def setup_gui(self, two_columns=True):
if qt_version_below_5:
widget_layout = QtGui.QHBoxLayout()
else:
widget_layout = QtWidgets.QHBoxLayout()
widget_layout.addLayout(self._column_1)
if two_columns:
widget_layout.addLayout(self._column_2)
if qt_version_below_5:
main_layout = QtGui.QHBoxLayout()
else:
main_layout = QtWidgets.QHBoxLayout()
main_layout = QtWidgets.QVBoxLayout()
main_layout.addLayout(widget_layout)
self._column_1.setAlignment(QtCore.Qt.AlignTop)
if two_columns:
self._column_2.setAlignment(QtCore.Qt.AlignTop)
widget_layout.setAlignment(QtCore.Qt.AlignTop)
main_layout.setAlignment(QtCore.Qt.AlignTop)
self.setLayout(main_layout)
self._update_info_timer = QtCore.QTimer(self)
self._update_info_timer.timeout.connect(self.update_gui)
self._update_info_timer.start(100)
def __init__(self, masteruri, cfg, ns, nodes, parent=None):
QtGui.QFrame.__init__(self, parent)
self._masteruri = masteruri
self._nodes = {cfg: {ns: nodes}}
frame_layout = QtGui.QVBoxLayout(self)
frame_layout.setContentsMargins(0, 0, 0, 0)
# create frame for warning label
self.warning_frame = warning_frame = QtGui.QFrame()
warning_layout = QtGui.QHBoxLayout(warning_frame)
warning_layout.setContentsMargins(0, 0, 0, 0)
warning_layout.addItem(
QtGui.QSpacerItem(0, 0, QtGui.QSizePolicy.Expanding,
QtGui.QSizePolicy.Expanding))
self.warning_label = QtGui.QLabel()
icon = QtGui.QIcon(':/icons/crystal_clear_warning.png')
self.warning_label.setPixmap(icon.pixmap(QtCore.QSize(40, 40)))
self.warning_label.setToolTip(
'Multiple configuration for same node found!\nA first one will be selected for the start a node!'
)
warning_layout.addWidget(self.warning_label)
warning_layout.addItem(
QtGui.QSpacerItem(0, 0, QtGui.QSizePolicy.Expanding,
QtGui.QSizePolicy.Expanding))
frame_layout.addItem(
QtGui.QSpacerItem(0, 0, QtGui.QSizePolicy.Expanding,
QtGui.QSizePolicy.Expanding))
frame_layout.addWidget(warning_frame)
# create frame for start/stop buttons
buttons_frame = QtGui.QFrame()
buttons_layout = QtGui.QHBoxLayout(buttons_frame)
buttons_layout.setContentsMargins(0, 0, 0, 0)
buttons_layout.addItem(QtGui.QSpacerItem(20, 20))
self.on_button = QtGui.QPushButton()
self.on_button.setFlat(False)
self.on_button.setText("On")
self.on_button.clicked.connect(self.on_on_clicked)
buttons_layout.addWidget(self.on_button)
self.off_button = QtGui.QPushButton()
self.off_button.setFlat(True)
self.off_button.setText("Off")
self.off_button.clicked.connect(self.on_off_clicked)
buttons_layout.addWidget(self.off_button)
buttons_layout.addItem(QtGui.QSpacerItem(20, 20))
frame_layout.addWidget(buttons_frame)
frame_layout.addItem(
QtGui.QSpacerItem(0, 0, QtGui.QSizePolicy.Expanding,
QtGui.QSizePolicy.Expanding))
self.warning_frame.setVisible(False)
def __init__(self, side, gui, parent=None):
self.side = side
self.gui = gui
QtGui.QDialog.__init__(self, parent)
self.setObjectName('PoseSaver')
large_box = QtGui.QVBoxLayout()
# Textbox to enter words for PR2 to say
default_text = self.get_default_name()
name_textbox = QtGui.QLineEdit(default_text)
name_textbox.setFixedWidth(450)
# Set a handler on the textbox to retrieve the text when button clicked
self.name_textbox = name_textbox
button_box = QtGui.QHBoxLayout()
button_box.addItem(QtGui.QSpacerItem(15, 20))
save_button = self.create_button('Save!', self.save_pose)
save_button.setDefault(True)
button_box.addWidget(save_button)
button_box.addWidget(name_textbox)
button_box.addStretch(1)
large_box.addLayout(button_box)
self.setLayout(large_box)
def __init__(self, plugin):
super(ConfigDialog, self).__init__()
self._plugin = plugin
self._interval_spin_box = QtGui.QSpinBox()
self._interval_spin_box.setMaximum(10000)
self._interval_spin_box.setMinimum(1)
self._interval_spin_box.setValue(
publisher.TopicPublisherWithTimer.publish_interval)
self._interval_spin_box.valueChanged.connect(self.update_interval)
