print("Receiving " + "VacuumCleaner.Pose3D" + " from ROS messages")
topicP = cfg.getProperty("VacuumCleaner.Pose3D"+".Topic")
pose3d = ListenerPose3d(topicP)
# -------- L A S E R --------------------------------------------------
print("Receiving " + "VacuumCleaner.Laser" + " LaserData from ROS messages")
topicL = cfg.getProperty("VacuumCleaner.Laser"+".Topic")
laser = ListenerLaser(topicL)
# -------- B U M P E R --------------------------------------------------
print("Receiving " + "VacuumCleaner.Bumper" + " from ROS messages")
topicB = cfg.getProperty("VacuumCleaner.Bumper"+".Topic")
bumper = ListenerBumper(topicB)
algorithm=MyAlgorithm(pose3d, motors,laser, bumper)
app = QApplication(sys.argv)
myGUI = MainWindow(pose3d)
myGUI.setMotors(motors)
myGUI.setPose3D(pose3d)
myGUI.setLaser(laser)
myGUI.setBumper(bumper)
myGUI.setAlgorithm(algorithm)
myGUI.show()
t2 = ThreadGUI(myGUI)
t2.daemon=True
t2.start()
sys.exit(app.exec_())
from gui.threadGUI import ThreadGUI
from parallelIce.motors import Motors
from parallelIce.pose3dClient import Pose3DClient
from parallelIce.laserClient import LaserClient
from parallelIce.bumperClient import BumperClient
import easyiceconfig as EasyIce
from MyAlgorithm import MyAlgorithm
if __name__ == "__main__":
ic = EasyIce.initialize(sys.argv)
motors = Motors(ic, "VacuumCleaner.Motors")
pose3d = Pose3DClient(ic, "VacuumCleaner.Pose3D", True)
laser = LaserClient(ic, "VacuumCleaner.Laser", True)
bumper = BumperClient(ic, "VacuumCleaner.Bumper", True)
algorithm = MyAlgorithm(pose3d, motors, laser, bumper)
app = QApplication(sys.argv)
myGUI = MainWindow(pose3d)
myGUI.setMotors(motors)
myGUI.setPose3D(pose3d)
myGUI.setLaser(laser)
myGUI.setBumper(bumper)
myGUI.setAlgorithm(algorithm)
myGUI.show()
t2 = ThreadGUI(myGUI)
t2.daemon = True
t2.start()
sys.exit(app.exec_())
