def main():
controller = RobotController()
controller.updateSurroundings([(10, 180)])
controller.updatePosition(5, 0)
controller.updateVisited([(5, 0)])
print(str(controller.polarToCartesian(1, pi / 2)))
print(controller)
def main():
#--------------------------------------OBSTACLE-SETUP---------------------------------#
obstacles = [(-100, 0), (-90, 0), (-90, 150), (-100, 150),
(100, 0), (90, 0), (90, 150), (100, 150), (40, 50), (-40, 50),
(-40, 80), (40, 80)]
newObstacles = formatObstacles(obstacles)
#---------------------------------------GET-POSITION----------------------------------#
robotPos = (0, 0)
#---------------------------------------HISTORY STUFF---------------------------------#
# Just for printing out at the end
sensedPointsHist = []
path = []
controller = RobotController()
#---------------------------------------ACTION LOOP---------------------------------#
for i in range(1):
# Get action
action = controller.getAction()
path.append(controller.getCurrentPosition())
# Get scan of surroundings every 15 degrees
detectedPoints = getDetectedPoints(controller.getCurrentPosition(),
newObstacles, 15)
controller.updateSurroundings(detectedPoints)
sensedPointsHist += detectedPoints
drawSimulation(obstacles, path, sensedPointsHist)
def __init__(self):
# Among other things, this constructor initializes
# logging and preferences.
AbstractRwbGui.__init__(self, NAME, DEFAULT_SETTINGS)
self.wm_geometry("800x600")
self.tally = RobotTally()
self._create_fonts()
self._create_menubar()
self._create_statusbar()
self._create_toolbar()
# self._create_command_line()
self._create_notebook()
self.register(GeneralSettingsFrame)
self._controller = RobotController(self)
self._controller.configure(listeners=(self.console,self.log_tree,
self.log_messages, self.tally,
self))
def follow_me():
rospy.init_node('follow_me')
signal.signal(signal.SIGINT, terminate)
human_pose_topic = rospy.get_param(rospy.get_name()+'/human_pose_topic') #, '/HumanPose'
human_path_topic = rospy.get_param(rospy.get_name()+'/human_pose_topic') #, '/HumanPath'
uav_pose_topic = rospy.get_param(rospy.get_name()+'/uav_pose_topic') #, '/UAV1Pose'
cmd_vel_topic = rospy.get_param(rospy.get_name()+'/cmd_vel_topic') #, '/uav1/mobile_base/commands/velocity'
activation_service = rospy.get_param(rospy.get_name()+'/activation_service') #, '/uav1/follow_me/enable'
follow_distance = rospy.get_param(rospy.get_name()+'/follow_distance') #, 2
##### DEBUGGING ######
# leader_pose_sub = rospy.Subscriber('/uav2/odom', Odometry, leader_pose_cb)
# leader_pose_sub = rospy.Subscriber('/uav1/odom', Odometry, self_pose_cb)
######################
# Logging Parameters
print ("")
global human_pose_sub, human_path_sub, uav_pose_sub, cmd_vel_pub, robot_controller
robot_controller = RobotController(follow_distance, publish_velocity, obstacle_avoidance=True)
human_pose_sub = rospy.Subscriber(human_pose_topic, PoseWithCovarianceStamped, human_pose_cb)
human_path_sub = rospy.Subscriber(human_path_topic, Path, human_path_cb)
uav_pose_sub = rospy.Subscriber(uav_pose_topic, PoseWithCovarianceStamped, uav_pose_cb)
cmd_vel_pub = rospy.Publisher(cmd_vel_topic, Twist, queue_size=1000)
activation_srv = rospy.Service(activation_service, SetBool, set_mode)
print ("UAV Follower Controller: %s" %(uav_pose_topic))
# spin() simply keeps python from exiting until this node is stopped
rospy.spin()
class RunnerApp(AbstractRwbGui):
def __init__(self):
