcut_s = QShortcut(QKeySequence(Qt.Key_S), self._widget)
self.shortcut_s.setContext(Qt.ApplicationShortcut)
self.shortcut_s.activated.connect(self._on_decrease_x_linear_pressed)
self.shortcut_a = QShortcut(QKeySequence(Qt.Key_A), self._widget)
self.shortcut_a.setContext(Qt.ApplicationShortcut)
self.shortcut_a.activated.connect(self._on_increase_z_angular_pressed)
self.shortcut_z = QShortcut(QKeySequence(Qt.Key_Z), self._widget)
self.shortcut_z.setContext(Qt.ApplicationShortcut)
self.shortcut_z.activated.connect(self._on_reset_z_angular_pressed)
self.shortcut_d = QShortcut(QKeySequence(Qt.Key_D), self._widget)
self.shortcut_d.setContext(Qt.ApplicationShortcut)
self.shortcut_d.activated.connect(self._on_decrease_z_angular_pressed)
self.shortcut_shift_w = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_W), self._widget)
self.shortcut_shift_w.setContext(Qt.ApplicationShortcut)
self.shortcut_shift_w.activated.connect(self._on_strong_increase_x_linear_pressed)
self.shortcut_shift_x = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_X), self._widget)
self.shortcut_shift_x.setContext(Qt.ApplicationShortcut)
self.shortcut_shift_x.activated.connect(self._on_reset_x_linear_pressed)
self.shortcut_shift_s = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_S), self._widget)
self.shortcut_shift_s.setContext(Qt.ApplicationShortcut)
self.shortcut_shift_s.activated.connect(self._on_strong_decrease_x_linear_pressed)
self.shortcut_shift_a = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_A), self._widget)
self.shortcut_shift_a.setContext(Qt.ApplicationShortcut)
self.shortcut_shift_a.activated.connect(self._on_strong_increase_z_angular_pressed)
self.shortcut_shift_z = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_Z), self._widget)
self.shortcut_shift_z.setContext(Qt.ApplicationShortcut)
self.shortcut_shift_z.activated.connect(self._on_reset_z_angular_pressed)
self.shortcut_shift_d = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_D), self._widget)
self.shortcut_shift_d.setContext(Qt.ApplicationShortcut)
self.shortcut_shift_d.activated.connect(self._on_strong_decrease_z_angular_pressed)
self.shortcut_space = QShortcut(QKeySequence(Qt.Key_Space), self._widget)
self.shortcut_space.setContext(Qt.ApplicationShortcut)
self.shortcut_space.activated.connect(self._on_stop_pressed)
self.shortcut_space = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_Space), self._widget)
self.shortcut_space.setContext(Qt.ApplicationShortcut)
self.shortcut_space.activated.connect(self._on_stop_pressed)
self._widget.stop_push_button.setToolTip(self._widget.stop_push_button.toolTip() + ' ' + self.tr('([Shift +] Space)'))
self._widget.increase_x_linear_push_button.setToolTip(self._widget.increase_x_linear_push_button.toolTip() + ' ' + self.tr('([Shift +] W)'))
self._widget.reset_x_linear_push_button.setToolTip(self._widget.reset_x_linear_push_button.toolTip() + ' ' + self.tr('([Shift +] X)'))
self._widget.decrease_x_linear_push_button.setToolTip(self._widget.decrease_x_linear_push_button.toolTip() + ' ' + self.tr('([Shift +] S)'))
self._widget.increase_z_angular_push_button.setToolTip(self._widget.increase_z_angular_push_button.toolTip() + ' ' + self.tr('([Shift +] A)'))
self._widget.reset_z_angular_push_button.setToolTip(self._widget.reset_z_angular_push_button.toolTip() + ' ' + self.tr('([Shift +] Z)'))
self._widget.decrease_z_angular_push_button.setToolTip(self._widget.decrease_z_angular_push_button.toolTip() + ' ' + self.tr('([Shift +] D)'))
# timer to consecutively send twist messages
self._update_parameter_timer = QTimer(self)
self._update_parameter_timer.timeout.connect(self._on_parameter_changed)
self._update_parameter_timer.start(100)
@Slot(str)
def _on_topic_changed(self, topic):
topic = str(topic)
self._unregister_publisher()
self._publisher = rospy.Publisher(topic, Twist)
def _on_stop_pressed(self):
self._widget.x_linear_slider.setValue(0)
self._widget.z_angular_slider.setValue(0)
def _on_x_linear_slider_changed(self):
self._widget.current_x_linear_label.setText('%0.2f m/s' % (self._widget.x_linear_slider.value() / RobotSteering.slider_factor))
self._on_parameter_changed()
def _on_z_angular_slider_changed(self):
self._widget.current_z_angular_label.setText('%0.2f rad/s' % (self._widget.z_angular_slider.value() / RobotSteering.slider_factor))
self._on_parameter_changed()
def _on_increase_x_linear_pressed(self):
self._widget.x_linear_slider.setValue(self._widget.x_linear_slider.value() + self._widget.x_linear_slider.singleStep())
def _on_reset_x_linear_pressed(self):
self._widget.x_linear_slider.setValue(0)
def _on_decrease_x_linear_pressed(self):
self._widget.x_linear_slider.setValue(self._widget.x_linear_slider.value() - self._widget.x_linear_slider.singleStep())
def _on_increase_z_angular_pressed(self):
self._widget.z_angular_slider.setValue(self._widget.z_angular_slider.value() + self._widget.z_angular_slider.singleStep())
def _on_reset_z_angular_pressed(self):
self._widget.z_angular_slider.setValue(0)
def _on_decrease_z_angular_pressed(self):
self._widget.z_angular_slider.setValue(self._widget.z_angular_slider.value() - self._widget.z_angular_slider.singleStep())
def _on_max_x_linear_changed(self, value):
self._widget.x_linear_slider.setMaximum(value * RobotSteering.slider_factor)
def _on_min_x_linear_changed(self, value):
self._widget.x_linear_slider.setMinimum(value * RobotSteering.slider_factor)
def _on_max_z_angular_changed(self, value):
self._widget.z_angular_slider.setMaximum(value * RobotSteering.slider_factor)
def _on_min_z_angular_changed(self, value):
self._widget.z_angular_slider.setMinimum(value * RobotSteering.slider_factor)
def _on_strong_increase_x_linear_pressed(self):
self._widget.x_linear_slider.setValue(self._widget.x_linear_slider.value() + self._widget.x_linear_slider.pageStep())
def _on_strong_decrease_x_linear_pressed(self):
self._widget.x_linear_slider.setValue(self._widget.x_linear_slider.value() - self._widget.x_linear_slider.pageStep())
def _on_strong_increase_z_angular_pressed(self):
self._widget.z_angular_slider.setValue(self._widget.z_angular_slider.value() + self._widget.z_angular_slider.pageStep())
def _on_strong_decrease_z_angular_pressed(self):
self._widget.z_angular_slider.setValue(self._widget.z_angular_slider.value() - self._widget.z_angular_slider.pageStep())
def _on_parameter_changed(self):
self._send_twist(self._widget.x_linear_slider.value() / RobotSteering.slider_factor, self._widget.z_angular_slider.value() / RobotSteering.slider_factor)
def _send_twist(self, x_linear, z_angular):
if self._publisher is None:
return
twist = Twist()
twist.linear.x = x_linear
twist.linear.y = 0
twist.linear.z = 0
twist.angular.x = 0
twist.angular.y = 0
twist.angular.z = z_angular
#print(twist)
self._publisher.publish(twist)
def _unregister_publisher(self):
if self._publisher is not None:
self._publisher.unregister()
self._publisher = None
def shutdown_plugin(self):
