def __init__(self):
super(ServiceTabbedButtonGeneralWidget, self).__init__()
self._tab_settings = None
if rospy.has_param("~tabbed_layout"):
tabbed_layout = rospy.get_param("~tabbed_layout")
self._tab_list = []
if not 'tab_list' in tabbed_layout:
self.showError("Cannot find tab_list in %s" % (tabbed_layout))
return
tab_list = tabbed_layout['tab_list']
for tb in tab_list:
if tb in tabbed_layout:
param_settings = tabbed_layout[tb]
settings = {}
##
if 'type' in param_settings:
settings['type'] = param_settings['type']
##
if not 'name' in param_settings:
settings['name'] = tb
else:
settings['name'] = param_settings['name']
##
if 'yaml_file' in param_settings:
settings['yaml_file'] = param_settings['yaml_file']
else:
self.showError("Cannot find yaml_file in %s" % (tb))
settings = None
##
if 'namespace' in param_settings:
settings['namespace'] = param_settings['namespace']
if settings:
self._tab_list.append(settings)
else:
self.showError("Cannot find key %s in %s" %
(tb, tabbed_layout))
else:
self.showError("Cannot find rosparam ~tabbed_layout")
return
if len(self._tab_list) == 0:
self.showError("there is no valid param in ~tabbed_layout")
return
qtab = QTabWidget()
for tb in self._tab_list:
wg = ServiceButtonGeneralWidget_in_tab(tb)
qtab.addTab(wg, tb['name'])
#self.setWindowTitle('Tab Layout')
hbox = QHBoxLayout()
hbox.addWidget(qtab)
self.setLayout(hbox)
self.show()
def __init__(self, parent, updater, config):
super(TabGroup, self).__init__(updater, config)
self.parent = parent
if not self.parent.tab_bar:
self.parent.tab_bar = QTabWidget()
parent.tab_bar.addTab(self, self.name)
def __init__(self, parent, updater, config, nodename):
super(TabGroup, self).__init__(updater, config, nodename)
self.parent = parent
if not self.parent.tab_bar:
self.parent.tab_bar = QTabWidget()
self.wid = QWidget()
self.wid.setLayout(self.grid)
parent.tab_bar.addTab(self.wid, self.param_name)
def __init__(self, context):
super(MoveitCommanderWidget, self).__init__()
self.setObjectName('MoveitCommanderWidget')
self.groups = self.get_groups()
self.commanders = [
moveit_commander.MoveGroupCommander(group) for group in self.groups
]
# list of QLineEdit fields used to display joint values
self.text_joint_values = []
self.MAX_COLUMNS = 4
self.tab_widget = QTabWidget()
for g in self.groups:
frame = self.setup_group_frame(g)
self.tab_widget.addTab(frame, g)
widget_layout = QVBoxLayout()
widget_layout.addWidget(self.tab_widget)
self.setLayout(widget_layout)
class PlotDialogWidget(QDialog):
newPlotData = QtCore.Signal(object, object)
def __init__(self, bagFiles, parent=None):
super(PlotDialogWidget, self).__init__()
self.parent = parent
self.bagFiles = bagFiles
self.setWindowTitle("Add new Graph")
self.layout = QVBoxLayout()
self.resize(600, 400)
# init the components
self.tabWidget = QTabWidget()
self.rawDataTab = RawDataTab(bagFiles, self)
self.compareTab = CompareDataTab(bagFiles, self)
self.diffTab = DiffTab(bagFiles, self)
self.tabWidget.addTab(self.rawDataTab, "Raw Data Graphs")
self.tabWidget.addTab(self.compareTab, "Evaluation Graphs")
self.tabWidget.addTab(self.diffTab, "Difference Graphs")
self.layout.addWidget(self.tabWidget)
# init the start button
startBtn = QPushButton("Start")
startBtn.clicked.connect(self.startPressed)
self.layout.addWidget(startBtn)
self.setLayout(self.layout)
def startPressed(self):
'''
is called when the start button is clicked
calls the function to get the data to plot
dependent on what tab is selected
'''
currentTab = self.tabWidget.currentIndex()
try:
if currentTab == 0: # rawDataTab is active
plotData, plotInfo = self.rawDataTab.getPlotData()
elif currentTab == 1: #
plotData, plotInfo = self.compareTab.getPlotData()
elif currentTab == 2:
plotData, plotInfo = self.diffTab.getPlotData()
# emit signal with data
self.newPlotData.emit(plotData, plotInfo)
# close dialog
self.close()
except Exception as e:
msg_box = QMessageBox(QMessageBox.Critical, 'Error', str(e))
msg_box.exec_()
