def __init__(self, host, console, hal):
t = threading.Thread(target=self.run_server)
self.payload = {
'robot_coord': '',
'robot_contorno': '',
'text_buffer': '',
'laser': '',
'sonar_sensor': '',
'pos_vertices': '',
'laser_global': '',
'EnableMapping': ''
}
# self.map_message = {
# 'EnableMapping': ''
# }
self.server = None
self.client = None
self.host = host
self.acknowledge = False
self.acknowledge_lock = threading.Lock()
# Take the console object to set the same websocket and client
self.console = console
self.hal = hal
t.start()
pose3d_object = ListenerPose3d("/robot0/odom")
laser_object = ListenerLaser("/robot0/laser_1")
self.map = Map(laser_object, pose3d_object)
def __init__(self, host, console, hal):
t = threading.Thread(target=self.run_server)
self.payload = {'image': '', 'lap': '', 'map': '', 'text_buffer': ''}
self.server = None
self.client = None
self.host = host
# Image variables
self.image_to_be_shown = None
self.image_to_be_shown_updated = False
self.image_show_lock = threading.Lock()
self.acknowledge = False
self.acknowledge_lock = threading.Lock()
# Take the console object to set the same websocket and client
self.console = console
self.hal = hal
t.start()
# Create the map object
laser_object = ListenerLaser("/F1ROS/laser/scan")
pose3d_object = ListenerPose3d("/F1ROS/odom")
self.map = Map(laser_object, pose3d_object)
# Create the lap object
self.lap = Lap(self.map)
def __init__(self):
rospy.init_node("HAL")
self.motors = PublisherMotors("/roombaROS/cmd_vel", 4, 0.3)
self.pose3d = ListenerPose3d("/roombaROS/odom")
self.laser = ListenerLaser("/roombaROS/laser/scan")
self.bumper = ListenerBumper("/roombaROS/events/bumper")
self.camera_lock = threading.Lock()
def __init__(self):
rospy.init_node("HAL")
self.image = None
self.camera = ListenerCamera("/F1ROS/cameraL/image_raw")
self.motors = PublisherMotors("/F1ROS/cmd_vel", 4, 0.3)
self.pose3d = ListenerPose3d("/F1ROS/odom")
self.laser = ListenerLaser("/F1ROS/laser/scan")
def __init__(self):
self.config = Config()
self.motors = PublisherMotors(self.config.topic_motors, self.config.max_velV, self.config.max_velW)
self.pose3d = ListenerPose3d(self.config.topic_pose)
self.sonar_0 = ListenerSonar(self.config.topic_sonar_0)
self.sonar_1 = ListenerSonar(self.config.topic_sonar_1)
self.sonar_2 = ListenerSonar(self.config.topic_sonar_2)
self.sonar_3 = ListenerSonar(self.config.topic_sonar_3)
self.sonar_4 = ListenerSonar(self.config.topic_sonar_4)
self.sonar_5 = ListenerSonar(self.config.topic_sonar_5)
self.sonar_6 = ListenerSonar(self.config.topic_sonar_6)
self.sonar_7 = ListenerSonar(self.config.topic_sonar_7)
self.laser = ListenerLaser(self.config.topic_laser)
def __init__(self, host, console):
t = threading.Thread(target=self.run_server)
self.payload = {'canvas': None, 'image': '', 'shape': []}
self.server = None
self.client = None
self.host = host
self.payload_lock = threading.Lock()
# Take the console object to set the same websocket and client
self.console = console
t.start()
# Create the map object
laser_object = ListenerLaser("/F1ROS/laser/scan")
pose3d_object = ListenerPose3d("/F1ROS/odom")
self.map = Map(laser_object, pose3d_object)
# Create the lap object
self.lap = Lap(self.map)
import rospy
import threading
from jderobotTypes import LaserData, CMDVel, Pose3d, SonarData
from gui.threadPublisher import ThreadPublisher
sys.path.append('/home/vladkrav/TFM/AmigoBot/web-template')
from interfaces.motors import PublisherMotors
from interfaces.pose3d import ListenerPose3d
from interfaces.laser import ListenerLaser
from interfaces.sonar import ListenerSonar
if __name__ == "__main__":
motors = PublisherMotors("/robot0/cmd_vel", 0.2, 0.2)
pose3d = ListenerPose3d("/robot0/odom")
laser = ListenerLaser("/robot0/laser_1")
sonar_0 = ListenerSonar("/robot0/sonar_0")
sonar_1 = ListenerSonar("/robot0/sonar_1")
sonar_2 = ListenerSonar("/robot0/sonar_2")
sonar_3 = ListenerSonar("/robot0/sonar_3")
sonar_4 = ListenerSonar("/robot0/sonar_4")
sonar_5 = ListenerSonar("/robot0/sonar_5")
sonar_6 = ListenerSonar("/robot0/sonar_6")
sonar_7 = ListenerSonar("/robot0/sonar_7")
sonar = [sonar_0, sonar_1, sonar_2, sonar_3, sonar_4, sonar_5, sonar_6, sonar_7]
#Run your Algorithm with your solution
algorithm=MyAlgorithm(pose3d, motors, laser, sonar)
#app = QApplication(sys.argv)
#myGUI = MainWindow(pose3d)
from interfaces.pose3d import ListenerPose3d
from interfaces.laser import ListenerLaser
from interfaces.motors import PublisherMotors
if __name__ == "__main__":
cfg = config.load(sys.argv[1])
#cam_path = cfg.getProperty("ObstacleAvoidance.CameraPath")
mot_path = cfg.getProperty("ObstacleAvoidance.MotorsPath")
odo_path = cfg.getProperty("ObstacleAvoidance.Pose3DPath")
las_path = cfg.getProperty("ObstacleAvoidance.LaserPath")
#camera = ListenerCamera(cam_path)
motors = PublisherMotors(mot_path, 4, 0.3)
pose3d = ListenerPose3d(odo_path)
laser = ListenerLaser(las_path)
algorithm=MyAlgorithm(pose3d, laser, motors)
app = QApplication(sys.argv)
myGUI = MainWindow()
#myGUI.setCamera(camera)
myGUI.setMotors(motors)
myGUI.setPose3D(pose3d)
myGUI.setLaser(laser)
myGUI.setAlgorithm(algorithm)
myGUI.show()
t2 = ThreadGUI(myGUI)
t2.daemon=True
t2.start()
from PyQt5.QtWidgets import QApplication
from gui.GUI import MainWindow
from gui.threadGUI import ThreadGUI
from MyAlgorithm import MyAlgorithm
from interfaces.camera import ListenerCamera
from interfaces.pose3d import ListenerPose3d
from interfaces.laser import ListenerLaser
from interfaces.motors import PublisherMotors
if __name__ == "__main__":
camera = ListenerCamera("/F1ROS/cameraL/image_raw")
motors = PublisherMotors("/F1ROS/cmd_vel", 3, 0.5)
pose3d = ListenerPose3d("/F1ROS/odom")
laser = ListenerLaser("/F1ROS/laser/scan")
algorithm = MyAlgorithm(pose3d, laser, motors)
app = QApplication(sys.argv)
myGUI = MainWindow()
myGUI.setCamera(camera)
myGUI.setMotors(motors)
myGUI.setPose3D(pose3d)
myGUI.setLaser(laser)
myGUI.setAlgorithm(algorithm)
myGUI.show()
t2 = ThreadGUI(myGUI)
t2.daemon = True
t2.start()