def halt(self):
# 全てのロボットの制御を切る
for robot_id in range(self._ID_NUM):
control_target = ControlTarget()
control_target.robot_id = robot_id
control_target.control_enable = False
self._pubs_control_target[robot_id].publish(control_target)
# ビジー状態を解除して、halt後に動けるようにする
self._is_busy = False
def halt(self):
# 全てのロボットの速度を０にする
for robot_id in range(self._ID_NUM):
control_target = ControlTarget()
control_target.robot_id = robot_id
control_target.control_enable = True
control_target.goal_velocity = Pose2D(0, 0, 0)
self._pubs_control_target[robot_id].publish(control_target)
# ビジー状態を解除して、halt後に動けるようにする
self._is_busy = False
def _publish_line_positions(self, move_forward=True):
START_X = 1.0
MARGIN = 0.6
TARGET_Y = 1.0
THETA = math.pi * 0.5
# 横一直線の目標位置を送信する
for robot_id in range(self._ID_NUM):
control_target = ControlTarget()
control_target.robot_id = robot_id
control_target.control_enable = True
# ゴール位置を生成
pose = Pose2D()
pose.x = START_X + MARGIN * robot_id
pose.y = TARGET_Y
if move_forward is False:
pose.y *= -1.0
pose.theta = THETA
control_target.path.append(pose)
# ゴール地点での速度
control_target.goal_velocity = Pose2D(0.0, 0.0, 0.0)
# キック威力 0.0 ~ 1.0
control_target.kick_power = 0.0
control_target.chip_enable = False
control_target.dribble_power = 0.0
self._pubs_control_target[robot_id].publish(control_target)
def __init__(self):
self._ID_NUM = 16
self._is_busy = False
self._move_forward = True
self._is_arrived = []
self._control_target = []
self._pubs_control_target = []
self._subs_is_arrived = []
self.last_time = rospy.Time.now()
color = 'blue'
for robot_id in range(self._ID_NUM):
self._is_arrived.append(False)
self._control_target.append(ControlTarget())
# 末尾に16進数の文字列をつける
topic_id = hex(robot_id)[2:]
topic_name = 'consai2_game/control_target_' + color + '_' + topic_id
pub_control_target = rospy.Publisher(topic_name,
ControlTarget,
queue_size=1)
self._pubs_control_target.append(pub_control_target)
topic_name = 'consai2_control/is_arrived_' + color + '_' + topic_id
sub_is_arrived = rospy.Subscriber(topic_name,
Bool,
self._callback_is_arrived,
queue_size=1,
callback_args=robot_id)
self._subs_is_arrived.append(sub_is_arrived)
def update(self):
Observer.update_ball_is_moving(self._ball_info)
Observer.update_role_is_exist(self._roledecision._rolestocker._role_is_exist)
self._roledecision.set_disappeared([i.disappeared for i in self._robot_info['our']])
if tool.is_in_defense_area(self._ball_info.pose, 'our') is False \
and Observer.ball_is_moving() is False:
# ボールが自チームディフェンスエリア外にあり
# ボールが動いていないとき、アタッカーの交代を考える
self._roledecision.check_ball_dist([i.pose for i in self._robot_info['our']], self._ball_info)
self._roledecision.event_observer()
defense_num = self._roledecision._rolestocker._defense_num
self._obstacle_avoidance.update_obstacles(self._ball_info, self._robot_info)
for our_info in self._robot_info['our']:
robot_id = our_info.robot_id
target = ControlTarget()
# ロールの更新
self._robot_node[robot_id]._my_role = self._roledecision._rolestocker._my_role[robot_id]
if our_info.disappeared:
# ロボットが消えていたら停止
target = self._robot_node[robot_id].get_sleep()
else:
# ロボットの状態を更新
self._robot_node[robot_id].set_state(
our_info.pose, our_info.velocity)
# 目標位置を生成
target = self._robot_node[robot_id].get_action(
self._decoded_referee,