# Among other things, this constructor initializes
# logging and preferences.
AbstractRwbGui.__init__(self, NAME, DEFAULT_SETTINGS)
self.wm_geometry("800x600")
self.tally = RobotTally()
self._create_fonts()
self._create_menubar()
self._create_statusbar()
self._create_toolbar()
# self._create_command_line()
self._create_notebook()
self.register(GeneralSettingsFrame)
self._controller = RobotController(self)
self._controller.configure(listeners=(self.console,self.log_tree,
self.log_messages, self.tally,
self))
def status_message(self, message):
'''Print a message in the statusbar'''
self.status_label.configure(text=message)
def _create_statusbar(self):
self.statusbar = ttk.Frame(self)
grip = ttk.Sizegrip(self.statusbar)
grip.pack(side="right")
self.status_label = tk.Label(self.statusbar, text="", anchor="w")
self.status_label.pack(side="left", fill="both", expand="true", padx=8)
self.statusbar.pack(side="bottom", fill="x")
def _create_menubar(self):
self.menubar = tk.Menu(self)
self.configure(menu=self.menubar)
# self.rwbMenu = tk.Menu(self, tearoff=False)
# self.menubar.add_cascade(menu=self.rwbMenu, label="rwb", underline=0)
# self.rwbMenu.add_command(label="Settings", command=self.show_settings_dialog)
self.file_menu = tk.Menu(self.menubar, tearoff=False)
self.file_menu.add_command(label="Exit", command=self._on_exit)
self.help_menu = tk.Menu(self, tearoff=False)
self.help_menu.add_command(label="View help on the web", command=self._on_view_help)
self.help_menu.add_separator()
self.help_menu.add_command(label="About the robotframework workbench", command=self._on_about)
self.menubar.add_cascade(menu=self.file_menu, label="File", underline=0)
self.menubar.add_cascade(menu=self.help_menu, label="Help", underline=0)
def _toggle_command(self, collapse=None):
if self.command_text.winfo_viewable() or collapse==True:
self.command_text.grid_remove()
self.command_expander.configure(text=">")
else:
self.command_text.grid()
self.command_expander.configure(text="V")
def _create_command_line(self):
self.command_frame = tk.Frame(self, borderwidth=2, relief="groove")
self.command_expander = ToolButton(self.command_frame,
imagedata=None, text=">", width=1,
command=self._toggle_command)
self.command_label = ttk.Label(self.command_frame, text="Command Line", anchor="w")
self.command_text = tk.Text(self.command_frame, wrap="word", height=3)
self.command_expander.grid(row=0, column=0)
self.command_label.grid(row=0, column=1, sticky="w")
self.command_text.grid(row=1, column=0, columnspan=2, sticky="nsew")
self.command_frame.pack(side="top", fill="x")
self.command_frame.grid_columnconfigure(1, weight=1)
self._toggle_command(collapse=True)
def _create_toolbar(self):
self.toolbar = ttk.Frame(self)
self.toolbar.pack(side="top", fill="x", padx=8)
s = ttk.Style()
s.configure('BigButton.TButton', font=self.fonts.big_font)
self.start_button = ttk.Button(self.toolbar, text="Start",
command=self.start_test,
style="BigButton.TButton",
takefocus=False)
self.stop_button = ttk.Button(self.toolbar, text="Stop",
command=self.stop_test,
style="BigButton.TButton",
takefocus=False)