def __init__(self, parent, updater, config, nodename):
super(TabGroup, self).__init__(updater, config, nodename)
self.parent = parent
if not self.parent.tab_bar:
self.parent.tab_bar = QTabWidget()
# Don't process wheel events when not focused
self.parent.tab_bar.tabBar().installEventFilter(self)
self.wid = QWidget()
self.wid.setLayout(self.grid)
parent.tab_bar.addTab(self.wid, self.param_name)
def __init__(self, bagFiles, parent=None):
super(PlotDialogWidget, self).__init__()
self.parent = parent
self.bagFiles = bagFiles
self.setWindowTitle("Add new Graph")
self.layout = QVBoxLayout()
self.resize(600, 400)
# init the components
self.tabWidget = QTabWidget()
self.rawDataTab = RawDataTab(bagFiles, self)
self.compareTab = CompareDataTab(bagFiles, self)
self.diffTab = DiffTab(bagFiles, self)
self.tabWidget.addTab(self.rawDataTab, "Raw Data Graphs")
self.tabWidget.addTab(self.compareTab, "Evaluation Graphs")
self.tabWidget.addTab(self.diffTab, "Difference Graphs")
self.layout.addWidget(self.tabWidget)
# init the start button
startBtn = QPushButton("Start")
startBtn.clicked.connect(self.startPressed)
self.layout.addWidget(startBtn)
self.setLayout(self.layout)
class MoveitCommanderWidget(QWidget):
"""
Provides a UI for Moveit Commander
- parses rosparam 'robot_description_semantic' to get content of robot srdf
- there are tabs for each move_group group
- for each group, there is a set of buttons with the named targets
- for each group, there is a button to get current joint values and a button to move to specific joint values
"""
def __init__(self, context):
super(MoveitCommanderWidget, self).__init__()
self.setObjectName('MoveitCommanderWidget')
self.robot = SRDF.from_parameter_server()
self.groups = self.get_groups()
self.commanders = [
moveit_commander.MoveGroupCommander(group) for group in self.groups
]
# list of QLineEdit fields used to display joint values
self.text_joint_values = []
self.MAX_COLUMNS = 4
self.tab_widget = QTabWidget()
for g in self.groups:
frame = self.setup_group_frame(g)
self.tab_widget.addTab(frame, g)
widget_layout = QVBoxLayout()
widget_layout.addWidget(self.tab_widget)
self.setLayout(widget_layout)
def setup_group_frame(self, group):
layout = QVBoxLayout()
# grid for buttons for named targets
grid = QGridLayout()
grid.setSpacing(1)
self.button_group = QButtonGroup(self)
row = 0
column = 0
named_targets = self.get_named_targets(group)
for target in named_targets:
button = QPushButton(target)
self.button_group.addButton(button)
grid.addWidget(button, row, column)
column += 1
if column >= self.MAX_COLUMNS:
row += 1
column = 0
self.button_group.buttonClicked.connect(self._handle_button_clicked)
# grid for show joint value and move arm buttons/text field
joint_values_grid = QGridLayout()
joint_values_grid.setSpacing(1)
button_show_joint_values = QPushButton('Current Joint Values')
button_show_joint_values.clicked[bool].connect(
self._handle_show_joint_values_clicked)
line_edit = QLineEdit()
self.text_joint_values.append(line_edit)
button_move_to = QPushButton('Move to')
button_move_to.clicked[bool].connect(self._handle_move_to_clicked)
joint_values_grid.addWidget(button_show_joint_values, 0, 1)
joint_values_grid.addWidget(line_edit, 0, 2)
joint_values_grid.addWidget(button_move_to, 0, 3)
layout.addLayout(grid)
line = QFrame()
line.setFrameShape(QFrame.HLine)
line.setFrameShadow(QFrame.Sunken)
layout.addWidget(line)
layout.addLayout(joint_values_grid)
frame = QFrame()
frame.setLayout(layout)
return frame
def _handle_button_clicked(self, button):
commander = self.commanders[self.tab_widget.currentIndex()]
rospy.loginfo('Moving ' + commander.get_name() + ' to: ' +
button.text())
try:
commander.set_named_target(str(button.text()))
except Exception as e:
rospy.logerr('Unable to set target: %s' % (str(e)))
return
error_code = commander.go(wait=True)
if error_code == moveit_msgs.msg.MoveItErrorCodes.SUCCESS:
rospy.loginfo("Succeeded")
else:
rospy.logerr("Movement failed with error code: %d", error_code)