self._obstacle_avoidance,
self._ball_info,
self._robot_info,
defense_num)
self._pubs_control_target[robot_id].publish(target)
def update(self):
for our_info in self._robot_info['our']:
robot_id = our_info.robot_id
target = ControlTarget()
if our_info.disappeared:
# ロボットが消えていたら停止
target = self._robot_node[robot_id].get_sleep()
# ボールとの距離を初期化
self._dist_to_ball[robot_id] = self._FAR_DISTANCE
else:
# アタッカー情報をセット
self._robot_node[robot_id].set_attacker(
self._i_am_attacker(robot_id, our_info.pose))
# ロボットの状態を更新
self._robot_node[robot_id].set_state(our_info.pose,
our_info.velocity)
# 目標位置を生成
# target = self._robot_node[robot_id].get_action(
# self._decoded_referee,
# self._ball_info)
target = self._robot_node[robot_id].get_action(
self._decoded_referee, self._ball_info, self._robot_info)
self._pubs_control_target[robot_id].publish(target)
def velocity_control_example(target_id, publisher):
control_target = ControlTarget()
# ロボットID
control_target.robot_id = target_id
# キック・ドリブルをFalse
control_target.kick_power = 0.0
control_target.chip_enable = False
control_target.dribble_power = 0.0
# Trueで走行開始
control_target.control_enable = True
STOP_TIME = 2.0
MOVE_TIME = 2.0
publish_velocity(control_target, Pose2D(0, 0, 0), publisher, "Stop:",
STOP_TIME)
publish_velocity(control_target, Pose2D(1, 0, 0), publisher, "Move:",
MOVE_TIME)
publish_velocity(control_target, Pose2D(0, 0, 0), publisher, "Stop:",
STOP_TIME)
publish_velocity(control_target, Pose2D(-1, 0, 0), publisher, "Move:",
MOVE_TIME)
publish_velocity(control_target, Pose2D(0, 0, 0), publisher, "Stop:",
STOP_TIME)
publish_velocity(control_target, Pose2D(0, 1, 0), publisher, "Move:",
MOVE_TIME)
publish_velocity(control_target, Pose2D(0, 0, 0), publisher, "Stop:",
STOP_TIME)
publish_velocity(control_target, Pose2D(0, -1, 0), publisher, "Move:",
MOVE_TIME)
publish_velocity(control_target, Pose2D(0, 0, 0), publisher, "Stop:",
STOP_TIME)
publish_velocity(control_target, Pose2D(0, 0, math.pi), publisher, "Move:",
MOVE_TIME)
publish_velocity(control_target, Pose2D(0, 0, 0), publisher, "Stop:",
STOP_TIME)
publish_velocity(control_target, Pose2D(0, 0, -math.pi), publisher,
"Move:", MOVE_TIME)
publish_velocity(control_target, Pose2D(0, 0, 0), publisher, "Stop:",
STOP_TIME)
control_target.control_enable = False
publish_velocity(control_target, Pose2D(0, 0, 0), publisher, "Finish:",
STOP_TIME)
def __init__(self, robot_id):
self._MY_ID = robot_id
self._control_target = ControlTarget()
self._control_target.robot_id = robot_id
self._control_target.control_enable = False
self._my_pose = Pose2D()
self._my_velocity = Pose2D()
self._is_attacker = False
self._is_goalie = False
def path_example(target_id, publisher):
# 制御目標値を生成
control_target = ControlTarget()
# ロボットID
control_target.robot_id = target_id
# Trueで走行開始
control_target.control_enable = True
# 経由位置1
pose = Pose2D()
pose.x = 1.0 # meter
pose.y = 1.0 # meter
pose.theta = 0.0 # radians
control_target.path.append(pose)
# 経由位置2
pose = Pose2D()
pose.x = -1.0 # meter
pose.y = 1.0 # meter
pose.theta = 0.0 # radians
control_target.path.append(pose)
# 経由位置3
pose = Pose2D()
pose.x = -1.0 # meter
pose.y = -1.0 # meter
pose.theta = 0.0 # radians
control_target.path.append(pose)
# ゴール位置
pose = Pose2D()
pose.x = 0.0 # meter
pose.y = 0.0 # meter
