ROS Qt UI package - consists of a C++ Qt gui which invokes a service, and that service script (in python).

Requires:

• ros-indigo-qt-build
• ros-indigo-qt-app
• ros-indigo-qt-create
• ros-indigo-qt-core

QtGui is a Qt-4 app which has some buttons. These should call qnode.triggerService(servicename) where servicename is something like /qtgui/dispatcher/randomgreet or whatever.

The dispatcher.py script creates services to respond to these. The services then perform real actions, such as calling say(), which would use the MARY speech system to say some text.

The basic idea is to split the UI stuff, which is better written in C++ and Qt form editing, from the logic, which is better written in Python.

Launch with roslaunch qtgui qtgui.launch.

The aes.py script

• publishes the hormone level from -1 to 1 on the output topic /hlevel
• releases the hormone according to the level of the input topic /hrelease
• kicks the hormone down if the service /aes/nasty is called
• kicks the hormone up if the service /aes/nice is called
• geometrically decays the hormone level to zero over time