def __init__(self, parent=None):
QtGui.QWidget.__init__(self, parent)
loadUi(os.path.join(path, 'resources', 'path.ui'), self)
try:
rospy.wait_for_service('robot_send_command', timeout=5)
self.send_command = rospy.ServiceProxy('robot_send_command',
SrvRobotCommand)
except:
rospy.loginfo('ERROR connecting to service robot_send_command.')
#self.pub = rospy.Publisher(
# 'robot_command_json', MsgRobotCommand, queue_size=10)
self.btnLoadPath.clicked.connect(self.btnLoadPathClicked)
icon = QtGui.QIcon.fromTheme('document-open')
self.btnLoadPath.setIcon(icon)
self.btnSavePath.clicked.connect(self.btnSavePathClicked)
icon = QtGui.QIcon.fromTheme('document-save')
self.btnSavePath.setIcon(icon)
self.btnRunPath.clicked.connect(self.btnRunPathClicked)
icon = QtGui.QIcon.fromTheme('media-playback-start')
self.btnRunPath.setIcon(icon)
self.btnDelete.clicked.connect(self.btnDeleteClicked)
self.btnLoadPose.clicked.connect(self.btnLoadPoseClicked)
self.btnStep.clicked.connect(self.btnStepClicked)
self.btnCancel.clicked.connect(self.btnCancelClicked)
self.listWidgetPoses.itemSelectionChanged.connect(self.lstPosesClicked)
self.listWidgetPoses.itemDoubleClicked.connect(self.qlistDoubleClicked)
self.jason = Jason()
self.ok_command = "OK"
self.offset_position = 100
self.quat = [0, np.sin(np.deg2rad(45)), 0, np.cos(np.deg2rad(45))]
self.quat_inv = [0, -np.sin(np.deg2rad(45)), 0, np.cos(np.deg2rad(45))]
self.pub_marker_array = rospy.Publisher('visualization_marker_array',
MarkerArray,
queue_size=10)
self.marker_array = MarkerArray()
self.lines = LinesMarker()
self.lines.set_size(0.005)
self.lines.set_color((1, 0, 0, 1))
self.lines.set_frame('/workobject')
self.marker_array.markers.append(self.lines.marker)
self.arrow = ArrowMarker(0.1)
self.arrow.set_color((0, 0, 1, 1))
self.arrow.set_frame('/workobject')
# self.arrow.set_position((0.2, 0.2, 0.2))
# self.arrow.set_orientation((0, 0, 0, 1))
self.marker_array.markers.append(self.arrow.marker)
for id, m in enumerate(self.marker_array.markers):
m.id = id
self.tmrRunPath = QtCore.QTimer(self)
self.tmrRunPath.timeout.connect(self.timeRunPathEvent)
def __init__(self, parent=None):
QtGui.QWidget.__init__(self, parent)
loadUi(os.path.join(path, 'resources', 'path.ui'), self)
try:
rospy.wait_for_service('robot_send_command', timeout=5)
self.send_command = rospy.ServiceProxy(
'robot_send_command', SrvRobotCommand)
except:
rospy.loginfo('ERROR connecting to service robot_send_command.')
#self.pub = rospy.Publisher(
# import tf'robot_command_json', MsgRobotCommand, queue_size=10)
self.pub_marker_array = rospy.Publisher(
'visualization_marker_array', MarkerArray, queue_size=10)
self.btnLoadPath.clicked.connect(self.btnLoadPathClicked)
icon = QtGui.QIcon.fromTheme('document-open')
self.btnLoadPath.setIcon(icon)
self.btnSavePath.clicked.connect(self.btnSavePathClicked)
icon = QtGui.QIcon.fromTheme('document-save')
self.btnSavePath.setIcon(icon)
self.btnRunPath.clicked.connect(self.btnRunPathClicked)
icon = QtGui.QIcon.fromTheme('media-playback-start')
self.btnRunPath.setIcon(icon)
self.btnRunTest.clicked.connect(self.btnRunTestClicked)
self.btnRunTest.setIcon(icon)
self.btnDelete.clicked.connect(self.btnDeleteClicked)
self.btnLoadPose.clicked.connect(self.btnLoadPoseClicked)
self.btnStep.clicked.connect(self.btnStepClicked)
self.btnCancel.clicked.connect(self.btnCancelClicked)
self.listWidgetPoses.itemSelectionChanged.connect(self.lstPosesClicked)
self.listWidgetPoses.itemDoubleClicked.connect(self.qlistDoubleClicked)
self.testing = False
self.ok_command = "OK"
self.path_markers = PathMarkers()
# Parse robot description file
robot = URDF.from_parameter_server()
tcp = robot.joint_map['tcp0']
workobject = robot.joint_map['workobject']
tool = [tcp.origin.position,
list(tf.quaternion_from_euler(*tcp.origin.rotation))]
print 'Tool:', tool
workobject = [workobject.origin.position,
list(tf.quaternion_from_euler(*workobject.origin.rotation))]
print 'Workobject:', workobject
if rospy.has_param('/powder'):
powder = rospy.get_param('/powder')
else:
print '/powder param missing, loaded default'
powder = {'carrier': 5.0, 'shield': 10.0, 'stirrer': 20.0, 'turntable': 4.0}
print 'Powder:', powder
if rospy.has_param('/process'):
process = rospy.get_param('/process')
else:
print '/process param missing, loaded default'
process = {'focus': 0, 'power': 1000, 'speed': 8}
print 'Process:', process
self.jason = Jason()
self.jason.set_tool(tool)
self.jason.set_workobject(workobject)
self.jason.set_powder(
powder['carrier'], powder['stirrer'], powder['turntable'])
self.jason.set_process(process['speed'], process['power'])
self.tmrRunPath = QtCore.QTimer(self)
self.tmrRunPath.timeout.connect(self.timeRunPathEvent)