pose.theta = 0.0 # radians
control_target.path.append(pose)
# ゴール地点での速度
goal_velocity = Pose2D(0.0, 0.0, 0.0)
control_target.goal_velocity = goal_velocity
# キック威力 0.0 ~ 1.0
control_target.kick_power = 0.0
control_target.chip_enable = False
control_target.dribble_power = 0.0
publisher.publish(control_target)
def __init__(self):
QUEUE_SIZE = 10
self._COLORS = ['blue', 'yellow']
self._MAX_VELOCITY = 4.0 # m/s
self._MAX_ANGLE_VELOCITY = 2.0 * math.pi # rad/s
self._MAX_ACCELERATION = 1.0 / 60.0 # m/s^2 / frame
self._MAX_ANGLE_ACCELERATION = 1.0 * math.pi / 60.0 # rad/s^2 / frame
self._POSE_P_GAIN = 1.0
self._ARRIVED_THRESH = 0.1 # meters 目標位置に到着したかどうかのしきい値
self._APPROACH_THRESH = 0.5 # meters 経由位置に近づいたかどうかのしきい値
self._MAX_ID = rospy.get_param('consai2_description/max_id', 15)
# フィールド座標系の制御速度
# PID制御のため、前回の制御速度を保存する
self._control_velocity = {'blue': [], 'yellow': []}
for color in self._COLORS:
for robot_id in range(self._MAX_ID + 1):
self._control_velocity[color].append(Pose2D())
# 経路追従のためのインデックス
self._path_index = {'blue': [], 'yellow': []}
self._robot_info = {'blue': [], 'yellow': []}
self._subs_robot_info = {'blue': [], 'yellow': []}
self._control_target = {'blue': [], 'yellow': []}
self._subs_control_target = {'blue': [], 'yellow': []}
self._pubs_is_arrived = {'blue': [], 'yellow': []}
for color in self._COLORS:
for robot_id in range(self._MAX_ID + 1):
self._robot_info[color].append(RobotInfo())
self._control_target[color].append(ControlTarget())
self._path_index[color].append(0)
# 末尾に16進数の文字列をつける
topic_id = hex(robot_id)[2:]
topic_name = 'vision_wrapper/robot_info_' + color + '_' + topic_id
sub_robot_info = rospy.Subscriber(topic_name,
RobotInfo,
self._callback_robot_info,
queue_size=QUEUE_SIZE,
callback_args=color)
self._subs_robot_info[color].append(sub_robot_info)
topic_name = 'consai2_game/control_target_' + color + '_' + topic_id
sub_control_target = rospy.Subscriber(
topic_name,
ControlTarget,
self._callback_control_target,
queue_size=QUEUE_SIZE,
callback_args=color)
self._subs_control_target[color].append(sub_control_target)
topic_name = 'consai2_control/is_arrived_' + color + '_' + topic_id
pub_is_arrived = rospy.Publisher(topic_name,
Bool,
queue_size=QUEUE_SIZE)
self._pubs_is_arrived[color].append(pub_is_arrived)
self._pub_commands = rospy.Publisher('consai2_control/robot_commands',
RobotCommands,
queue_size=QUEUE_SIZE)
def __init__(self):
self._MAX_ID = rospy.get_param('consai2_description/max_id')
# 直接操縦かcontrol経由の操縦かを決める
self._DIRECT = rospy.get_param('~direct')
# /consai2_examples/launch/joystick_example.launch でキー割り当てを変更する
self._BUTTON_SHUTDOWN_1 = rospy.get_param('~button_shutdown_1')
self._BUTTON_SHUTDOWN_2 = rospy.get_param('~button_shutdown_2')
self._BUTTON_MOVE_ENABLE = rospy.get_param('~button_move_enable')
self._AXIS_VEL_SURGE = rospy.get_param('~axis_vel_surge')
self._AXIS_VEL_SWAY = rospy.get_param('~axis_vel_sway')
self._AXIS_VEL_ANGULAR = rospy.get_param('~axis_vel_angular')
self._BUTTON_KICK_ENABLE = rospy.get_param('~button_kick_enable')
self._BUTTON_KICK_STRAIGHT = rospy.get_param('~button_kick_straight')
self._BUTTON_KICK_CHIP = rospy.get_param('~button_kick_chip')
self._AXIS_KICK_POWER = rospy.get_param('~axis_kick_power')
self._BUTTON_DRIBBLE_ENABLE = rospy.get_param('~button_dribble_enable')
self._AXIS_DRIBBLE_POWER = rospy.get_param('~axis_dribble_power')
self._BUTTON_ID_ENABLE = rospy.get_param('~button_id_enable')
self._AXIS_ID_CHANGE = rospy.get_param('~axis_id_change')
self._BUTTON_COLOR_ENABLE = rospy.get_param('~button_color_enable')
self._AXIS_COLOR_CHANGE = rospy.get_param('~axis_color_change')
self._BUTTON_ALL_ID_1 = rospy.get_param('~button_all_id_1')
self._BUTTON_ALL_ID_2 = rospy.get_param('~button_all_id_2')
self._BUTTON_ALL_ID_3 = rospy.get_param('~button_all_id_3')
self._BUTTON_ALL_ID_4 = rospy.get_param('~button_all_id_4')
# indirect control用の定数
self._BUTTON_PATH_ENABLE = rospy.get_param('~button_path_enable')
self._BUTTON_ADD_POSE = rospy.get_param('~button_add_pose')
self._BUTTON_DELETE_PATH = rospy.get_param('~button_delete_path')
self._BUTTON_SEND_TARGET = rospy.get_param('~button_send_target')
self._MAX_VEL_SURGE = 1.0
self._MAX_VEL_SWAY = 1.0
self._MAX_VEL_ANGULAR = math.pi
self._MAX_KICK_POWER = 1.0 # DO NOT EDIT
self._KICK_POWER_CONTROL = 0.1
self._MAX_DRIBBLE_POWER = 1.0 # DO NOT EDIT
self._DRIBBLE_POWER_CONTROL = 0.1
self._indirect_control_enable = True
# direct control用のパラメータ
self._kick_power = 0.5
self._dribble_power = 0.5
self._robot_id = 0
self._is_yellow = False
self._all_member = False
self._pub_commands = rospy.Publisher('consai2_control/robot_commands',
RobotCommands,
queue_size=1)
self._joy_msg = None
self._sub_joy = rospy.Subscriber('joy',
Joy,
self._callback_joy,
queue_size=1)
self._pub_joy_target = rospy.Publisher('consai2_examples/joy_target',
ControlTarget,
queue_size=1)
self._joy_target = ControlTarget()
self._joy_target.path.append(Pose2D()) # スタート位置をセット
def _indirect_control_update(self):
# Controller経由でロボットを操縦する
MOVE_GAIN = 0.04 # meters
MOVE_GAIN_ANGLE = 0.04 * math.pi # radians
control_enable = True
# メッセージを取得してない場合は抜ける
if self._joy_msg is None:
return
color_or_id_changed = False
current_joy_pose = self._joy_target.path[-1]
# シャットダウン
if self._joy_msg.buttons[self._BUTTON_SHUTDOWN_1] and\
self._joy_msg.buttons[self._BUTTON_SHUTDOWN_2]:
rospy.signal_shutdown('finish')
return
# チームカラーの変更
if self._joy_msg.buttons[self._BUTTON_COLOR_ENABLE]:
# カラー変更直後は操縦を停止する
self._indirect_control_enable = False
if math.fabs(self._joy_msg.axes[self._AXIS_COLOR_CHANGE]) > 0:
self._is_yellow = not self._is_yellow
print 'is_yellow: ' + str(self._is_yellow)
color_or_id_changed = True
# キーが離れるまでループ
while self._joy_msg.axes[self._AXIS_COLOR_CHANGE] != 0:
pass
# IDの変更
if self._joy_msg.buttons[self._BUTTON_ID_ENABLE]:
# ID変更直後は操縦を停止する
self._indirect_control_enable = False
if math.fabs(self._joy_msg.axes[self._AXIS_ID_CHANGE]) > 0:
# 十字キーの入力に合わせて、IDを増減させる
self._robot_id += int(self._joy_msg.axes[self._AXIS_ID_CHANGE])
if self._robot_id > self._MAX_ID:
self._robot_id = self._MAX_ID
if self._robot_id < 0:
self._robot_id = 0
print 'robot_id:' + str(self._robot_id)
color_or_id_changed = True
# キーが離れるまでループ
while self._joy_msg.axes[self._AXIS_ID_CHANGE] != 0:
pass
# poseの更新
if self._joy_msg.buttons[self._BUTTON_MOVE_ENABLE]:
# 操縦を許可する
self._indirect_control_enable = True
if math.fabs(self._joy_msg.axes[self._AXIS_VEL_SWAY]):
# joystickの仕様により符号を反転している
gain = MOVE_GAIN * self._joy_msg.axes[self._AXIS_VEL_SWAY]
current_joy_pose.x += math.copysign(