self._vertical_layout = QtGui.QVBoxLayout()
self._horizontal_layout = QtGui.QHBoxLayout()
spin_label = QtGui.QLabel('Publish Interval for repeat [ms]')
self._horizontal_layout.addWidget(spin_label)
self._horizontal_layout.addWidget(self._interval_spin_box)
self._vertical_layout.addLayout(self._horizontal_layout)
save_button = QtGui.QPushButton(parent=self)
save_button.setIcon(self.style().standardIcon(
QtGui.QStyle.SP_DialogSaveButton))
save_button.setText('Save to file')
save_button.clicked.connect(self.save_to_file)
load_button = QtGui.QPushButton(parent=self)
load_button.setIcon(self.style().standardIcon(
QtGui.QStyle.SP_DialogOpenButton))
load_button.setText('Load from file')
load_button.clicked.connect(self.load_from_file)
self._vertical_layout.addWidget(save_button)
self._vertical_layout.addWidget(load_button)
self.setLayout(self._vertical_layout)
self.adjustSize()
def __init__(self, host, masteruri=None, parent=None):
PackageDialog.__init__(self, parent)
self.host = host
self.setWindowTitle('Run')
ns_name_label = QtGui.QLabel("NS/Name:", self.content)
self.ns_field = QtGui.QComboBox(self.content)
self.ns_field.setSizePolicy(QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Fixed))
self.ns_field.setEditable(True)
ns_history = nm.history().cachedParamValues('run_dialog/NS')
ns_history.insert(0, '/')
self.ns_field.addItems(ns_history)
self.name_field = QtGui.QLineEdit(self.content)
self.name_field.setEnabled(False)
horizontalLayout = QtGui.QHBoxLayout()
horizontalLayout.addWidget(self.ns_field)
horizontalLayout.addWidget(self.name_field)
self.contentLayout.addRow(ns_name_label, horizontalLayout)
args_label = QtGui.QLabel("Args:", self.content)
self.args_field = QtGui.QComboBox(self.content)
self.args_field.setSizeAdjustPolicy(QtGui.QComboBox.AdjustToMinimumContentsLength)
self.args_field.setSizePolicy(QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Fixed))
self.args_field.setEditable(True)
self.contentLayout.addRow(args_label, self.args_field)
args_history = nm.history().cachedParamValues('run_dialog/Args')
args_history.insert(0, '')
self.args_field.addItems(args_history)
host_label = QtGui.QLabel("Host:", self.content)
self.host_field = QtGui.QComboBox(self.content)
# self.host_field.setSizeAdjustPolicy(QtGui.QComboBox.AdjustToContents)
self.host_field.setSizePolicy(QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Fixed))
self.host_field.setEditable(True)
host_label.setBuddy(self.host_field)
self.contentLayout.addRow(host_label, self.host_field)
self.host_history = host_history = nm.history().cachedParamValues('/Host')
if self.host in host_history:
host_history.remove(self.host)
host_history.insert(0, self.host)
self.host_field.addItems(host_history)
master_label = QtGui.QLabel("ROS Master URI:", self.content)
self.master_field = QtGui.QComboBox(self.content)
self.master_field.setSizePolicy(QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Fixed))
self.master_field.setEditable(True)
master_label.setBuddy(self.host_field)
self.contentLayout.addRow(master_label, self.master_field)
self.master_history = master_history = nm.history().cachedParamValues('/Optional Parameter/ROS Master URI')
self.masteruri = "ROS_MASTER_URI" if masteruri is None else masteruri
if self.masteruri in master_history:
master_history.remove(self.masteruri)
master_history.insert(0, self.masteruri)
self.master_field.addItems(master_history)
# self.package_field.setFocus(QtCore.Qt.TabFocusReason)
self.package_field.textChanged.connect(self.on_package_selected)
self.binary_field.activated[str].connect(self.on_binary_selected)
def __init__(self,
topic_name,
attributes,
array_index,
publisher,
parent,
label_text=None):
super(ValueWidget, self).__init__(topic_name, publisher, parent=parent)
self._parent = parent
self._attributes = attributes
self._array_index = array_index