def _handle_show_joint_values_clicked(self, checked):
commander = self.commanders[self.tab_widget.currentIndex()]
l = commander.get_current_joint_values()
l = [round(ll, 6) for ll in l]
self.text_joint_values[self.tab_widget.currentIndex()].setText(str(l))
def _handle_move_to_clicked(self, checked):
commander = self.commanders[self.tab_widget.currentIndex()]
# parse string as list
l = ast.literal_eval(
str(self.text_joint_values[self.tab_widget.currentIndex()].text()))
if all(isinstance(x, float) for x in l):
try:
commander.set_joint_value_target(l)
except Exception as e:
rospy.logerr('Unable to set target position: %s' % (str(e)))
return
error_code = commander.go(wait=True)
if error_code == moveit_msgs.msg.MoveItErrorCodes.SUCCESS:
rospy.loginfo("Succeeded")
else:
rospy.logerr("Movement failed with error code: %d", error_code)
else:
rospy.logerr("Malformed joint angle list")
def get_named_targets(self, group_name):
'''
Return list of group states associated with `group_name`
'''
group_states = self.robot.group_state_map.keys()
named_targets = []
for group_state in group_states:
if self.robot.group_state_map[group_state].group == group_name:
named_targets.append(group_state)
return named_targets
def get_groups(self):
'''
Return list of joint group names
'''
return self.robot.group_map.keys()
def __init__(self, context):
"""
Create Qt GUI using the event file
"""
super(EventTransmissionGUI, self).__init__(context)
self.setObjectName('ManualEventTriggerGUI')
parser = ArgumentParser()
# Add argument(s) to the parser.
args = self._parse_args(context.argv())
## Create Event trigger
self.event_trigger = RosEventTrigger(args.event_file)
## Parent container to store buttons, textboxes
self._container = QTabWidget()
## Tab to display robot system, state machine status
## and command buttons without any arguments
self._status_tab = QWidget()
## Tab to display positionyaw and velocityyaw commands
## and sliders for them
self._additional_commands_tab = QWidget()
# Set title of the parent container window
self._status_tab.setWindowTitle(self.event_trigger.event_manager_name)
## Layout for status tab
self._layout = QVBoxLayout()
self._status_tab.setLayout(self._layout)
# Create Textboxes and add to Layout
self._layout.addWidget(QLabel('State Machine State'))
## Textbox to show sytem status
self.system_status_textbox = QTextEdit()
self.system_status_textbox.setReadOnly(True)
self._layout.addWidget(self.system_status_textbox)
# Define and connect buttons
self._layout.addWidget(QLabel('Event Triggers'))
## Continer to store event triggering buttons
self.button_container = QWidget()
## List of push buttons to trigger events
self.push_buttons = list()
## Layout for the push buttons
self.button_layout = QGridLayout()
self.button_container.setLayout(self.button_layout)
button_index = 0
for event_name in self.event_trigger.event_names_list:
self.push_buttons.append(QPushButton(event_name))
partial_fun = partial(self.event_trigger.triggerEvent,
event_name=event_name)
self.push_buttons[-1].clicked.connect(partial_fun)
row, col = self.get_row_col(button_index, args.grid_cols)
self.button_layout.addWidget(self.push_buttons[-1], row, col)
button_index += 1
self._layout.addWidget(self.button_container)
## Layout for additional commands tab
self._additional_commands_layout = QVBoxLayout()
self._additional_commands_tab.setLayout(
self._additional_commands_layout)
# Create height slider
self._additional_commands_layout.addWidget(
QLabel('Pose Command Height (m)'))
## Height slider to adjust z coordinate for pose command
## \todo Matt: Load slider settings from param file
self.height_slider = self.createSlider(1.0, 20.0, 2.0, 1.0)
self._additional_commands_layout.addWidget(self.height_slider)
## Add button for triggering pose command
## Container for pose event related objects: slide etc
## \todo Matt: Reset slider value based on current quad height
self.pose_command_container = QWidget()
## Pose command layout
self.pose_command_layout = QGridLayout()
