def setItems(self, items=None):
"""
Set a list of items for the item pager to page-through
"""
itemsPerPage = int(self.itemsPerPage)
if iterableLength(items) <= itemsPerPage:
self.showAllButton.remove()
elif self.showAllButton.toggled():
itemsPerPage = iterableLength(items)
self._pages_ = PositionController(items=items or [],
startIndex=self._index_.value(),
itemsPerPage=itemsPerPage,
pagesShownAtOnce=int(
self.pagesShownAtOnce))
self._index_.setValue(self._pages_.startIndex)
def create_controllers(pack_path):
cmd_queue, settings, cp_dict, s_objs, s_walls, c_objs, cam_dict = get_configs(
pack_path)
arm_s = settings['arm_planning']
pos_s = settings['navigation']
# Creates all the controllers necessary for scene execution.
# Offsets according to URDF. Have to be adjusted in case of frame changes! For more info refer to constructor in ArmController.py.
arm_ctrl = ArmController(jnt_st=arm_s['joint_state_topic'],
eef_offset=arm_s['eef_offset'],
f_off_x=arm_s['f_off_x'],
f_off_y=arm_s['f_off_y'],
f_off_w=arm_s['f_off_w'],
rbt_name=pos_s['robot_name'])
s_ldr = SceneLoader(arm_ctrl.get_scene(), world_ff='world')
pos_ctrl = PositionController(pos_s['robot_name'], c_objs=c_objs)
opt_s = pos_s['optimization']
pos_ctrl.set_opt_params(opt_s['local_threshold'], opt_s['local_timeout'],
opt_s['global_threshold'], opt_s['global_timeout'])
rbt_ctrl = RobotController(cmd_queue, cp_dict, arm_ctrl, pos_ctrl, s_ldr,
s_objs, s_walls)
# Enable geoometric Alternative to avoid being stuck in a pose.
rbt_ctrl.set_geo_alt(arm_s['set_geo_alt'])
return arm_ctrl, s_ldr, pos_ctrl, rbt_ctrl
def main():
main_pack = 'robot_cinematics'
# Initialize the ROS node to enable all ROS functions.
rospy.init_node('robot_controller', anonymous=True)
# Check if Gazebo is running.
try:
rospy.wait_for_service('/gazebo/get_physics_properties', timeout=1)
except rospy.ROSException:
rospy.logerr("Gazebo not running, no scene execution possible!")
return
valid = False
rospack = rospkg.RosPack()
pack_path = rospack.get_path(main_pack)
# Choose a scene configuration.
print('##########################################')
print('######### Choose a scene number! #########')
print('##########################################')
while not valid:
s_nr = input()
s_path = pack_path + "/cinematics/scene/scene" + str(s_nr) + ".yaml"
try:
with open(s_path, 'r') as stream:
data = yaml.safe_load(stream)
cmd_queue = Queue.Queue(maxsize=0)
for i in range(1,len(data.keys())+1):
if 'eef_angle' in data['action'+str(i)].keys():
if 'pi' in str(data['action'+str(i)]['eef_angle']):
data['action'+str(i)]['eef_angle'] = data['action'+str(i)]['eef_angle'].replace('pi',str(math.pi))
data['action'+str(i)]['eef_angle'] = eval(data['action'+str(i)]['eef_angle'])
cmd_queue.put(data['action'+str(i)])
valid = True
except IOError:
valid = False
print "Please choose a valid number!"
settings, cp_dict, s_objs, s_walls, c_objs = load_files(pack_path) # Reads all config files.
arm_s = settings['arm_planning']
pos_s = settings['navigation']
# Creates all the controllers necessary for scene execution.
# Settings are read from the yaml file in the demo/config folder!
arm_ctrl = ArmController(arm_group = arm_s['arm_group'], jnt_st = arm_s['joint_state_topic'], eef_offset=arm_s['eef_offset'], f_off_x=arm_s['f_off_x'], f_off_y=arm_s['f_off_y'], f_off_w=arm_s['f_off_w'], rbt_name=pos_s['robot_name'])
arm_ctrl.set_grab_type(arm_s['grab_type'])
s_ldr = SceneLoader(arm_ctrl.get_scene(),world_ff='world')
pos_ctrl = PositionController(pos_s['robot_name'], c_objs=c_objs)
opt_s = pos_s['optimization']
pos_ctrl.set_opt_params(opt_s['local_threshold'], opt_s['local_timeout'], opt_s['global_threshold'], opt_s['global_timeout'])
rbt_ctrl = RobotController(cmd_queue,cp_dict,arm_ctrl,pos_ctrl,s_ldr,s_objs, s_walls)
# Enable geoometric Alternative to avoid being stuck in a pose.
rbt_ctrl.set_geo_alt(arm_s['set_geo_alt'])
print('#########################################')
print('########## Record scene? (y/n) ##########')
print('#########################################')
ans = raw_input()
if ans in ['y', 'Y']: # Records the scene to pack_path/videos. Overrides already existing videos!
print('#########################################')
print('##### Files will be stored under: ######')
print('##### robot_cinematics/videos ######')
print('#########################################')
uuid = roslaunch.rlutil.get_or_generate_uuid(None, False)
roslaunch.configure_logging(uuid)
launch = roslaunch.parent.ROSLaunchParent(uuid, [pack_path + '/launch/camera_manager.launch'])
launch.start()
rospy.loginfo("Started camera manager.")
rbt_ctrl.exec_scene()
rospy.sleep(1)
if ans in ['y', 'Y']:
launch.shutdown()