self._text = ez_model.make_text(topic_name, attributes, array_index)
self._horizontal_layout = QtGui.QHBoxLayout()
if label_text is None:
self._topic_label = QtGui.QLabel(self._text)
else:
self._topic_label = QtGui.QLabel(label_text)
self.close_button = QtGui.QPushButton()
self.close_button.setMaximumWidth(30)
self.close_button.setIcon(self.style().standardIcon(
QtGui.QStyle.SP_TitleBarCloseButton))
self.up_button = QtGui.QPushButton()
self.up_button.setIcon(self.style().standardIcon(
QtGui.QStyle.SP_ArrowUp))
self.up_button.setMaximumWidth(30)
self.down_button = QtGui.QPushButton()
self.down_button.setMaximumWidth(30)
self.down_button.setIcon(self.style().standardIcon(
QtGui.QStyle.SP_ArrowDown))
repeat_label = QtGui.QLabel('repeat')
self._repeat_box = QtGui.QCheckBox()
self._repeat_box.stateChanged.connect(self.repeat_changed)
self._repeat_box.setChecked(publisher.is_repeating())
self._horizontal_layout.addWidget(self._topic_label)
self._horizontal_layout.addWidget(self.close_button)
self._horizontal_layout.addWidget(self.up_button)
self._horizontal_layout.addWidget(self.down_button)
self._horizontal_layout.addWidget(repeat_label)
self._horizontal_layout.addWidget(self._repeat_box)
if self._array_index is not None:
self.add_button = QtGui.QPushButton('+')
self.add_button.setMaximumWidth(30)
self._horizontal_layout.addWidget(self.add_button)
else:
self.add_button = None
self.close_button.clicked.connect(
lambda x: self._parent.close_slider(self))
self.up_button.clicked.connect(
lambda x: self._parent.move_up_widget(self))
self.down_button.clicked.connect(
lambda x: self._parent.move_down_widget(self))
self.setup_ui(self._text)
def __init__(self, parent=None):
QtGui.QWidget.__init__(self, parent)
## rviz.VisualizationFrame is the main container widget of the
## regular RViz application. In this example, we disable everything
## so that the only thing visible is the 3D render window.
self.frame = rviz.VisualizationFrame()
self.frame.setSplashPath("")
self.frame.initialize()
# Read the configuration from the config file for visualization.
reader = rviz.YamlConfigReader()
config = rviz.Config()
reader.readFile(config, os.path.join(path, 'config', 'workcell.rviz'))
self.frame.load(config)
self.setWindowTitle(config.mapGetChild("Title").getValue())
self.frame.setMenuBar(None)
self.frame.setHideButtonVisibility(False)
self.manager = self.frame.getManager()
self.grid_display = self.manager.getRootDisplayGroup().getDisplayAt(0)
layout = QtGui.QVBoxLayout()
layout.setContentsMargins(9, 0, 9, 0)
self.setLayout(layout)
h_layout = QtGui.QHBoxLayout()
layout.addLayout(h_layout)
orbit_button = QtGui.QPushButton("Orbit View")
orbit_button.clicked.connect(self.onOrbitButtonClick)
h_layout.addWidget(orbit_button)
front_button = QtGui.QPushButton("Front View")
front_button.clicked.connect(self.onFrontButtonClick)
h_layout.addWidget(front_button)
right_button = QtGui.QPushButton("Rigth View")
right_button.clicked.connect(self.onRightButtonClick)
h_layout.addWidget(right_button)
top_button = QtGui.QPushButton("Top View")
top_button.clicked.connect(self.onTopButtonClick)
h_layout.addWidget(top_button)
layout.addWidget(self.frame)
def __init__(self, path, parent=None):
QtGui.QWidget.__init__(self, parent)
self.path = path
self._layout = QtGui.QHBoxLayout(self)
self._layout.setContentsMargins(0, 0, 0, 0)
self._layout.setSpacing(0)
self._button = QtGui.QPushButton('...')
self._button.setMaximumSize(QtCore.QSize(24, 20))
self._button.clicked.connect(self._on_path_select_clicked)
self._layout.addWidget(self._button)
self._lineedit = QtGui.QLineEdit(path)
self._lineedit.returnPressed.connect(self._on_editing_finished)
self._layout.addWidget(self._lineedit)
self.setLayout(self._layout)
self.setFocusProxy(self._button)
self.setAutoFillBackground(True)
def create_controls(self):
"""
Create UI controls.