gain, -self._joy_msg.axes[self._AXIS_VEL_SWAY])
if math.fabs(self._joy_msg.axes[self._AXIS_VEL_SURGE]):
gain = MOVE_GAIN * self._joy_msg.axes[self._AXIS_VEL_SURGE]
current_joy_pose.y += math.copysign(
gain, self._joy_msg.axes[self._AXIS_VEL_SURGE])
if math.fabs(self._joy_msg.axes[self._AXIS_VEL_ANGULAR]):
gain = MOVE_GAIN_ANGLE * self._joy_msg.axes[
self._AXIS_VEL_ANGULAR]
current_joy_pose.theta += math.copysign(
gain, self._joy_msg.axes[self._AXIS_VEL_ANGULAR])
current_joy_pose.theta = angle_normalize(
current_joy_pose.theta)
# パスの末尾にセット
self._joy_target.path[-1] = current_joy_pose
# Pathの操作
if self._joy_msg.buttons[self._BUTTON_PATH_ENABLE]:
# 操縦を許可する
self._indirect_control_enable = True
# Poseの追加
if self._joy_msg.buttons[self._BUTTON_ADD_POSE]:
self._joy_target.path.append(copy.deepcopy(current_joy_pose))
print 'add pose' + str(len(self._joy_target.path))
# キーが離れるまでループ
while self._joy_msg.buttons[self._BUTTON_ADD_POSE] != 0:
pass
# Pathの初期化
if self._joy_msg.buttons[self._BUTTON_DELETE_PATH]:
self._joy_target.path = []
self._joy_target.path.append(Pose2D())
print 'delete path'
# キーが離れるまでループ
while self._joy_msg.buttons[self._BUTTON_DELETE_PATH] != 0:
pass
# ControlTargetの送信
if self._joy_msg.buttons[self._BUTTON_SEND_TARGET]:
self._joy_target.robot_id = self._robot_id
self._joy_target.control_enable = True
color = 'blue'
if self._is_yellow:
color = 'yellow'
# 末尾に16進数の文字列をつける
topic_id = hex(self._robot_id)[2:]
topic_name = 'consai2_game/control_target_' + color + '_' + topic_id
pub_control_target = rospy.Publisher(topic_name,
ControlTarget,
queue_size=1)
pub_control_target.publish(self._joy_target)
# self._pub_control_target.publish(self._joy_target)
print 'send target'
# Color, ID変更ボタンを押すことで操縦を停止できる
if self._indirect_control_enable is False:
stop_target = ControlTarget()
stop_target.robot_id = self._robot_id
stop_target.control_enable = False
color = 'blue'
if self._is_yellow:
color = 'yellow'
# 末尾に16進数の文字列をつける
topic_id = hex(self._robot_id)[2:]
topic_name = 'consai2_game/control_target_' + color + '_' + topic_id
pub_control_target = rospy.Publisher(topic_name,
ControlTarget,
queue_size=1)
pub_control_target.publish()
self._pub_joy_target.publish(self._joy_target)
def __init__(self, parent=None):
super(PaintWidget, self).__init__(parent)
self._WHITE_LINE_THICKNESS = 2 # 白線の太さ
self._ZOOM_RATE = 0.1 # 拡大縮小率
self._SCALE_LIMIT = 0.2 # 縮小率の限界値
self._ALPHA_DETECTED = 255 # 検出できたロボット・ボールの透明度
self._ALPHA_NOT_DETECTED = 127 # 検出できなかったロボット・ボールの透明度
self._COLOR_BALL = QColor(Qt.red)
self._COLOR_ROBOT = {
'blue': QColor(Qt.cyan),
'yellow': QColor(Qt.yellow)
}
self._ID_POS = (0.15, 0.15) # IDを描画するロボット中心からの位置
self._FLAG_POS = (0.15, 0) # control_targetのフラグを描画するロボット中心からの位置
# Replace
self._REPLACE_CLICK_POS_THRESHOLD = 0.1
self._REPLACE_CLICK_VEL_ANGLE_THRESHOLD = self._REPLACE_CLICK_POS_THRESHOLD + 0.1
self._REPLACE_BALL_VELOCITY_GAIN = 3.0
self._REPLACE_MAX_BALL_VELOCITY = 8.0
self._BALL_RADIUS = rospy.get_param('consai2_description/ball_radius',
0.0215)
self._ROBOT_RADIUS = rospy.get_param(
'consai2_description/robot_radius', 0.09)
self._MAX_ID = rospy.get_param('consai2_description/max_id', 15)
self._SIDE = rospy.get_param('consai2_description/our_side', 'left')
# チームサイドの反転
self._invert_side = False
if self._SIDE != 'left':