self._update_parameter_timer.stop()
self._unregister_publisher()
def save_settings(self, plugin_settings, instance_settings):
instance_settings.set_value('topic' , self._widget.topic_line_edit.text())
instance_settings.set_value('vx_max', self._widget.max_x_linear_double_spin_box.value())
instance_settings.set_value('vx_min', self._widget.min_x_linear_double_spin_box.value())
instance_settings.set_value('vw_max', self._widget.max_z_angular_double_spin_box.value())
instance_settings.set_value('vw_min', self._widget.min_z_angular_double_spin_box.value())
def restore_settings(self, plugin_settings, instance_settings):
value = instance_settings.value('topic', "/cmd_vel")
value = rospy.get_param("~default_topic", value)
self._widget.topic_line_edit.setText(value)
value = self._widget.max_x_linear_double_spin_box.value()
value = instance_settings.value( 'vx_max', value)
value = rospy.get_param("~default_vx_max", value)
self._widget.max_x_linear_double_spin_box.setValue(float(value))
value = self._widget.min_x_linear_double_spin_box.value()
value = instance_settings.value( 'vx_min', value)
value = rospy.get_param("~default_vx_min", value)
self._widget.min_x_linear_double_spin_box.setValue(float(value))
value = self._widget.max_z_angular_double_spin_box.value()
value = instance_settings.value( 'vw_max', value)
value = rospy.get_param("~default_vw_max", value)
self._widget.max_z_angular_double_spin_box.setValue(float(value))
value = self._widget.min_z_angular_double_spin_box.value()
value = instance_settings.value( 'vw_min', value)
value = rospy.get_param("~default_vw_min", value)
self._widget.min_z_angular_double_spin_box.setValue(float(value))
class RobotSteering(Plugin):
def __init__(self, context):
super(RobotSteering, self).__init__(context)
self.setObjectName('RobotSteering')
self._publisher = None
self._widget = QWidget()
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)),
'RobotSteering.ui')
loadUi(ui_file, self._widget)
self._widget.setObjectName('RobotSteeringUi')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
context.add_widget(self._widget)
self._widget.topic_line_edit.textChanged.connect(
self._on_topic_changed)
self._widget.x_linear_slider.valueChanged.connect(
self._on_parameter_changed)
self._widget.z_angular_slider.valueChanged.connect(
self._on_parameter_changed)
self._widget.increase_x_linear_push_button.pressed.connect(
self._on_increase_x_linear_pressed)
self._widget.decrease_x_linear_push_button.pressed.connect(
self._on_decrease_x_linear_pressed)
self._widget.increase_z_angular_push_button.pressed.connect(
self._on_increase_z_angular_pressed)
self._widget.decrease_z_angular_push_button.pressed.connect(
self._on_decrease_z_angular_pressed)
self._widget.stop_push_button.pressed.connect(self._on_stop_pressed)
self.shortcut_w = QShortcut(QKeySequence(Qt.Key_W), self._widget)
self.shortcut_w.setContext(Qt.ApplicationShortcut)
self.shortcut_w.activated.connect(self._on_increase_x_linear_pressed)
self.shortcut_s = QShortcut(QKeySequence(Qt.Key_S), self._widget)
self.shortcut_s.setContext(Qt.ApplicationShortcut)
self.shortcut_s.activated.connect(self._on_decrease_x_linear_pressed)
self.shortcut_a = QShortcut(QKeySequence(Qt.Key_A), self._widget)
self.shortcut_a.setContext(Qt.ApplicationShortcut)
self.shortcut_a.activated.connect(self._on_increase_z_angular_pressed)
self.shortcut_d = QShortcut(QKeySequence(Qt.Key_D), self._widget)
self.shortcut_d.setContext(Qt.ApplicationShortcut)
self.shortcut_d.activated.connect(self._on_decrease_z_angular_pressed)
self.shortcut_shift_w = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_W),
self._widget)
self.shortcut_shift_w.setContext(Qt.ApplicationShortcut)
self.shortcut_shift_w.activated.connect(
self._on_strong_increase_x_linear_pressed)
self.shortcut_shift_s = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_S),
self._widget)
self.shortcut_shift_s.setContext(Qt.ApplicationShortcut)
self.shortcut_shift_s.activated.connect(
self._on_strong_decrease_x_linear_pressed)
self.shortcut_shift_a = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_A),
self._widget)
self.shortcut_shift_a.setContext(Qt.ApplicationShortcut)
self.shortcut_shift_a.activated.connect(
self._on_strong_increase_z_angular_pressed)
self.shortcut_shift_d = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_D),
self._widget)
self.shortcut_shift_d.setContext(Qt.ApplicationShortcut)
self.shortcut_shift_d.activated.connect(
self._on_strong_decrease_z_angular_pressed)
self.shortcut_space = QShortcut(QKeySequence(Qt.Key_Space),
self._widget)
self.shortcut_space.setContext(Qt.ApplicationShortcut)
self.shortcut_space.activated.connect(self._on_stop_pressed)
# timer to consecutively send twist messages
self._update_parameter_timer = QTimer(self)
self._update_parameter_timer.timeout.connect(
self._on_parameter_changed)
self._update_parameter_timer.start(100)
@Slot(str)
def _on_topic_changed(self, topic):
topic = str(topic)
self._unregister_publisher()
self._publisher = rospy.Publisher(topic, Twist)
def _on_parameter_changed(self):
self._send_twist(self._widget.x_linear_slider.value() / 1000.0,
self._widget.z_angular_slider.value() / 1000.0)
def _send_twist(self, x_linear, z_angular):
if self._publisher is None:
return
twist = Twist()
twist.linear.x = x_linear
twist.linear.y = 0
twist.linear.z = 0
twist.angular.x = 0
twist.angular.y = 0
twist.angular.z = z_angular
self._publisher.publish(twist)
def _on_increase_x_linear_pressed(self):
self._widget.x_linear_slider.setValue(
self._widget.x_linear_slider.value() +
self._widget.x_linear_slider.singleStep())
def _on_decrease_x_linear_pressed(self):
self._widget.x_linear_slider.setValue(
self._widget.x_linear_slider.value() -
self._widget.x_linear_slider.singleStep())
def _on_increase_z_angular_pressed(self):
self._widget.z_angular_slider.setValue(
self._widget.z_angular_slider.value() +
self._widget.z_angular_slider.singleStep())
def _on_decrease_z_angular_pressed(self):
self._widget.z_angular_slider.setValue(
self._widget.z_angular_slider.value() -
self._widget.z_angular_slider.singleStep())
def _on_strong_increase_x_linear_pressed(self):
self._widget.x_linear_slider.setValue(
self._widget.x_linear_slider.value() +
self._widget.x_linear_slider.pageStep())
def _on_strong_decrease_x_linear_pressed(self):
self._widget.x_linear_slider.setValue(
self._widget.x_linear_slider.value() -
self._widget.x_linear_slider.pageStep())
def _on_strong_increase_z_angular_pressed(self):
self._widget.z_angular_slider.setValue(
self._widget.z_angular_slider.value() +
self._widget.z_angular_slider.pageStep())
def _on_strong_decrease_z_angular_pressed(self):
self._widget.z_angular_slider.setValue(
self._widget.z_angular_slider.value() -
self._widget.z_angular_slider.pageStep())
def _on_stop_pressed(self):
self._widget.x_linear_slider.setValue(0)
self._widget.z_angular_slider.setValue(0)
def _unregister_publisher(self):