"""
vbox = QtGui.QVBoxLayout()
form = QtGui.QFormLayout()
self.num_sigma = QtGui.QDoubleSpinBox()
self.num_sigma.setValue(1.0)
self.num_sigma.setMinimum(0.0)
self.num_sigma.setSingleStep(0.1)
self.num_sigma.setMaximum(1e3)
self.num_sigma.setDecimals(2)
form.addRow(tr("Sigma:"), self.num_sigma)
vbox.addLayout(form)
self.chk_preview = QtGui.QCheckBox(tr("Preview"))
self.chk_preview.setCheckable(True)
self.chk_preview.setChecked(False)
vbox.addWidget(self.chk_preview)
self.chk_preview.toggled[bool].connect(self.set_preview)
self.gbo_output = QtGui.QGroupBox(tr("Output"))
self.opt_new = QtGui.QRadioButton(tr("New signal"))
self.opt_replace = QtGui.QRadioButton(tr("In place"))
self.opt_new.setChecked(True)
gbo_vbox2 = QtGui.QVBoxLayout()
gbo_vbox2.addWidget(self.opt_new)
gbo_vbox2.addWidget(self.opt_replace)
self.gbo_output.setLayout(gbo_vbox2)
vbox.addWidget(self.gbo_output)
self.btn_ok = QtGui.QPushButton(tr("&OK"))
self.btn_ok.setDefault(True)
self.btn_ok.clicked.connect(self.accept)
self.btn_cancel = QtGui.QPushButton(tr("&Cancel"))
self.btn_cancel.clicked.connect(self.reject)
hbox = QtGui.QHBoxLayout()
hbox.addWidget(self.btn_ok)
hbox.addWidget(self.btn_cancel)
vbox.addLayout(hbox)
vbox.addStretch(1)
self.setLayout(vbox)
def __init__(self, parent=None):
QtGui.QWidget.__init__(self, parent)
self.frame = rviz.VisualizationFrame()
self.frame.setSplashPath("")
self.frame.initialize()
reader = rviz.YamlConfigReader()
config = rviz.Config()
reader.readFile(config, os.path.join(path, 'config', 'workcell.rviz'))
self.frame.load(config)
self.setWindowTitle(config.mapGetChild("Title").getValue())
self.frame.setMenuBar(None)
self.frame.setHideButtonVisibility(False)
self.manager = self.frame.getManager()
self.grid_display = self.manager.getRootDisplayGroup().getDisplayAt(0)
layout = QtGui.QVBoxLayout()
layout.setContentsMargins(9, 0, 9, 0)
self.setLayout(layout)
h_layout = QtGui.QHBoxLayout()
layout.addLayout(h_layout)
orbit_button = QtGui.QPushButton("Orbit View")
orbit_button.clicked.connect(self.onOrbitButtonClick)
h_layout.addWidget(orbit_button)
front_button = QtGui.QPushButton("Front View")
front_button.clicked.connect(self.onFrontButtonClick)
h_layout.addWidget(front_button)
right_button = QtGui.QPushButton("Rigth View")
right_button.clicked.connect(self.onRightButtonClick)
h_layout.addWidget(right_button)
top_button = QtGui.QPushButton("Top View")
top_button.clicked.connect(self.onTopButtonClick)
h_layout.addWidget(top_button)
layout.addWidget(self.frame)
def create_controls(self):
self.lbl_nav = QtGui.QLabel(tr("Navigate"), self)
self.lst_nav = AxesListWidget(self)
self.btn_up = QtGui.QToolButton(self)
self.btn_up.setArrowType(QtCore.Qt.UpArrow)
self.btn_down = QtGui.QToolButton(self)
self.btn_down.setArrowType(QtCore.Qt.DownArrow)
self.lbl_sig = QtGui.QLabel(tr("Signal"), self)
self.lst_sig = AxesListWidget(self)
sp = self.lst_sig.sizePolicy()
sp.setVerticalPolicy(QtGui.QSizePolicy.Fixed)
self.lst_sig.setSizePolicy(sp)
sp = self.lst_nav.sizePolicy()
sp.setVerticalPolicy(QtGui.QSizePolicy.Fixed)
self.lst_nav.setSizePolicy(sp)
self.btn_down.clicked.connect(self._move_down)
self.btn_up.clicked.connect(self._move_up)
self.lst_nav.inserted.connect(self._list_insert)
self.lst_sig.inserted.connect(self._list_insert)
self.lst_nav.moved.connect(self._list_move)
self.lst_sig.moved.connect(self._list_move)
self.btn_flip = QtGui.QPushButton(tr("Reverse axes"))
self.btn_flip.clicked.connect(self._flip_clicked)
vbox = QtGui.QVBoxLayout()
vbox.addWidget(self.lbl_nav)