self.pose_command_container.setLayout(self.pose_command_layout)
## x pose label to display position command from rviz to user
self.pose_x = QLabel('x: -')
## y pose label to display position command from rviz to user
self.pose_y = QLabel('y: -')
## z pose label to display position command from rviz to user
self.pose_z = QLabel("z: {0:.2f}".format(self.height_slider.value()))
self.height_slider.valueChanged.connect(
partial(self.updateLabel,
header="z",
label=self.pose_z,
slider=self.height_slider))
self.pose_command_layout.addWidget(self.pose_x, 0, 0)
self.pose_command_layout.addWidget(self.pose_y, 0, 1)
self.pose_command_layout.addWidget(self.pose_z, 0, 2)
## Button to send the pose command to state machine as poseyaw event
self.send_pose_command_button = QPushButton("Send Pose Command")
self.send_pose_command_button.clicked.connect(
self.poseCommandButtonCallback)
self.pose_command_layout.addWidget(self.send_pose_command_button, 0, 3)
self._additional_commands_layout.addWidget(self.pose_command_container)
## Pose command container to store pose from Rviz and send to state
## machine
self.pose_command = None
## Sliders for setting vx,vy,vz, yaw
self.velocity_sliders = []
## Labels vx,vy,vz,yaw as an array
self.velocity_command_labels = []
self._additional_commands_layout.addWidget(
QLabel('Velocity Command (m/s), Yaw (deg)'))
for i in range(3):
self.velocity_sliders.append(
self.createSlider(-20.0, 20.0, 0.0, 1.0))
self._additional_commands_layout.addWidget(
self.velocity_sliders[i])
# Slider for yaw
self.velocity_sliders.append(
self.createSlider(-180.0, 180.0, 0.0, 10.0))
self._additional_commands_layout.addWidget(self.velocity_sliders[-1])
## Add button for triggering velocity yaw
self.velocity_command_container = QWidget()
## Velocity command layout
self.velocity_command_layout = QGridLayout()
self.velocity_command_container.setLayout(self.velocity_command_layout)
for i, axis_label in enumerate(['x', 'y', 'z']):
# label to display velocity command from rviz to user
self.velocity_command_labels.append(
QLabel("v{0}: {1:.2f}".format(
axis_label, self.velocity_sliders[i].value() / 10.0)))
self.velocity_sliders[i].valueChanged.connect(
partial(self.updateLabel,
header="v" + str(i),
label=self.velocity_command_labels[i],
slider=self.velocity_sliders[i],
scale=10.0))
self.velocity_command_layout.addWidget(
self.velocity_command_labels[i], 0, i)
# Label for yaw
self.velocity_command_labels.append(
QLabel("Yaw: {0:.2f}".format(self.velocity_sliders[-1].value())))
self.velocity_sliders[-1].valueChanged.connect(
partial(self.updateLabel,
header="Yaw",
label=self.velocity_command_labels[-1],
slider=self.velocity_sliders[-1]))
self.velocity_command_layout.addWidget(
self.velocity_command_labels[-1], 0, 3)
## Button to send the pose command to state machine as poseyaw event
self.send_velocity_command_button = QPushButton(
"Send Velocity Command")
self.send_velocity_command_button.clicked.connect(
self.velocityCommandButtonCallback)
self.velocity_command_layout.addWidget(
self.send_velocity_command_button, 0, 4)
self._additional_commands_layout.addWidget(
self.velocity_command_container)
self._additional_commands_layout.addStretch()
self._container.addTab(self._status_tab, "StatusBasicCommands")
self._container.addTab(self._additional_commands_tab,
"AdditionalCommands")
context.add_widget(self._container)
# Add textboxes to update hooks from eventTrigger class
# Define Partial callbacks
systemStatusCallback = partial(self.updateStatus,
text_box=self.system_status_textbox)
# Connect Event Triggers
self.event_trigger.status_signal.connect(systemStatusCallback)
self.event_trigger.pose_command_signal.connect(
self.poseCommandCallback)
class EventTransmissionGUI(Plugin):
"""
GUI to send events from User to logic state machine
"""
def __init__(self, context):
"""
Create Qt GUI using the event file
"""
super(EventTransmissionGUI, self).__init__(context)
self.setObjectName('ManualEventTriggerGUI')
parser = ArgumentParser()