if self._publisher is not None:
self._publisher.unregister()
self._publisher = None
def shutdown_plugin(self):
self._update_parameter_timer.stop()
self._unregister_publisher()
def save_settings(self, plugin_settings, instance_settings):
topic = self._widget.topic_line_edit.text()
instance_settings.set_value('topic', topic)
def restore_settings(self, plugin_settings, instance_settings):
topic = instance_settings.value('topic', '/cmd_vel')
self._widget.topic_line_edit.setText(topic)
class RobotSteering(Plugin):
slider_factor = 1000.0
qr_data = "A"
def __init__(self, context):
super(RobotSteering, self).__init__(context)
self.setObjectName('RobotSteering')
self._publisher = None
self._publishermap = None
self._widget = QWidget()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_robot_steering'), 'resource', 'RobotSteering.ui')
loadUi(ui_file, self._widget)
self._widget.setObjectName('RobotSteeringUi')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number()))
context.add_widget(self._widget)
self._publisher = rospy.Publisher('speedSP', Int16,queue_size=10)
self._publisher = rospy.Publisher('pid', numpy_msg(Floats))
self._publishermap = rospy.Publisher('syscommand',String)
self._sub = rospy.Subscriber("temperature", Int16, self.heat_callback)
self._subco = rospy.Subscriber("co2", Int16, self.co_callback)
self._subbat = rospy.Subscriber("baterry", Int16, self.bat_callback)
self._subqrr = rospy.Subscriber("/qr_detection1/qrdata", String, self.qrr_callback)
self._subqrl = rospy.Subscriber("/qr_detection2/qrdata", String, self.qrl_callback)
self._subqrc = rospy.Subscriber("/qr_detection3/qrdata", String, self.qrc_callback)
# self._widget.topic_line_edit.textChanged.connect(self._on_topic_changed)
# self._widget.manual_push_button.pressed.connect(self._on_manual_pressed)
# Kp Ki Kd Slide parameter
self._widget.x_linear_slider.valueChanged.connect(self._on_x_linear_slider_changed)
self._widget.sliKp.valueChanged.connect(self._on_sliKp_changed)
self._widget.sliKi.valueChanged.connect(self._on_sliKi_changed)
self._widget.sliKd.valueChanged.connect(self._on_sliKd_changed)
# Set parameter button
self._widget.btnSetParam.pressed.connect(self._on_SetParam_pressed)
# self._widget.z_angular_slider.valueChanged.connect(self._on_z_angular_slider_changed)
# self._widget.increase_x_linear_push_button.pressed.connect(self._on_strong_increase_x_linear_pressed)
#self._widget.reset_x_linear_push_button.pressed.connect(self._on_reset_x_linear_pressed)
# self._widget.reset_push_button.pressed.connect(self._on_reset_map_pressed)
#self._widget.decrease_x_linear_push_button.pressed.connect(self._on_strong_decrease_x_linear_pressed)
#self._widget.increase_z_angular_push_button.pressed.connect(self._on_strong_increase_z_angular_pressed)
#self._widget.reset_z_angular_push_button.pressed.connect(self._on_reset_z_angular_pressed)
#self._widget.decrease_z_angular_push_button.pressed.connect(self._on_strong_decrease_z_angular_pressed)
#self._widget.max_x_linear_double_spin_box.valueChanged.connect(self._on_max_x_linear_changed)
#self._widget.min_x_linear_double_spin_box.valueChanged.connect(self._on_min_x_linear_changed)
# self._widget.max_z_angular_double_spin_box.valueChanged.connect(self._on_max_z_angular_changed)
#self._widget.min_z_angular_double_spin_box.valueChanged.connect(self._on_min_z_angular_changed)
#self.shortcut_w = QShortcut(QKeySequence(Qt.Key_W), self._widget)
#self.shortcut_w.setContext(Qt.ApplicationShortcut)
#self.shortcut_w.activated.connect(self._on_increase_x_linear_pressed)
#self.shortcut_x = QShortcut(QKeySequence(Qt.Key_X), self._widget)
##self.shortcut_x.setContext(Qt.ApplicationShortcut)
#self.shortcut_x.activated.connect(self._on_reset_x_linear_pressed)
#self.shortcut_s = QShortcut(QKeySequence(Qt.Key_S), self._widget)
#self.shortcut_s.setContext(Qt.ApplicationShortcut)
#self.shortcut_s.activated.connect(self._on_decrease_x_linear_pressed)
#self.shortcut_a = QShortcut(QKeySequence(Qt.Key_A), self._widget)
#self.shortcut_a.setContext(Qt.ApplicationShortcut)
#self.shortcut_a.activated.connect(self._on_increase_z_angular_pressed)
#self.shortcut_z = QShortcut(QKeySequence(Qt.Key_Z), self._widget)
#self.shortcut_z.setContext(Qt.ApplicationShortcut)
#self.shortcut_z.activated.connect(self._on_reset_z_angular_pressed)
#self.shortcut_d = QShortcut(QKeySequence(Qt.Key_D), self._widget)
#self.shortcut_d.setContext(Qt.ApplicationShortcut)
#self.shortcut_d.activated.connect(self._on_decrease_z_angular_pressed)
#self.shortcut_shift_w = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_W), self._widget)
##self.shortcut_shift_w.setContext(Qt.ApplicationShortcut)
#elf.shortcut_shift_w.activated.connect(self._on_strong_increase_x_linear_pressed)
#self.shortcut_shift_x = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_X), self._widget)
##self.shortcut_shift_x.setContext(Qt.ApplicationShortcut)
#self.shortcut_shift_x.activated.connect(self._on_reset_x_linear_pressed)
#self.shortcut_shift_s = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_S), self._widget)
#self.shortcut_shift_s.setContext(Qt.ApplicationShortcut)
#self.shortcut_shift_s.activated.connect(self._on_strong_decrease_x_linear_pressed)
#self.shortcut_shift_a = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_A), self._widget)
#self.shortcut_shift_a.setContext(Qt.ApplicationShortcut)
#self.shortcut_shift_a.activated.connect(self._on_strong_increase_z_angular_pressed)
#self.shortcut_shift_z = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_Z), self._widget)
#self.shortcut_shift_z.setContext(Qt.ApplicationShortcut)
#self.shortcut_shift_z.activated.connect(self._on_reset_z_angular_pressed)
#self.shortcut_shift_d = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_D), self._widget)
#self.shortcut_shift_d.setContext(Qt.ApplicationShortcut)
#self.shortcut_shift_d.activated.connect(self._on_strong_decrease_z_angular_pressed)
self.shortcut_space = QShortcut(QKeySequence(Qt.Key_Space), self._widget)
self.shortcut_space.setContext(Qt.ApplicationShortcut)
# self.shortcut_space.activated.connect(self._on_manual_pressed)
self.shortcut_space = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_Space), self._widget)
self.shortcut_space.setContext(Qt.ApplicationShortcut)
# self.shortcut_space.activated.connect(self._on_manual_pressed)
# self._widget.stop_push_button.setToolTip(self._widget.stop_push_button.toolTip() + ' ' + self.tr('([Shift +] Space)'))
#self._widget.increase_x_linear_push_button.setToolTip(self._widget.increase_x_linear_push_button.toolTip() + ' ' + self.tr('([Shift +] W)'))
#self._widget.reset_x_linear_push_button.setToolTip(self._widget.reset_x_linear_push_button.toolTip() + ' ' + self.tr('([Shift +] X)'))
#self._widget.decrease_x_linear_push_button.setToolTip(self._widget.decrease_x_linear_push_button.toolTip() + ' ' + self.tr('([Shift +] S)'))
# self._widget.increase_z_angular_push_button.setToolTip(self._widget.increase_z_angular_push_button.toolTip() + ' ' + self.tr('([Shift +] A)'))
# self._widget.reset_z_angular_push_button.setToolTip(self._widget.reset_z_angular_push_button.toolTip() + ' ' + self.tr('([Shift +] Z)'))
# self._widget.decrease_z_angular_push_button.setToolTip(self._widget.decrease_z_angular_push_button.toolTip() + ' ' + self.tr('([Shift +] D)'))
# timer to consecutively send twist messages
# self._update_parameter_timer = QTimer(self)
# self._update_parameter_timer.timeout.connect(self._on_parameter_changed)
# self._update_parameter_timer.start(100)
self.zero_cmd_sent = False
@Slot(str)
# def _on_topic_changed(self, topic):
# topic = str(topic)
# self._unregister_publisher()
# self._publisher = rospy.Publisher(topic, Twist)
# self._publisher = rospy.Publisher(topic, Int16)
# self._sub = rospy.Subscriber("tempeture", Int16, self.heat_callback)
# self._subco = rospy.Subscriber("co", Int16, self.co_callback)
def qrr_callback(self, data):
# self._widget.label_3.setText('%s' % data.data)
self._widget.textEdit.append('%s' % data.data)
def qrl_callback(self, data):
self._widget.textEdit.append('%s' % data.data)
def qrc_callback(self, data):
self._widget.textEdit.append('%s' % data.data)
def bat_callback(self, data):
self._widget.baterrySlide.setValue(data.data)
self._on_parameter_changed()
def co_callback(self, data):
self._widget.CO2.setText('%d ppm' % data.data)
self._on_parameter_changed()
def heat_callback(self, data):
self._widget.current_z_angular_label.setText('%d C' % data.data)
self._on_parameter_changed()
def _on_manual_pressed(self):
self._widget.x_linear_slider.setValue(0)
self._widget.sliKp.setValue(0)
self._widget.sliKi.setValue(0)
self._widget.sliKd.setValue(0)
def _on_SetParam_pressed(self):
a = numpy.array([self._widget.sliKp.value()/100,self._widget.sliKi.value()/100,self._widget.sliKd.value()/100,self._widget.x_linear_slider.value() ], dtype=numpy.float32)
self._publisher.publish(a)
def _on_x_linear_slider_changed(self):
self._widget.current_x_linear_label.setText('%d rpm' % self._widget.x_linear_slider.value() )
self._on_pid_parameter_changed()
def _on_reset_map_pressed(self):
remap = String()
remap.data = 'reset'
self._publishermap.publish(remap)
def _on_sliKp_changed(self):
self._widget.txtKp.setText('%0.2f' % (self._widget.sliKp.value()/100) )
self._on_pid_parameter_changed()
def _on_sliKi_changed(self):
self._widget.txtKi.setText('%0.2f' % (self._widget.sliKi.value()/100) )
self._on_pid_parameter_changed()
def _on_sliKd_changed(self):
self._widget.txtKd.setText('%0.2f' % (self._widget.sliKd.value()/100) )
self._on_pid_parameter_changed()
# def _on_increase_x_linear_pressed(self):
# self._widget.x_linear_slider.setValue(self._widget.x_linear_slider.value() + self._widget.x_linear_slider.singleStep())
# def _on_reset_x_linear_pressed(self):
# self._widget.x_linear_slider.setValue(50)
#def _on_decrease_x_linear_pressed(self):
# self._widget.x_linear_slider.setValue(self._widget.x_linear_slider.value() - self._widget.x_linear_slider.singleStep())
#def _on_increase_z_angular_pressed(self):
# self._widget.z_angular_slider.setValue(self._widget.z_angular_slider.value() + self._widget.z_angular_slider.singleStep())
# def _on_reset_z_angular_pressed(self):
# self._widget.z_angular_slider.setValue(0)
# def _on_decrease_z_angular_pressed(self):
# self._widget.z_angular_slider.setValue(self._widget.z_angular_slider.value() - self._widget.z_angular_slider.singleStep())
# def _on_max_x_linear_changed(self, value):
#self._widget.x_linear_slider.setMaximum(value)
#
# def _on_min_x_linear_changed(self, value):
# self._widget.x_linear_slider.setMinimum(value)
# def _on_max_z_angular_changed(self, value):
# self._widget.z_angular_slider.setMaximum(value * RobotSteering.slider_factor)
# def _on_min_z_angular_changed(self, value):
# self._widget.z_angular_slider.setMinimum(value * RobotSteering.slider_factor)
# def _on_strong_increase_x_linear_pressed(self):
# self._widget.x_linear_slider.setValue(self._widget.x_linear_slider.value() + self._widget.x_linear_slider.pageStep())
# def _on_strong_decrease_x_linear_pressed(self):
# self._widget.x_linear_slider.setValue(self._widget.x_linear_slider.value() - self._widget.x_linear_slider.pageStep())
# def _on_strong_increase_z_angular_pressed(self):
# self._widget.z_angular_slider.setValue(self._widget.z_angular_slider.value() + self._widget.z_angular_slider.pageStep())
#def _on_strong_decrease_z_angular_pressed(self):
# self._widget.z_angular_slider.setValue(self._widget.z_angular_slider.value() - self._widget.z_angular_slider.pageStep())
def _on_pid_parameter_changed(self):
self._send_pid_param(self._widget.sliKp.value())
self._send_pid_param(self._widget.sliKi.value())
self._send_pid_param(self._widget.sliKd.value())
self._send_pid_param(self._widget.x_linear_slider.value())
def _send_pid_param(self,pid):
a = numpy.array([self._widget.sliKp.value()/100,self._widget.sliKi.value()/100,self._widget.sliKd.value()/100,self._widget.x_linear_slider.value() ], dtype=numpy.float32)
#self._publisher.publish(a)
def _send_twist(self, x_linear):
# if self._publisher is None:
# return
# twist = Twist()
#twist.linear.x = x_linear
#twist.linear.y = 0
#twist.linear.z = 0
#twist.angular.x = 0
#twist.angular.y = 0
#twist.angular.z = z_angular
speed = Int16()
speed.data = x_linear
# Only send the zero command once so other devices can take control
if x_linear == 0:
if not self.zero_cmd_sent:
self.zero_cmd_sent = True
# self._publisher.publish(twist)
self._publisher.publish(speed)
else:
self.zero_cmd_sent = False
# self._publisher.publish(twist)
self._publisher.publish(speed)
def _unregister_publisher(self):
if self._publisher is not None:
self._publisher.unregister()
self._publisher = None
def shutdown_plugin(self):
# self._update_parameter_timer.stop()
self._unregister_publisher()
class RobotSteering(Plugin):
slider_factor = 1000.0
def __init__(self, context):
super(RobotSteering, self).__init__(context)
self.setObjectName('RobotSteering')
self._publisher = None
self._widget = QWidget()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_robot_steering'), 'resource', 'RobotSteering.ui')
loadUi(ui_file, self._widget)
self._widget.setObjectName('RobotSteeringUi')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number()))
context.add_widget(self._widget)
self._widget.topic_line_edit.textChanged.connect(self._on_topic_changed)
self._widget.stop_push_button.pressed.connect(self._on_stop_pressed)
self._widget.x_linear_slider.valueChanged.connect(self._on_x_linear_slider_changed)
self._widget.z_angular_slider.valueChanged.connect(self._on_z_angular_slider_changed)
self._widget.increase_x_linear_push_button.pressed.connect(self._on_strong_increase_x_linear_pressed)
self._widget.reset_x_linear_push_button.pressed.connect(self._on_reset_x_linear_pressed)
self._widget.decrease_x_linear_push_button.pressed.connect(self._on_strong_decrease_x_linear_pressed)
self._widget.increase_z_angular_push_button.pressed.connect(self._on_strong_increase_z_angular_pressed)
self._widget.reset_z_angular_push_button.pressed.connect(self._on_reset_z_angular_pressed)
self._widget.decrease_z_angular_push_button.pressed.connect(self._on_strong_decrease_z_angular_pressed)
self._widget.max_x_linear_double_spin_box.valueChanged.connect(self._on_max_x_linear_changed)
self._widget.min_x_linear_double_spin_box.valueChanged.connect(self._on_min_x_linear_changed)
self._widget.max_z_angular_double_spin_box.valueChanged.connect(self._on_max_z_angular_changed)
self._widget.min_z_angular_double_spin_box.valueChanged.connect(self._on_min_z_angular_changed)
self.shortcut_w = QShortcut(QKeySequence(Qt.Key_W), self._widget)
self.shortcut_w.setContext(Qt.ApplicationShortcut)
self.shortcut_w.activated.connect(self._on_increase_x_linear_pressed)
self.shortcut_x = QShortcut(QKeySequence(Qt.Key_X), self._widget)
self.shortcut_x.setContext(Qt.ApplicationShortcut)
self.shortcut_x.activated.connect(self._on_reset_x_linear_pressed)
self.shortcut_s = QShortcut(QKeySequence(Qt.Key_S), self._widget)
self.shortcut_s.setContext(Qt.ApplicationShortcut)
self.shortcut_s.activated.connect(self._on_decrease_x_linear_pressed)
self.shortcut_a = QShortcut(QKeySequence(Qt.Key_A), self._widget)
self.shortcut_a.setContext(Qt.ApplicationShortcut)
self.shortcut_a.activated.connect(self._on_increase_z_angular_pressed)
self.shortcut_z = QShortcut(QKeySequence(Qt.Key_Z), self._widget)
self.shortcut_z.setContext(Qt.ApplicationShortcut)
self.shortcut_z.activated.connect(self._on_reset_z_angular_pressed)
self.shortcut_d = QShortcut(QKeySequence(Qt.Key_D), self._widget)
self.shortcut_d.setContext(Qt.ApplicationShortcut)
self.shortcut_d.activated.connect(self._on_decrease_z_angular_pressed)
self.shortcut_shift_w = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_W), self._widget)
self.shortcut_shift_w.setContext(Qt.ApplicationShortcut)
self.shortcut_shift_w.activated.connect(self._on_strong_increase_x_linear_pressed)
self.shortcut_shift_x = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_X), self._widget)
self.shortcut_shift_x.setContext(Qt.ApplicationShortcut)
self.shortcut_shift_x.activated.connect(self._on_reset_x_linear_pressed)
self.shortcut_shift_s = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_S), self._widget)
self.shortcut_shift_s.setContext(Qt.ApplicationShortcut)
self.shortcut_shift_s.activated.connect(self._on_strong_decrease_x_linear_pressed)
self.shortcut_shift_a = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_A), self._widget)
self.shortcut_shift_a.setContext(Qt.ApplicationShortcut)
self.shortcut_shift_a.activated.connect(self._on_strong_increase_z_angular_pressed)
self.shortcut_shift_z = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_Z), self._widget)
self.shortcut_shift_z.setContext(Qt.ApplicationShortcut)
self.shortcut_shift_z.activated.connect(self._on_reset_z_angular_pressed)
self.shortcut_shift_d = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_D), self._widget)
self.shortcut_shift_d.setContext(Qt.ApplicationShortcut)
self.shortcut_shift_d.activated.connect(self._on_strong_decrease_z_angular_pressed)
self.shortcut_space = QShortcut(QKeySequence(Qt.Key_Space), self._widget)
self.shortcut_space.setContext(Qt.ApplicationShortcut)
self.shortcut_space.activated.connect(self._on_stop_pressed)
self.shortcut_space = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_Space), self._widget)
self.shortcut_space.setContext(Qt.ApplicationShortcut)
self.shortcut_space.activated.connect(self._on_stop_pressed)
self._widget.stop_push_button.setToolTip(self._widget.stop_push_button.toolTip() + ' ' + self.tr('([Shift +] Space)'))
self._widget.increase_x_linear_push_button.setToolTip(self._widget.increase_x_linear_push_button.toolTip() + ' ' + self.tr('([Shift +] W)'))
self._widget.reset_x_linear_push_button.setToolTip(self._widget.reset_x_linear_push_button.toolTip() + ' ' + self.tr('([Shift +] X)'))
self._widget.decrease_x_linear_push_button.setToolTip(self._widget.decrease_x_linear_push_button.toolTip() + ' ' + self.tr('([Shift +] S)'))
self._widget.increase_z_angular_push_button.setToolTip(self._widget.increase_z_angular_push_button.toolTip() + ' ' + self.tr('([Shift +] A)'))
self._widget.reset_z_angular_push_button.setToolTip(self._widget.reset_z_angular_push_button.toolTip() + ' ' + self.tr('([Shift +] Z)'))
self._widget.decrease_z_angular_push_button.setToolTip(self._widget.decrease_z_angular_push_button.toolTip() + ' ' + self.tr('([Shift +] D)'))
# timer to consecutively send twist messages
self._update_parameter_timer = QTimer(self)
self._update_parameter_timer.timeout.connect(self._on_parameter_changed)
self._update_parameter_timer.start(100)
self.zero_cmd_sent = False
@Slot(str)
def _on_topic_changed(self, topic):
topic = str(topic)
self._unregister_publisher()
self._publisher = rospy.Publisher(topic, Twist)
self._publisher_heat = rospy.Publisher('tempeture', Int16)
self._sub = rospy.Subscriber("tempeture", Int16, self.heat_callback)
def heat_callback(self, data):
self._widget.current_z_angular_label.setText('%0.2f rad/s' % data.data)
self._on_parameter_changed()
def _on_stop_pressed(self):
self._widget.x_linear_slider.setValue(0)
self._widget.z_angular_slider.setValue(0)
def _on_x_linear_slider_changed(self):
self._widget.current_x_linear_label.setText('%0.2f m/s' % (self._widget.x_linear_slider.value() / RobotSteering.slider_factor))
self._on_parameter_changed()
def _on_z_angular_slider_changed(self):
self._widget.current_z_angular_label.setText('%0.2f rad/s' % (self._widget.z_angular_slider.value() / RobotSteering.slider_factor))
self._on_parameter_changed()
def _on_increase_x_linear_pressed(self):
self._widget.x_linear_slider.setValue(self._widget.x_linear_slider.value() + self._widget.x_linear_slider.singleStep())
def _on_reset_x_linear_pressed(self):
self._widget.x_linear_slider.setValue(0)
def _on_decrease_x_linear_pressed(self):
self._widget.x_linear_slider.setValue(self._widget.x_linear_slider.value() - self._widget.x_linear_slider.singleStep())
def _on_increase_z_angular_pressed(self):
self._widget.z_angular_slider.setValue(self._widget.z_angular_slider.value() + self._widget.z_angular_slider.singleStep())
def _on_reset_z_angular_pressed(self):
self._widget.z_angular_slider.setValue(0)
def _on_decrease_z_angular_pressed(self):
self._widget.z_angular_slider.setValue(self._widget.z_angular_slider.value() - self._widget.z_angular_slider.singleStep())
def _on_max_x_linear_changed(self, value):
self._widget.x_linear_slider.setMaximum(value * RobotSteering.slider_factor)
def _on_min_x_linear_changed(self, value):
self._widget.x_linear_slider.setMinimum(value * RobotSteering.slider_factor)
def _on_max_z_angular_changed(self, value):
self._widget.z_angular_slider.setMaximum(value * RobotSteering.slider_factor)
def _on_min_z_angular_changed(self, value):
self._widget.z_angular_slider.setMinimum(value * RobotSteering.slider_factor)
def _on_strong_increase_x_linear_pressed(self):
self._widget.x_linear_slider.setValue(self._widget.x_linear_slider.value() + self._widget.x_linear_slider.pageStep())
def _on_strong_decrease_x_linear_pressed(self):
self._widget.x_linear_slider.setValue(self._widget.x_linear_slider.value() - self._widget.x_linear_slider.pageStep())
def _on_strong_increase_z_angular_pressed(self):
self._widget.z_angular_slider.setValue(self._widget.z_angular_slider.value() + self._widget.z_angular_slider.pageStep())
def _on_strong_decrease_z_angular_pressed(self):
self._widget.z_angular_slider.setValue(self._widget.z_angular_slider.value() - self._widget.z_angular_slider.pageStep())
def _on_parameter_changed(self):
self._send_twist(self._widget.x_linear_slider.value() / RobotSteering.slider_factor, self._widget.z_angular_slider.value() / RobotSteering.slider_factor)
def _send_twist(self, x_linear, z_angular):
if self._publisher is None:
return
twist = Twist()
twist.linear.x = x_linear
twist.linear.y = 0
twist.linear.z = 0
twist.angular.x = 0
twist.angular.y = 0
twist.angular.z = z_angular
heat = Int16()
heat.data = x_linear
# Only send the zero command once so other devices can take control
if x_linear == 0 and z_angular == 0:
if not self.zero_cmd_sent:
self.zero_cmd_sent = True
self._publisher.publish(twist)
self._publisher_heat.publish(heat)
else:
self.zero_cmd_sent = False
self._publisher.publish(twist)
self._publisher_heat.publish(heat)
def _unregister_publisher(self):
if self._publisher is not None:
self._publisher.unregister()
self._publisher = None
def shutdown_plugin(self):
self._update_parameter_timer.stop()
self._unregister_publisher()
def save_settings(self, plugin_settings, instance_settings):
instance_settings.set_value('topic' , self._widget.topic_line_edit.text())
instance_settings.set_value('vx_max', self._widget.max_x_linear_double_spin_box.value())
instance_settings.set_value('vx_min', self._widget.min_x_linear_double_spin_box.value())
instance_settings.set_value('vw_max', self._widget.max_z_angular_double_spin_box.value())
instance_settings.set_value('vw_min', self._widget.min_z_angular_double_spin_box.value())
def restore_settings(self, plugin_settings, instance_settings):
value = instance_settings.value('topic', "/cmd_vel")
value = rospy.get_param("~default_topic", value)
self._widget.topic_line_edit.setText(value)
value = self._widget.max_x_linear_double_spin_box.value()
value = instance_settings.value( 'vx_max', value)
value = rospy.get_param("~default_vx_max", value)
self._widget.max_x_linear_double_spin_box.setValue(float(value))
value = self._widget.min_x_linear_double_spin_box.value()
value = instance_settings.value( 'vx_min', value)
value = rospy.get_param("~default_vx_min", value)
self._widget.min_x_linear_double_spin_box.setValue(float(value))
value = self._widget.max_z_angular_double_spin_box.value()
value = instance_settings.value( 'vw_max', value)
value = rospy.get_param("~default_vw_max", value)
self._widget.max_z_angular_double_spin_box.setValue(float(value))
value = self._widget.min_z_angular_double_spin_box.value()
value = instance_settings.value( 'vw_min', value)
value = rospy.get_param("~default_vw_min", value)
self._widget.min_z_angular_double_spin_box.setValue(float(value))
class RobotSteering(Plugin):
mode = True
modesensor = True
slider_factor = 1000.0
qr_data = "A"
def __init__(self, context):
super(RobotSteering, self).__init__(context)
self.setObjectName('RobotSteering')
self._publisher = None
self._publishersys = None
self._widget = QWidget()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_robot_steering'), 'resource', 'RobotSteering.ui')
loadUi(ui_file, self._widget)
self._widget.setObjectName('RobotSteeringUi')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number()))
context.add_widget(self._widget)
self._publisher = rospy.Publisher('speed', Int16,queue_size=10)
self._publisherth = rospy.Publisher('set_heat', Int16,queue_size=10)
self._publishersys = rospy.Publisher('syscommand',String,queue_size=10)
self._publisherauto = rospy.Publisher('autocommand',String,queue_size=10)
self._sub = rospy.Subscriber("temperature", Int16, self.heat_callback)
self._subco = rospy.Subscriber("co2", Int16, self.co_callback)
self._subbat = rospy.Subscriber("autocommand", String, self.auto_callback)
self._subqrr = rospy.Subscriber("/qrdata", String, self.qrr_callback)
self._subspeed = rospy.Subscriber("speedrobot",String,self.speed_callback)
self._submotion = rospy.Subscriber("/image_motion",String,self.motion_callback)
self._subhazard = rospy.Subscriber("/image_hazard",String,self.hazard_callback)
self._substatus = rospy.Subscriber("status_robot",String,self.status_callback)
# self._widget.topic_line_edit.textChanged.connect(self._on_topic_changed)
# self._widget.manual_push_button.pressed.connect(self._on_manual_pressed)
self._widget.x_linear_slider.valueChanged.connect(self._on_x_linear_slider_changed)
self._widget.heat_linear_slider.valueChanged.connect(self._on_heat_linear_slider_changed)
# self._widget.z_angular_slider.valueChanged.connect(self._on_z_angular_slider_changed)
# self._widget.increase_x_linear_push_button.pressed.connect(self._on_strong_increase_x_linear_pressed)
#self._widget.reset_x_linear_push_button.pressed.connect(self._on_reset_x_linear_pressed)
self._widget.reset_push_button.pressed.connect(self._on_reset_map_pressed)
self._widget.start_push_button.pressed.connect(self._on_start_pressed)
self._widget.mode_push_button.pressed.connect(self._on_mode_pressed)
self._widget.radio_push_button.pressed.connect(self._on_radio_pressed)
self._widget.comfirm_button.pressed.connect(self._on_confirm_pressed)
self._widget.ignor_button.pressed.connect(self._on_ignor_pressed)
self._widget.sensor_button.pressed.connect(self._on_sensor_pressed)
self._widget.approach_victim_button.pressed.connect(self._on_approach_pressed)
self._widget.check_sensor_button.pressed.connect(self._on_check_sensor_pressed)
#self._widget.decrease_x_linear_push_button.pressed.connect(self._on_strong_decrease_x_linear_pressed)
#self._widget.increase_z_angular_push_button.pressed.connect(self._on_strong_increase_z_angular_pressed)
#self._widget.reset_z_angular_push_button.pressed.connect(self._on_reset_z_angular_pressed)
#self._widget.decrease_z_angular_push_button.pressed.connect(self._on_strong_decrease_z_angular_pressed)
#self._widget.max_x_linear_double_spin_box.valueChanged.connect(self._on_max_x_linear_changed)
#self._widget.min_x_linear_double_spin_box.valueChanged.connect(self._on_min_x_linear_changed)
# self._widget.max_z_angular_double_spin_box.valueChanged.connect(self._on_max_z_angular_changed)
#self._widget.min_z_angular_double_spin_box.valueChanged.connect(self._on_min_z_angular_changed)
#self.shortcut_w = QShortcut(QKeySequence(Qt.Key_W), self._widget)
