def __init__(self):
super(CalibrationMovementsGUI, self).__init__()
move_group_name = rospy.get_param('~move_group', 'manipulator')
self.angle_delta = math.radians(
rospy.get_param('~rotation_delta_degrees', 25))
self.translation_delta = rospy.get_param('~translation_delta_meters',
0.1)
max_velocity_scaling = rospy.get_param('~max_velocity_scaling', 0.5)
max_acceleration_scaling = rospy.get_param('~max_acceleration_scaling',
0.5)
self.local_mover = CalibrationMovements(move_group_name,
max_velocity_scaling,
max_acceleration_scaling)
self.current_pose = -1
self.current_plan = None
self.state = CalibrationMovementsGUI.NOT_INITED_YET
self.layout = QVBoxLayout()
self.labels_layout = QHBoxLayout()
self.buttons_layout = QHBoxLayout()
self.progress_bar = QProgressBar()
self.pose_number_lbl = QLabel('0/8')
self.bad_plan_lbl = QLabel('No plan yet')
self.guide_lbl = QLabel('Hello')
self.guide_lbl.setWordWrap(True)
self.check_start_pose_btn = QPushButton('Check starting pose')
self.check_start_pose_btn.clicked.connect(
self.handle_check_current_state)
self.next_pose_btn = QPushButton('Next Pose')
self.next_pose_btn.clicked.connect(self.handle_next_pose)
self.plan_btn = QPushButton('Plan')
self.plan_btn.clicked.connect(self.handle_plan)
self.execute_btn = QPushButton('Execute')
self.execute_btn.clicked.connect(self.handle_execute)
self.labels_layout.addWidget(self.pose_number_lbl)
self.labels_layout.addWidget(self.bad_plan_lbl)
self.buttons_layout.addWidget(self.check_start_pose_btn)
self.buttons_layout.addWidget(self.next_pose_btn)
self.buttons_layout.addWidget(self.plan_btn)
self.buttons_layout.addWidget(self.execute_btn)
self.layout.addWidget(self.progress_bar)
self.layout.addLayout(self.labels_layout)
self.layout.addWidget(self.guide_lbl)
self.layout.addLayout(self.buttons_layout)
self.setLayout(self.layout)
self.plan_btn.setEnabled(False)
self.execute_btn.setEnabled(False)
self.setWindowTitle('Local Mover')
self.show()
def __init__(self):
super(CalibrationMovementsGUI, self).__init__()
self.handeye_client = HandeyeClient()
self.current_target_pose = -1 # -1 is home
self.target_poses = None
self.plan_was_successful = None
self.state = CalibrationMovementsGUI.NOT_INITED_YET
self.layout = QVBoxLayout()
self.labels_layout = QHBoxLayout()
self.buttons_layout = QHBoxLayout()
self.progress_bar = QProgressBar()
self.pose_number_lbl = QLabel('0/0')
self.bad_plan_lbl = QLabel('No plan yet')
self.bad_plan_lbl.setAlignment(Qt.AlignCenter)
self.guide_lbl = QLabel('Hello')
self.guide_lbl.setWordWrap(True)
self.check_start_pose_btn = QPushButton('Check starting pose')
self.check_start_pose_btn.clicked.connect(
self.handle_check_current_state)
self.next_pose_btn = QPushButton('Next Pose')
self.next_pose_btn.clicked.connect(self.handle_next_pose)
self.plan_btn = QPushButton('Plan')
self.plan_btn.clicked.connect(self.handle_plan)
self.execute_btn = QPushButton('Execute')
self.execute_btn.clicked.connect(self.handle_execute)
self.labels_layout.addWidget(self.pose_number_lbl)
self.labels_layout.addWidget(self.bad_plan_lbl)
self.buttons_layout.addWidget(self.check_start_pose_btn)
self.buttons_layout.addWidget(self.next_pose_btn)
self.buttons_layout.addWidget(self.plan_btn)
self.buttons_layout.addWidget(self.execute_btn)
self.layout.addWidget(self.progress_bar)
self.layout.addLayout(self.labels_layout)
self.layout.addWidget(self.guide_lbl)
self.layout.addLayout(self.buttons_layout)
self.setLayout(self.layout)
self.plan_btn.setEnabled(False)
self.execute_btn.setEnabled(False)
self.setWindowTitle('Local Mover')
self.show()
def initUI(self):
self.layout = QVBoxLayout()
self.labels_layout = QHBoxLayout()
self.buttons_layout = QHBoxLayout()
self.progress_bar = QProgressBar()
self.pose_number_lbl = QLabel('0/8')
self.bad_plan_lbl = QLabel('No plan yet')
self.guide_lbl = QLabel('Hello')
self.check_start_pose_btn = QPushButton('Check starting pose')
self.check_start_pose_btn.clicked.connect(
self.handle_check_current_state)
self.next_pose_btn = QPushButton('Next Pose')
self.next_pose_btn.clicked.connect(self.handle_next_pose)
self.plan_btn = QPushButton('Plan')
self.plan_btn.clicked.connect(self.handle_plan)
self.execute_btn = QPushButton('Execute')
self.execute_btn.clicked.connect(self.handle_execute)
self.labels_layout.addWidget(self.pose_number_lbl)
self.labels_layout.addWidget(self.bad_plan_lbl)
self.buttons_layout.addWidget(self.check_start_pose_btn)
self.buttons_layout.addWidget(self.next_pose_btn)
self.buttons_layout.addWidget(self.plan_btn)
self.buttons_layout.addWidget(self.execute_btn)
self.layout.addWidget(self.progress_bar)
self.layout.addLayout(self.labels_layout)
self.layout.addWidget(self.guide_lbl)
self.layout.addLayout(self.buttons_layout)
self.setLayout(self.layout)
self.plan_btn.setEnabled(False)
self.execute_btn.setEnabled(False)
self.setWindowTitle('Local Mover')
self.show()