# this is all so very gross. Surely I can do better! (and don't call my Shirley!)
label = {
"critical": ttk.Label(self.toolbar, text="critical", foreground="darkgray"),
"all": ttk.Label(self.toolbar, text="all", foreground="darkgray"),
"pass": ttk.Label(self.toolbar, text="pass", foreground="darkgray"),
"fail": ttk.Label(self.toolbar, text="fail", foreground="darkgray"),
"total": ttk.Label(self.toolbar, text="total", foreground="darkgray"),
}
value = {
("critical","pass"): ttk.Label(self.toolbar, text="38", width=5,
font=self.fonts.big_font, anchor="e",
textvariable=self.tally["critical","pass"]),
("critical","fail"): ttk.Label(self.toolbar, text="0", width=5,
font=self.fonts.big_font, anchor="e",
textvariable=self.tally["critical","fail"]),
("critical","total"): ttk.Label(self.toolbar, text="38", width=5,
font=self.fonts.big_font, anchor="e",
textvariable=self.tally["critical","total"]),
("all","pass"): ttk.Label(self.toolbar, text="38", width=5,
font=self.fonts.medium_font, anchor="e",
textvariable=self.tally["all","pass"]),
("all","fail"): ttk.Label(self.toolbar, text="0", width=5,
font=self.fonts.medium_font, anchor="e",
textvariable=self.tally["all","fail"]),
("all","total"): ttk.Label(self.toolbar, text="38", width=5,
font=self.fonts.medium_font, anchor="e",
textvariable=self.tally["all","total"]),
}
label["critical"].grid(row=0, column=3, sticky="nse")
value["critical","pass"].grid(row=0, column=4, sticky="nse")
value["critical","fail"].grid(row=0, column=5, sticky="nse")
value["critical","total"].grid(row=0, column=6, sticky="nse")
label["all"].grid(row=1, column=3, sticky="nse")
value["all","pass"].grid(row=1, column=4, sticky="nse")
value["all","fail"].grid(row=1, column=5, sticky="nse")
value["all","total"].grid(row=1, column=6, sticky="nse")
label["pass"].grid(row=2, column=4, sticky="nse")
label["fail"].grid(row=2, column=5, sticky="nse")
label["total"].grid(row=2, column=6, sticky="nse")
self.start_button.grid(row=0, column=0, rowspan=2, sticky="nsew", padx=4, pady=4)
self.stop_button.grid(row=0, column=1, rowspan=2, sticky="nsew", padx=4, pady=4)
self.stop_button.configure(state="disabled")
self.toolbar.grid_columnconfigure(2, weight=2)
self.value = value
self.tally["critical","fail"].trace_variable("w", self._on_tally_trace)
def _on_tally_trace(self, name1, name2, mode):
if self.tally["critical","fail"].get() > 0:
self.value["critical","fail"].configure(foreground="red")
self.value["all","fail"].configure(foreground="red")
def _create_notebook(self):
self.notebook = ttk.Notebook(self)
self.console = RobotConsole(self.notebook)
self.log_tree = RobotLogTree(self.notebook)
self.log_messages = RobotLogMessages(self.notebook)
self.notebook.add(self.log_tree, text="Details")
self.notebook.add(self.console, text="Console")
self.notebook.add(self.log_messages, text="Messages")
self.notebook.pack(side="top", fill="both", expand=True)
def _create_fonts(self):
'''Create fonts specifically for this app
This app has some unique features such as the big start/stop
buttons, so it can't use the font scheme. What it _should_
do is at least base the fonts off of the scheme, but for
now we shall march to the beat of our own drummer.
'''
# Throughout the app, fonts will typically be referenced
# by their name so we don't have to pass references around.
# Tk named fonts are a wonderful thing.
base_size = self.fonts.default.cget("size")
self.fonts.big_font = self.fonts.clone_font(self.fonts.default, "big_font",
size=int(base_size*2.0))
self.fonts.medium_font = self.fonts.clone_font(self.fonts.default, "medium_font",
size=int(base_size*1.5))
def reset(self):
self.status_message("")
def listen(self, event_id, event_name, args):
'''Update the statusbar based on the passed-in event'''
if event_name in ("start_suite", "start_test"):
(name, attrs) = args
self.status_message(attrs["longname"])
elif event_name == "close":
self.status_message(str(self.tally))
def start_test(self):
self._controller.configure(args=sys.argv[1:])
self.stop_button.configure(state="normal")
self.start_button.configure(state="disabled")
self._controller.start()
def stop_test(self):
controller.stop()
self.stop_button.configure(state="disabled")
self.start_button.configure(state="normal")
def _on_exit(self):
self.destroy()
sys.exit(0)
def _on_view_help(self):
import webbrowser
webbrowser.open(HELP_URL)
# ############################################ # Model learning of two link robot arm # Script for training and testing of model # # Author : Deepak Raina @ IIT Delhi # Version : 0.1 # ############################################ from controller import RobotController # Robot controller controller = RobotController() EPOCHS = 10000 MODEL_FILE_LOC = 'models/trained_nn_model_' + str(EPOCHS) ## Training controller.train(epochs=EPOCHS) ## Testing # controller.test(model_fileloc = MODEL_FILE_LOC, num_test=1)