# Add argument(s) to the parser.
args = self._parse_args(context.argv())
## Create Event trigger
self.event_trigger = RosEventTrigger(args.event_file)
## Parent container to store buttons, textboxes
self._container = QTabWidget()
## Tab to display robot system, state machine status
## and command buttons without any arguments
self._status_tab = QWidget()
## Tab to display positionyaw and velocityyaw commands
## and sliders for them
self._additional_commands_tab = QWidget()
# Set title of the parent container window
self._status_tab.setWindowTitle(self.event_trigger.event_manager_name)
## Layout for status tab
self._layout = QVBoxLayout()
self._status_tab.setLayout(self._layout)
# Create Textboxes and add to Layout
self._layout.addWidget(QLabel('State Machine State'))
## Textbox to show sytem status
self.system_status_textbox = QTextEdit()
self.system_status_textbox.setReadOnly(True)
self._layout.addWidget(self.system_status_textbox)
# Define and connect buttons
self._layout.addWidget(QLabel('Event Triggers'))
## Continer to store event triggering buttons
self.button_container = QWidget()
## List of push buttons to trigger events
self.push_buttons = list()
## Layout for the push buttons
self.button_layout = QGridLayout()
self.button_container.setLayout(self.button_layout)
button_index = 0
for event_name in self.event_trigger.event_names_list:
self.push_buttons.append(QPushButton(event_name))
partial_fun = partial(self.event_trigger.triggerEvent,
event_name=event_name)
self.push_buttons[-1].clicked.connect(partial_fun)
row, col = self.get_row_col(button_index, args.grid_cols)
self.button_layout.addWidget(self.push_buttons[-1], row, col)
button_index += 1
self._layout.addWidget(self.button_container)
## Layout for additional commands tab
self._additional_commands_layout = QVBoxLayout()
self._additional_commands_tab.setLayout(
self._additional_commands_layout)
# Create height slider
self._additional_commands_layout.addWidget(
QLabel('Pose Command Height (m)'))
## Height slider to adjust z coordinate for pose command
## \todo Matt: Load slider settings from param file
self.height_slider = self.createSlider(1.0, 20.0, 2.0, 1.0)
self._additional_commands_layout.addWidget(self.height_slider)
## Add button for triggering pose command
## Container for pose event related objects: slide etc
## \todo Matt: Reset slider value based on current quad height
self.pose_command_container = QWidget()
## Pose command layout
self.pose_command_layout = QGridLayout()
self.pose_command_container.setLayout(self.pose_command_layout)
## x pose label to display position command from rviz to user
self.pose_x = QLabel('x: -')
## y pose label to display position command from rviz to user
self.pose_y = QLabel('y: -')
## z pose label to display position command from rviz to user
self.pose_z = QLabel("z: {0:.2f}".format(self.height_slider.value()))
self.height_slider.valueChanged.connect(
partial(self.updateLabel,
header="z",
label=self.pose_z,
slider=self.height_slider))
self.pose_command_layout.addWidget(self.pose_x, 0, 0)
self.pose_command_layout.addWidget(self.pose_y, 0, 1)
self.pose_command_layout.addWidget(self.pose_z, 0, 2)
## Button to send the pose command to state machine as poseyaw event
self.send_pose_command_button = QPushButton("Send Pose Command")
self.send_pose_command_button.clicked.connect(
self.poseCommandButtonCallback)
self.pose_command_layout.addWidget(self.send_pose_command_button, 0, 3)
self._additional_commands_layout.addWidget(self.pose_command_container)
## Pose command container to store pose from Rviz and send to state
## machine
self.pose_command = None
## Sliders for setting vx,vy,vz, yaw
self.velocity_sliders = []
## Labels vx,vy,vz,yaw as an array
self.velocity_command_labels = []
self._additional_commands_layout.addWidget(
QLabel('Velocity Command (m/s), Yaw (deg)'))
for i in range(3):
self.velocity_sliders.append(
self.createSlider(-20.0, 20.0, 0.0, 1.0))
self._additional_commands_layout.addWidget(
self.velocity_sliders[i])
# Slider for yaw
self.velocity_sliders.append(
self.createSlider(-180.0, 180.0, 0.0, 10.0))
self._additional_commands_layout.addWidget(self.velocity_sliders[-1])
## Add button for triggering velocity yaw
self.velocity_command_container = QWidget()
## Velocity command layout
self.velocity_command_layout = QGridLayout()
self.velocity_command_container.setLayout(self.velocity_command_layout)
for i, axis_label in enumerate(['x', 'y', 'z']):
# label to display velocity command from rviz to user
self.velocity_command_labels.append(
QLabel("v{0}: {1:.2f}".format(
axis_label, self.velocity_sliders[i].value() / 10.0)))
self.velocity_sliders[i].valueChanged.connect(
partial(self.updateLabel,
header="v" + str(i),
label=self.velocity_command_labels[i],
slider=self.velocity_sliders[i],
scale=10.0))
self.velocity_command_layout.addWidget(
self.velocity_command_labels[i], 0, i)
# Label for yaw
self.velocity_command_labels.append(
QLabel("Yaw: {0:.2f}".format(self.velocity_sliders[-1].value())))
self.velocity_sliders[-1].valueChanged.connect(
partial(self.updateLabel,
header="Yaw",
label=self.velocity_command_labels[-1],
slider=self.velocity_sliders[-1]))
self.velocity_command_layout.addWidget(
self.velocity_command_labels[-1], 0, 3)
## Button to send the pose command to state machine as poseyaw event
self.send_velocity_command_button = QPushButton(
"Send Velocity Command")
self.send_velocity_command_button.clicked.connect(
self.velocityCommandButtonCallback)
self.velocity_command_layout.addWidget(
self.send_velocity_command_button, 0, 4)
self._additional_commands_layout.addWidget(
self.velocity_command_container)
self._additional_commands_layout.addStretch()
self._container.addTab(self._status_tab, "StatusBasicCommands")
self._container.addTab(self._additional_commands_tab,
"AdditionalCommands")
context.add_widget(self._container)
# Add textboxes to update hooks from eventTrigger class
# Define Partial callbacks
systemStatusCallback = partial(self.updateStatus,
text_box=self.system_status_textbox)
# Connect Event Triggers
self.event_trigger.status_signal.connect(systemStatusCallback)
self.event_trigger.pose_command_signal.connect(
self.poseCommandCallback)
def createSlider(self, minimum, maximum, default_value, tick_interval):
"""
Create a QtSlider with specified properties
Parameters:
@param minimum Minimum value for slider
@param maximum Maximum value for slider
@param default_value Initial value the slider is set to
@param tick_inverval Integer value specifying difference between
successive ticks
@return Slider value
"""
slider = QSlider(Qt.Horizontal)
slider.setMinimum(minimum)
slider.setMaximum(maximum)
slider.setValue(default_value)
slider.setTickPosition(QSlider.TicksBelow)
slider.setTickInterval(tick_interval)
return slider
def _parse_args(self, argv):
"""
Parse extra arguments when plugin is deployed in standalone mode
"""
parser = argparse.ArgumentParser(prog='aerial_autonomy',
add_help=False)
EventTransmissionGUI.add_arguments(parser)
return parser.parse_args(argv)
@staticmethod
def add_arguments(parser):
"""
Notify rqt_gui that this plugin can parse these extra arguments
"""
group = parser.add_argument_group(
'Options for aerial autonomy gui plugin')
group.add_argument("-e",
"--event_file",
type=str,
default='',
help="Event file")
group.add_argument("-c",
"--grid_cols",
type=int,
default=3,
help="Number of columns in grid")
def get_row_col(self, button_index, ncols):
"""
Automatically find the row and col to add the button
to in a grid based on index of the button
"""
col_index = button_index % ncols
row_index = int((button_index - col_index) / ncols)
return (row_index, col_index)
def poseCommandCallback(self, pose):
"""
Saves pose command and updates command display
"""
self.pose_command = pose
self.pose_x.setText("x: {0:.2f}".format(
self.pose_command.pose.position.x))
self.pose_y.setText("y: {0:.2f}".format(
self.pose_command.pose.position.y))
def poseCommandButtonCallback(self):
"""
Publishes stored pose command after setting height from slider
"""
if self.pose_command:
self.pose_command.pose.position.z = self.height_slider.value()
self.event_trigger.triggerPoseCommand(self.pose_command)
# Reset pose command to avoid accidental triggering
self.pose_command = None
self.pose_x.setText('x: -')
self.pose_y.setText('y: -')
else:
print "No pose command to trigger"
def velocityCommandButtonCallback(self):
"""
Publishes stored velocity command
"""
velocity_command = VelocityYaw()
velocity_command.vx = self.velocity_sliders[0].value() / 10.0
velocity_command.vy = self.velocity_sliders[1].value() / 10.0
velocity_command.vz = self.velocity_sliders[2].value() / 10.0
velocity_command.yaw = self.velocity_sliders[3].value() * np.pi / 180.0
self.event_trigger.triggerVelocityCommand(velocity_command)
def updateLabel(self, header, label, slider, scale=1):
"""
Updates height label based on slider value
"""
label.setText(header + ": {0:.2f}".format(slider.value() / scale))
def updateStatus(self, status, text_box):
"""
Generic placeholder function to update text box
"""
if not sip.isdeleted(text_box):
text_box.setHtml(status)
doc_size = text_box.document().size()
text_box.setFixedHeight(doc_size.height() + 10)
