def stitch(self):
site, ok = QInputDialog.getItem(self, "Pick a site",
"Pick a site to set the panorama for",
self.sites.keys())
if not ok:
return
s = self.sites[site]
self.science_mark = s
self.panorama.send_goal(rover_panorama.msg.PanoramaGoal(), self.goal,
None, self.feedback)
def _on_remove_perspective(self):
# input dialog to choose perspective to be removed
names = list(self.perspectives)
names.remove(self._current_perspective)
name, return_value = QInputDialog.getItem(
self._menu_manager.menu,
self._menu_manager.tr('Remove perspective'),
self._menu_manager.tr('Select the perspective'), names, 0, False)
# convert from unicode
name = str(name)
if return_value == QInputDialog.Rejected:
return
self._remove_perspective(name)
def trigger_configuration(self):
"""
Callback when the configuration button is clicked
"""
changed = False
map_topics = sorted(rostopic.find_by_type('nav_msgs/OccupancyGrid'))
try:
index = map_topics.index(self.map_topic)
except ValueError:
index = 0
map_topic, ok = QInputDialog.getItem(self, "Select map topic name",
"Topic name", map_topics, index)
if ok:
if map_topic != self.map_topic:
changed = True
self.map_topic = map_topic
# Paths
path_topics = sorted(rostopic.find_by_type('nav_msgs/Path'))
path_topics = [(topic, topic in self.paths) for topic in path_topics]
dialog = ListDialog("Select path topic(s)", path_topics, self)
paths, ok = dialog.exec_()
if ok:
if not paths:
changed = True
diff = set(paths).symmetric_difference(set(self.paths))
if diff:
self.paths = paths
changed = True
# Polygons
polygon_topics = sorted(
rostopic.find_by_type('geometry_msgs/PolygonStamped'))
polygon_topics = [(topic, topic in self.polygons)
for topic in polygon_topics]
dialog = ListDialog("Select polygon topic(s)", polygon_topics, self)
polygons, ok = dialog.exec_()
if ok:
if not polygons:
changed = True
diff = set(polygons).symmetric_difference(set(self.polygons))
if diff:
self.polygons = polygons
changed = True
if changed:
rospy.logdebug(
"New configuration is different, creating a new nav_view")
self.new_nav_view()