self._invert_side = True
# GUIパラメータ
self._trans = QPointF(0.0, 0.0) # x, y方向の移動
self._mouse_trans = QPointF(0.0, 0.0) # マウス操作による移動
self._scale = QPointF(1.0, 1.0) # 拡大, 縮小
self._do_rotate_view = False # 90度回転判定
self._view_height = self.height() # 描画サイズ（縦）
self._view_width = self.width() # 描画サイズ（横）
self._scale_field_to_view = 1.0 # フィールドから描画領域に縮小するスケール
self._click_point = QPointF(0.0, 0.0) # マウスでクリックした描画座標
self._current_mouse_pos = QPointF(0.0, 0.0) # マウスカーソル位置
self._replace_func = None
self._replace_id = 0
self._replace_is_yellow = False
self._do_replacement = False
self._replacement_target = {
'ball_pos': False,
'ball_vel': False,
'robot_pos': False,
'robot_angle': False
}
# フィールド形状
# raw_vision_geometryの値で更新される
self._field_length = 9.0
self._field_width = 6.0
self._field_goal_width = 1.0
self._field_goal_depth = 0.2
self._field_boundary_width = 0.3
self._field_lines = []
self._field_arcs = []
# ジョイスティック情報
self._joy_target = ControlTarget()
# ロボット・ボール情報
self._ball_info = BallInfo()
self._robot_info = {'blue': [], 'yellow': []}
# レフェリー情報
self._decoded_referee = None
# Publisher
self._pub_replace = rospy.Publisher('sim_sender/replacements',
Replacements,
queue_size=1)
# Subscribers
self._sub_decoded_referee = rospy.Subscriber(
'referee_wrapper/decoded_referee',
DecodedReferee,
self._callback_referee,
queue_size=1)
self._sub_geometry = rospy.Subscriber(
'vision_receiver/raw_vision_geometry',
VisionGeometry,
self._callback_geometry,
queue_size=1)
self._sub_ball_info = rospy.Subscriber('vision_wrapper/ball_info',
BallInfo,
self._callback_ball_info,
queue_size=1)
self._sub_joy_target = rospy.Subscriber('consai2_examples/joy_target',
ControlTarget,
self._callback_joy_target,
queue_size=1)
self._subs_robot_info = {'blue': [], 'yellow': []}
self._control_targets = {'blue': [], 'yellow': []}
self._subs_control_target = {'blue': [], 'yellow': []}
for robot_id in range(self._MAX_ID + 1):
self._robot_info['blue'].append(RobotInfo())
self._robot_info['yellow'].append(RobotInfo())
self._control_targets['blue'].append(ControlTarget())
self._control_targets['yellow'].append(ControlTarget())
# 末尾に16進数の文字列をつける
topic_id = hex(robot_id)[2:]
topic_name = 'vision_wrapper/robot_info_blue_' + topic_id
self._subs_robot_info['blue'].append(
rospy.Subscriber(topic_name,
RobotInfo,
self._callback_blue_info,
callback_args=robot_id))
topic_name = 'vision_wrapper/robot_info_yellow_' + topic_id
self._subs_robot_info['yellow'].append(
rospy.Subscriber(topic_name,
RobotInfo,
self._callback_yellow_info,
callback_args=robot_id))
topic_name = 'consai2_game/control_target_blue_' + topic_id
self._subs_control_target['blue'].append(
rospy.Subscriber(topic_name,
ControlTarget,
self._callback_blue_target,
callback_args=robot_id))
topic_name = 'consai2_game/control_target_blue_' + topic_id
self._subs_control_target['blue'].append(
rospy.Subscriber(topic_name,
ControlTarget,
self._callback_blue_target,
callback_args=robot_id))
topic_name = 'consai2_game/control_target_yellow_' + topic_id
self._subs_control_target['yellow'].append(
rospy.Subscriber(topic_name,
ControlTarget,
self._callback_yellow_target,
callback_args=robot_id))
# Configs
# This function enables mouse tracking without pressing mouse button
self.setMouseTracking(True)