#self.shortcut_w.setContext(Qt.ApplicationShortcut)
#self.shortcut_w.activated.connect(self._on_increase_x_linear_pressed)
#self.shortcut_x = QShortcut(QKeySequence(Qt.Key_X), self._widget)
##self.shortcut_x.setContext(Qt.ApplicationShortcut)
#self.shortcut_x.activated.connect(self._on_reset_x_linear_pressed)
#self.shortcut_s = QShortcut(QKeySequence(Qt.Key_S), self._widget)
#self.shortcut_s.setContext(Qt.ApplicationShortcut)
#self.shortcut_s.activated.connect(self._on_decrease_x_linear_pressed)
#self.shortcut_a = QShortcut(QKeySequence(Qt.Key_A), self._widget)
#self.shortcut_a.setContext(Qt.ApplicationShortcut)
#self.shortcut_a.activated.connect(self._on_increase_z_angular_pressed)
#self.shortcut_z = QShortcut(QKeySequence(Qt.Key_Z), self._widget)
#self.shortcut_z.setContext(Qt.ApplicationShortcut)
#self.shortcut_z.activated.connect(self._on_reset_z_angular_pressed)
#self.shortcut_d = QShortcut(QKeySequence(Qt.Key_D), self._widget)
#self.shortcut_d.setContext(Qt.ApplicationShortcut)
#self.shortcut_d.activated.connect(self._on_decrease_z_angular_pressed)
#self.shortcut_shift_w = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_W), self._widget)
##self.shortcut_shift_w.setContext(Qt.ApplicationShortcut)
#elf.shortcut_shift_w.activated.connect(self._on_strong_increase_x_linear_pressed)
#self.shortcut_shift_x = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_X), self._widget)
##self.shortcut_shift_x.setContext(Qt.ApplicationShortcut)
#self.shortcut_shift_x.activated.connect(self._on_reset_x_linear_pressed)
#self.shortcut_shift_s = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_S), self._widget)
#self.shortcut_shift_s.setContext(Qt.ApplicationShortcut)
#self.shortcut_shift_s.activated.connect(self._on_strong_decrease_x_linear_pressed)
#self.shortcut_shift_a = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_A), self._widget)
#self.shortcut_shift_a.setContext(Qt.ApplicationShortcut)
#self.shortcut_shift_a.activated.connect(self._on_strong_increase_z_angular_pressed)
#self.shortcut_shift_z = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_Z), self._widget)
#self.shortcut_shift_z.setContext(Qt.ApplicationShortcut)
#self.shortcut_shift_z.activated.connect(self._on_reset_z_angular_pressed)
#self.shortcut_shift_d = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_D), self._widget)
#self.shortcut_shift_d.setContext(Qt.ApplicationShortcut)
#self.shortcut_shift_d.activated.connect(self._on_strong_decrease_z_angular_pressed)
self.shortcut_space = QShortcut(QKeySequence(Qt.Key_Space), self._widget)
self.shortcut_space.setContext(Qt.ApplicationShortcut)
# self.shortcut_space.activated.connect(self._on_manual_pressed)
self.shortcut_space = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_Space), self._widget)
self.shortcut_space.setContext(Qt.ApplicationShortcut)
# self.shortcut_space.activated.connect(self._on_manual_pressed)
# self._widget.stop_push_button.setToolTip(self._widget.stop_push_button.toolTip() + ' ' + self.tr('([Shift +] Space)'))
#self._widget.increase_x_linear_push_button.setToolTip(self._widget.increase_x_linear_push_button.toolTip() + ' ' + self.tr('([Shift +] W)'))
#self._widget.reset_x_linear_push_button.setToolTip(self._widget.reset_x_linear_push_button.toolTip() + ' ' + self.tr('([Shift +] X)'))
#self._widget.decrease_x_linear_push_button.setToolTip(self._widget.decrease_x_linear_push_button.toolTip() + ' ' + self.tr('([Shift +] S)'))
# self._widget.increase_z_angular_push_button.setToolTip(self._widget.increase_z_angular_push_button.toolTip() + ' ' + self.tr('([Shift +] A)'))
# self._widget.reset_z_angular_push_button.setToolTip(self._widget.reset_z_angular_push_button.toolTip() + ' ' + self.tr('([Shift +] Z)'))
# self._widget.decrease_z_angular_push_button.setToolTip(self._widget.decrease_z_angular_push_button.toolTip() + ' ' + self.tr('([Shift +] D)'))
# timer to consecutively send twist messages
# self._update_parameter_timer = QTimer(self)
# self._update_parameter_timer.timeout.connect(self._on_parameter_changed)
# self._update_parameter_timer.start(100)
self.zero_cmd_sent = False
@Slot(str)
# def _on_topic_changed(self, topic):
# topic = str(topic)
# self._unregister_publisher()
# self._publisher = rospy.Publisher(topic, Twist)
# self._publisher = rospy.Publisher(topic, Int16)
# self._sub = rospy.Subscriber("tempeture", Int16, self.heat_callback)
# self._subco = rospy.Subscriber("co", Int16, self.co_callback)
def auto_callback(self, data):
#self._widget.textEdit.append('autocall')
str = String()
if data.data == "detectC":
self._widget.victim_label.setText('Found Hole')
self._widget.current_z_angular_label.setEnabled(True)
self._widget.label.setEnabled(True)
# self._widget.groupBox.setEnabled(True)
self._widget.comfirm_button.setEnabled(True)
self._widget.approach_victim_button.setEnabled(True)
self._widget.ignor_button.setEnabled(True)
str.data = "stop"
self._publishersys.publish(str)
if data.data == "detectT":
self._widget.victim_label.setText('Found Temp')
self._widget.current_z_angular_label.setEnabled(True)
self._widget.label.setEnabled(True)
# self._widget.groupBox.setEnabled(True)
self._widget.comfirm_button.setEnabled(True)
self._widget.approach_victim_button.setEnabled(True)
self._widget.ignor_button.setEnabled(True)
if data.data == "detectQ":
self._widget.victim_label.setText('QR Found')
self._widget.current_z_angular_label.setEnabled(True)
self._widget.label.setEnabled(True)
def speed_callback(self,data):
self._widget.SP_R.setText('%s' % data.data)
def status_callback(self,data):
self._widget.robot_label.setText('%s' % data.data)
def qrr_callback(self, data):
# self._widget.label_3.setText('%s' % data.data)
self._widget.textEdit.append('%s' % data.data)
def motion_callback(self, data):
self._widget.motion.setText('%s' % data.data)
self._widget.motion.setEnabled(True)
def hazard_callback(self, data):
self._widget.hazard.setText('%s' % data.data)
self._widget.hazard.setEnabled(True)
def co_callback(self, data):
self._widget.CO2.setText('%d ppm' % data.data)
self._widget.CO2.setEnabled(True)
self._on_parameter_changed()
def heat_callback(self, data):
self._widget.current_z_angular_label.setText('%d C' % data.data)
self._on_parameter_changed()
def _on_manual_pressed(self):
self._widget.x_linear_slider.setValue(0)
# self._widget.z_angular_slider.setValue(0)
def _on_x_linear_slider_changed(self):
self._widget.current_x_linear_label.setText('%0.2f m/s' % self._widget.x_linear_slider.value() )
self._on_parameter_changed()
def _on_heat_linear_slider_changed(self):
self._widget.current_heat_linear_label.setText('%0.2f C' % self._widget.heat_linear_slider.value() )
self._on_heat_changed()
def _on_approach_pressed(self):
str = String()
str.data = "getposition"
self._publishersys.publish(str)
d = rospy.Duration(0.2,0)
rospy.sleep(d)
str.data = "approach_victim"
self._publishersys.publish(str)
self._widget.victim_label.setText('Approach Victim..')
def _on_left_pressed(self):
str = String()
str.data = "left_path_gen"
self._publishersys.publish(str)
def _on_right_pressed(self):
str = String()
str.data = "right_path_gen"
self._publishersys.publish(str)
def _on_check_sensor_pressed(self):
str = String()
str.data = "check_sensor"
self._publishersys.publish(str)
self._widget.victim_label.setText('Check SS')
self._widget.CO2.setText('0')
self._widget.current_z_angular_label.setText('0')
def _on_reset_map_pressed(self):
str = String()
str.data = "reset"
self._publishersys.publish(str)
def _on_start_pressed(self):
str = String()
str.data = "start_walk"
self._publishersys.publish(str)
def _on_mode_pressed(self):
str = String()
if RobotSteering.mode :
self._widget.mode_push_button.setText('Auto_Mode')
RobotSteering.mode = False
str.data = "teleop_mode"
else :
self._widget.mode_push_button.setText('Teleop_Mode')
RobotSteering.mode = True
str.data = "auto_mode"
self._publishersys.publish(str)
def _on_radio_pressed(self):
str = String()
str.data="radio_mode"
self._publishersys.publish(str)
self._widget.robot_label.setText('RADIO GOGO GOODLUCK')
def _on_confirm_pressed(self):
str = String()
str.data = "plot_map"
self._publishersys.publish(str)
d = rospy.Duration(0.2, 0)
rospy.sleep(d)
str.data = "finish" ############# plottt mappp ##################
self._publishersys.publish(str)
d = rospy.Duration(0.2, 0)
rospy.sleep(d)
str.data = "go"
self._publishersys.publish(str)
self._widget.motion.setEnabled(False)
self._widget.eye_chart.setEnabled(False)
self._widget.hazard.setEnabled(False)
self._widget.CO2.setEnabled(False)
#self._widget.groupBox.setEnabled(False)
self._widget.comfirm_button.setEnabled(True)
self._widget.approach_victim_button.setEnabled(True)
self._widget.ignor_button.setEnabled(True)
self._widget.current_z_angular_label.setEnabled(False)
self._widget.label.setEnabled(False)
self._widget.victim_label.setText('Searching...')
def _on_ignor_pressed(self):
str = String()
str.data = "ignor"
self._publishersys.publish(str)
d = rospy.Duration(0.5,0)
rospy.sleep(d)
str.data = "go"
self._publishersys.publish(str)
#self._widget.groupBox.setEnabled(False)
self._widget.comfirm_button.setEnabled(True)
self._widget.approach_victim_button.setEnabled(True)
self._widget.ignor_button.setEnabled(True)
self._widget.current_z_angular_label.setEnabled(False)
self._widget.label.setEnabled(False)
self._widget.victim_label.setText('Searching...')
def _on_sensor_pressed(self):
str = String()
if RobotSteering.modesensor :
self._widget.sensor_button.setText('Stop_Sensor')
RobotSteering.modesensor = False
str.data = "start_sensor"
else :
self._widget.sensor_button.setText('Start_Sensor')
RobotSteering.modesensor = True
str.data = "stop_sensor"
self._publishersys.publish(str)
# def _on_increase_x_linear_pressed(self):
# self._widget.x_linear_slider.setValue(self._widget.x_linear_slider.value() + self._widget.x_linear_slider.singleStep())
# def _on_reset_x_linear_pressed(self):
# self._widget.x_linear_slider.setValue(50)
#def _on_decrease_x_linear_pressed(self):
# self._widget.x_linear_slider.setValue(self._widget.x_linear_slider.value() - self._widget.x_linear_slider.singleStep())
#def _on_increase_z_angular_pressed(self):
# self._widget.z_angular_slider.setValue(self._widget.z_angular_slider.value() + self._widget.z_angular_slider.singleStep())
# def _on_reset_z_angular_pressed(self):
# self._widget.z_angular_slider.setValue(0)
# def _on_decrease_z_angular_pressed(self):
# self._widget.z_angular_slider.setValue(self._widget.z_angular_slider.value() - self._widget.z_angular_slider.singleStep())
# def _on_max_x_linear_changed(self, value):
#self._widget.x_linear_slider.setMaximum(value)
#
# def _on_min_x_linear_changed(self, value):
# self._widget.x_linear_slider.setMinimum(value)
# def _on_max_z_angular_changed(self, value):
# self._widget.z_angular_slider.setMaximum(value * RobotSteering.slider_factor)
# def _on_min_z_angular_changed(self, value):
# self._widget.z_angular_slider.setMinimum(value * RobotSteering.slider_factor)
# def _on_strong_increase_x_linear_pressed(self):
# self._widget.x_linear_slider.setValue(self._widget.x_linear_slider.value() + self._widget.x_linear_slider.pageStep())
# def _on_strong_decrease_x_linear_pressed(self):
# self._widget.x_linear_slider.setValue(self._widget.x_linear_slider.value() - self._widget.x_linear_slider.pageStep())
# def _on_strong_increase_z_angular_pressed(self):
# self._widget.z_angular_slider.setValue(self._widget.z_angular_slider.value() + self._widget.z_angular_slider.pageStep())
#def _on_strong_decrease_z_angular_pressed(self):
# self._widget.z_angular_slider.setValue(self._widget.z_angular_slider.value() - self._widget.z_angular_slider.pageStep())
def _on_parameter_changed(self):
self._send_twist(self._widget.x_linear_slider.value())
def _on_heat_changed(self):
self._send_heat(self._widget.heat_linear_slider.value())
def _send_heat(self, heat):
h = Int16()
h.data = heat
self._publisherth.publish(h)
str = String()
str.data = "setheat"
self._publisherauto.publish(str)
def _send_twist(self, x_linear):
if self._publisher is None:
return
# twist = Twist()
#twist.linear.x = x_linear
#twist.linear.y = 0
#twist.linear.z = 0
#twist.angular.x = 0
#twist.angular.y = 0
#twist.angular.z = z_angular
speed = Int16()
speed.data = x_linear
# Only send the zero command once so other devices can take control
if x_linear == 0:
if not self.zero_cmd_sent:
self.zero_cmd_sent = True
# self._publisher.publish(twist)
self._publisher.publish(speed)
else:
self.zero_cmd_sent = False
# self._publisher.publish(twist)
self._publisher.publish(speed)
def _unregister_publisher(self):
if self._publisher is not None:
self._publisher.unregister()
self._publisher = None
def shutdown_plugin(self):
# self._update_parameter_timer.stop()
self._unregister_publisher()
