def setupUi(self, MainWindow):
self.lock = Lock()
self.talker = Talker('taskview')
rospy.Subscriber('BbSync', bbsynch, self.taskview)
MainWindow.setObjectName("MainWindow")
MainWindow.resize(800, 600)
self.centralwidget = QtWidgets.QWidget(MainWindow)
self.centralwidget.setObjectName("centralwidget")
self.listView = QtWidgets.QListWidget(self.centralwidget)
self.listView.setGeometry(QtCore.QRect(10, 40, 771, 521))
self.listView.setVerticalScrollBarPolicy(QtCore.Qt.ScrollBarAlwaysOn)
self.listView.setHorizontalScrollBarPolicy(QtCore.Qt.ScrollBarAlwaysOn)
self.listView.setObjectName("listView")
self.label = QtWidgets.QLabel(self.centralwidget)
self.label.setGeometry(QtCore.QRect(10, 10, 67, 17))
self.label.setObjectName("label")
MainWindow.setCentralWidget(self.centralwidget)
self.statusbar = QtWidgets.QStatusBar(MainWindow)
self.statusbar.setObjectName("statusbar")
MainWindow.setStatusBar(self.statusbar)
self.retranslateUi(MainWindow)
QtCore.QMetaObject.connectSlotsByName(MainWindow)
self.tasklist = []
self.markers = rviz_tools.RvizMarkers('/map', 'markers')
def __init__(self, cinematic_model, kalman_wrapper):
self.markers = None
self.update_frecuency = 100.0
self.cinematic_model = cinematic_model
self.kalman_wrapper = kalman_wrapper
rospy.init_node('tracking',
anonymous=False,
log_level=rospy.INFO,
disable_signals=False)
rospy.on_shutdown(self.cleanup_node)
self.markers = rviz_tools.RvizMarkers('/map', 'visualization_marker')
self.deque = collections.deque(maxlen=2)
self.i = 0
import roslib
import rospy
from std_msgs.msg import String
from geometry_msgs.msg import PoseStamped, Pose, Point, Quaternion, Vector3, Polygon
from tf import transformations # rotation_matrix(), concatenate_matrices()
import rviz_tools_py as rviz_tools
#File includes
import json
import yaml
import shutil
from os.path import isfile, join
filename_pub = rospy.Publisher('route_file', String, queue_size=1)
setup_pub = rospy.Publisher('setup_response', String, queue_size=1)
markers = rviz_tools.RvizMarkers('/map', 'visualization_marker')
##### FUNCTIONS TO LOAD FROM FILE #####
def byteify(input):
if isinstance(input, dict):
return {
byteify(key): byteify(value)
for key, value in input.iteritems()
}
elif isinstance(input, list):
return [byteify(element) for element in input]
elif isinstance(input, unicode):
return input.encode('utf-8')
else:
# Initialize the ROS Node
rospy.init_node('plot_parts',
anonymous=False,
log_level=rospy.INFO,
disable_signals=False)
# Define exit handler
def cleanup_node():
print("Shutting down node")
markers.deleteAllMarkers()
rospy.on_shutdown(cleanup_node)
markers = rviz_tools.RvizMarkers('/world', 'visualization_marker')
translucent_metal = [0.6235, 0.6313, 0.6471, 0.2]
def plot_color_points(points, publish_time):
size = 0.015
scale = Vector3(size, size, size) # diameter
colors = ["red", "blue", "brown", "green"]
for i in range(0, points.shape[0]):
T = transformations.translation_matrix(
(points[i][0], points[i][1], points[i][2]))
if points[i][3] == 0:
color_mtrx = [1, 0, 0]
if points[i][3] == 1:
color_mtrx = [0, 1, 0]
# Initialize the ROS Node
rospy.init_node('cutter',
anonymous=False,
log_level=rospy.INFO,
disable_signals=False)
# Define exit handler
def cleanup_node():
print "Shutting down node"
markers.deleteAllMarkers()
rospy.on_shutdown(cleanup_node)
markers = rviz_tools.RvizMarkers('camera/master0', 'cutter_marker')
Param = {
"refs": "/cropper/master",
"base": -100,
"offset": 200,
"width": 10,
"span": 150,
"distance": 550,
}
Refs = {}
tr1 = Transform()
tr1.rotation.w = np.sqrt(2) / 2
tr1.rotation.y = np.sqrt(2) / 2
color = (0.1, 0.1, 0.1)
from tf import transformations # rotation_matrix(), concatenate_matrices()
import rviz_tools_py as rviz_tools
# Initialize the ROS Node
rospy.init_node('wall', anonymous=False, log_level=rospy.INFO, disable_signals=False)
# Define exit handler
def cleanup_node():
print "Shutting down node"
markers.deleteAllMarkers()
rospy.on_shutdown(cleanup_node)
markers = rviz_tools.RvizMarkers('/world', 'wall_marker')
Config={
"anchors":[0,0,1000,1000],
"height":1000
}
while not rospy.is_shutdown():
try:
Config.update(rospy.get_param("/config/wall"))
except Exception as e:
print "get_param exception in wall.py:",e.args
polygon = Polygon()
xys=np.asarray(Config["anchors"]).reshape((-1,2))
h=Config["height"]
for xy in xys:
