title='Error starting matlab')
ikServer.outputConsole = app.getOutputConsole()
ikServer.infoFunc = app.displaySnoptInfo
ikServer.connectStartupCompleted(onIkStartup)
startIkServer()
if useAtlasDriver:
atlasdriver.systemStatus.outputConsole = app.getOutputConsole()
atlasdriverpanel.init(atlasDriver)
else:
app.removeToolbarMacro('ActionAtlasDriverPanel')
if usePerception:
segmentationpanel.init()
cameraview.init()
colorize.init()
cameraview.cameraView.initImageRotations(robotStateModel)
cameraview.cameraView.rayCallback = segmentation.extractPointsAlongClickRay
if useMultisense:
multisensepanel.init(perception.multisenseDriver)
else:
app.removeToolbarMacro('ActionMultisensePanel')
sensordatarequestpanel.init()
# for kintinuous, use 'CAMERA_FUSED', 'CAMERA_TSDF'
disparityPointCloud = segmentation.DisparityPointCloudItem(
'stereo point cloud', 'CAMERA', 'CAMERA_LEFT', cameraview.imageManager)
ikServer.outputConsole = app.getOutputConsole()
ikServer.infoFunc = app.displaySnoptInfo
ikServer.connectStartupCompleted(onIkStartup)
startIkServer()
if useAtlasDriver:
atlasdriver.systemStatus.outputConsole = app.getOutputConsole()
atlasdriverpanel.init(atlasDriver)
else:
app.removeToolbarMacro('ActionAtlasDriverPanel')
if usePerception:
segmentationpanel.init()
cameraview.init()
colorize.init()
cameraview.cameraView.initImageRotations(robotStateModel)
cameraview.cameraView.rayCallback = segmentation.extractPointsAlongClickRay
if useMultisense:
multisensepanel.init(perception.multisenseDriver)
else:
app.removeToolbarMacro('ActionMultisensePanel')
sensordatarequestpanel.init()
# for kintinuous, use 'CAMERA_FUSED', 'CAMERA_TSDF'
disparityPointCloud = segmentation.DisparityPointCloudItem('stereo point cloud', 'CAMERA', 'CAMERA_LEFT', cameraview.imageManager)
disparityPointCloud.addToView(view)
poseCollection = PythonQt.dd.ddSignalMap()
costCollection = PythonQt.dd.ddSignalMap()
if "disableComponents" in directorConfig:
for component in directorConfig["disableComponents"]:
print "Disabling", component
locals()[component] = False
if "enableComponents" in directorConfig:
for component in directorConfig["enableComponents"]:
print "Enabling", component
locals()[component] = True
if usePerception:
segmentationpanel.init()
cameraview.init(robotName=robotSystem.robotName)
cameraview.cameraViews[
robotSystem.
robotName].rayCallback = segmentation.extractPointsAlongClickRay
gridUpdater = RobotGridUpdater(
grid.getChildFrame(),
robotSystem.robotStateModel,
robotSystem.robotStateJointController,
directorConfig.get("grid_z_offset", 0),
)
# reset time button and connections
reset_time_button = QtGui.QPushButton("Reset time")
reset_time_button.setObjectName("resettime")