def __init__(self, context):
super(Milestone1GUI, self).__init__(context)
self._sound_client = SoundClient()
rospy.Subscriber('robotsound', SoundRequest, self.sound_cb)
switch_srv_name = 'pr2_controller_manager/switch_controller'
rospy.loginfo('Waiting for switch controller service...')
rospy.wait_for_service(switch_srv_name)
self.switch_service_client = rospy.ServiceProxy(
switch_srv_name, SwitchController)
self.r_joint_names = [
'r_shoulder_pan_joint', 'r_shoulder_lift_joint',
'r_upper_arm_roll_joint', 'r_elbow_flex_joint',
'r_forearm_roll_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint'
]
self.l_joint_names = [
'l_shoulder_pan_joint', 'l_shoulder_lift_joint',
'l_upper_arm_roll_joint', 'l_elbow_flex_joint',
'l_forearm_roll_joint', 'l_wrist_flex_joint', 'l_wrist_roll_joint'
]
# Create a trajectory action client
r_traj_controller_name = '/r_arm_controller/joint_trajectory_action'
self.r_traj_action_client = SimpleActionClient(r_traj_controller_name,
JointTrajectoryAction)
rospy.loginfo(
'Waiting for a response from the trajectory action server for RIGHT arm...'
)
self.r_traj_action_client.wait_for_server()
l_traj_controller_name = '/l_arm_controller/joint_trajectory_action'
self.l_traj_action_client = SimpleActionClient(l_traj_controller_name,
JointTrajectoryAction)
rospy.loginfo(
'Waiting for a response from the trajectory action server for LEFT arm...'
)
self.l_traj_action_client.wait_for_server()
#init torso
self.torso = Torso()
#init gripper
self.l_gripper = Gripper('l')
self.r_gripper = Gripper('r')
#init navigation
self.navigation = Navigation()
self._widget = QWidget()
self._widget.setFixedSize(600, 600)
QtGui.QToolTip.setFont(QtGui.QFont('SansSerif', 10))
large_box = QtGui.QVBoxLayout()
#Button for outreaching to recieve book from Human
button_box = QtGui.QVBoxLayout()
box_1 = QtGui.QHBoxLayout()
box_2 = QtGui.QHBoxLayout()
box_3 = QtGui.QHBoxLayout()
box_4 = QtGui.QHBoxLayout()
box_5 = QtGui.QHBoxLayout()
box_6 = QtGui.QHBoxLayout()
box_7 = QtGui.QHBoxLayout()
box_8 = QtGui.QHBoxLayout()
box_9 = QtGui.QHBoxLayout()
box_10 = QtGui.QHBoxLayout()
box_1.addItem(QtGui.QSpacerItem(15, 2))
box_1.addWidget(
self.create_button('Prepare To Take', self.prepare_to_take))
box_1.addItem(QtGui.QSpacerItem(445, 2))
box_2.addItem(QtGui.QSpacerItem(15, 2))
box_2.addWidget(
self.create_button('Take From Human', self.take_from_human))
box_2.addItem(QtGui.QSpacerItem(445, 2))
box_3.addItem(QtGui.QSpacerItem(15, 2))
box_3.addWidget(
self.create_button('Prepare To Navigate',
self.prepare_to_navigate))
box_3.addItem(QtGui.QSpacerItem(445, 2))
# Button to move to shelf
box_5.addItem(QtGui.QSpacerItem(15, 2))
box_5.addWidget(
self.create_button('Navigate To Shelf', self.navigate_to_shelf))
box_5.addItem(QtGui.QSpacerItem(445, 2))
box_4.addItem(QtGui.QSpacerItem(15, 2))
box_4.addWidget(
self.create_button('Place On Shelf', self.place_on_shelf))
box_4.addItem(QtGui.QSpacerItem(445, 2))
box_6.addItem(QtGui.QSpacerItem(15, 2))
box_6.addWidget(
self.create_button('Give Information', self.give_information))
box_6.addItem(QtGui.QSpacerItem(445, 2))
box_7.addItem(QtGui.QSpacerItem(15, 2))
box_7.addWidget(
self.create_button('Navigate To Person', self.navigate_to_person))
box_7.addItem(QtGui.QSpacerItem(445, 2))
self.book_textbox = QtGui.QLineEdit()
self.book_textbox.setFixedWidth(100)
box_8.addItem(QtGui.QSpacerItem(15, 2))
box_8.addWidget(self.book_textbox)
box_8.addWidget(
self.create_button('Pick Up Book', self.pick_up_from_shelf_button))
box_8.addItem(QtGui.QSpacerItem(445, 2))
box_9.addItem(QtGui.QSpacerItem(15, 2))
box_9.addWidget(self.create_button('Localize', self.spin_base))
box_9.addItem(QtGui.QSpacerItem(445, 2))
box_10.addItem(QtGui.QSpacerItem(15, 2))
box_10.addWidget(
self.create_button('Non-nav Pick Up', self.pick_up_from_shelf))
box_10.addItem(QtGui.QSpacerItem(445, 2))
button_box.addItem(QtGui.QSpacerItem(20, 120))
button_box.addLayout(box_1)
button_box.addLayout(box_2)
button_box.addLayout(box_3)
button_box.addLayout(box_5)
button_box.addLayout(box_4)
button_box.addLayout(box_6)
button_box.addLayout(box_7)
button_box.addLayout(box_8)
button_box.addLayout(box_9)
button_box.addLayout(box_10)
button_box.addItem(QtGui.QSpacerItem(20, 240))
large_box.addLayout(button_box)
self.marker_perception = ReadMarkers()
self.speech_recognition = SpeechRecognition(self)
self.bookDB = BookDB()
self.book_map = self.bookDB.getAllBookCodes()
self._widget.setObjectName('Milestone1GUI')
self._widget.setLayout(large_box)
context.add_widget(self._widget)
self._widget.setStyleSheet(
"QWidget { image: url(%s) }" %
(str(os.path.dirname(os.path.realpath(__file__))) +
"/../../librarian_gui_background.jpg"))