vbox.addWidget(self.lst_nav)
hbox = QtGui.QHBoxLayout()
hbox.addWidget(self.btn_up)
hbox.addWidget(self.btn_down)
vbox.addLayout(hbox)
vbox.addWidget(self.lbl_sig)
vbox.addWidget(self.lst_sig)
vbox.addWidget(self.btn_flip)
w = QtGui.QWidget()
w.setLayout(vbox)
self.setWidget(w)
def __init__(self):
super(ImageView2Widget, self).__init__()
self.left_button_clicked = False
self.lock = Lock()
self.event_pub = rospy.Publisher("event", MouseEvent)
self.bridge = CvBridge()
self.label = ScaledLabel()
self.label.setAlignment(Qt.AlignCenter)
self.label.setSizePolicy(
QSizePolicy(QSizePolicy.Ignored, QSizePolicy.Ignored))
#self.label.installEventFilter(self)
hbox = QtGui.QHBoxLayout(self)
hbox.addWidget(self.label)
self.setLayout(hbox)
self.image_sub = rospy.Subscriber("image_marked", Image,
self.imageCallback)
self._update_plot_timer = QTimer(self)
self._update_plot_timer.timeout.connect(self.redraw)
self._update_plot_timer.start(40)
self.setMouseTracking(True)
self.show()
def __init__(self, name, param_type, collapsible=True, parent=None):
QtGui.QWidget.__init__(self, parent)
self.setObjectName(name)
self.name = name
self.type = param_type
self.params = []
self.collapsed = False
self.parameter_description = None
vLayout = QtGui.QVBoxLayout()
vLayout.setSpacing(0)
self.options_layout = QtGui.QHBoxLayout()
self.param_widget = QtGui.QFrame()
self.name_label = QtGui.QLabel(name)
font = self.name_label.font()
font.setBold(True)
self.name_label.setFont(font)
self.type_label = QtGui.QLabel(''.join([' (', param_type, ')']))
if collapsible:
self.hide_button = QtGui.QPushButton('-')
self.hide_button.setFlat(True)
self.hide_button.setMaximumSize(20,20)
self.hide_button.clicked.connect(self._on_hide_clicked)
self.options_layout.addWidget(self.hide_button)
self.options_layout.addWidget(self.name_label)
self.options_layout.addWidget(self.type_label)
self.options_layout.addStretch()
vLayout.addLayout(self.options_layout)
self.param_widget.setFrameShape(QtGui.QFrame.Box)
self.param_widget.setFrameShadow(QtGui.QFrame.Raised)
boxLayout = QtGui.QFormLayout()
boxLayout.setVerticalSpacing(0)
self.param_widget.setLayout(boxLayout)
vLayout.addWidget(self.param_widget)
self.setLayout(vLayout)
if param_type in ['std_msgs/Header']:
self.setCollapsed(True)
def __createDistanceSlider(self, label, distance, callback):
"""Create a slider widget to control the distance from the
selected node.
* label -- the label for the slider
* distance -- the default distance value
* callback -- the function to call when the slider is changed
"""
frame = QtGui.QFrame()
layout = QtGui.QHBoxLayout()
frame.setLayout(layout)
# Create a main label for the slider
label = QtGui.QLabel("%s:" % label)
layout.addWidget(label)
# Create the slider
slider = QtGui.QSlider(QtCore.Qt.Horizontal)
slider.setMinimum(0)
slider.setMaximum(self.__maxDistance)
slider.setValue(distance)
slider.setTickPosition(QtGui.QSlider.TicksBelow)
slider.setTickInterval(1) # Every 1 level
slider.valueChanged.connect(callback)
layout.addWidget(slider)
# Create a label to display the value
label = QtGui.QLabel("%s" % distance)
layout.addWidget(label)
# Add a button to reset the slider to its original value
resetButton = QtGui.QPushButton("Reset")
resetButton.clicked.connect(self.__getClickWrapper(slider, distance))
layout.addWidget(resetButton)
self.__layout.addWidget(frame)
return slider, label
def setupUi(self, Dialog):
Dialog.setObjectName(_fromUtf8("Dialog"))
Dialog.resize(328, 449)
self.verticalLayout = QtGui.QVBoxLayout(Dialog)
self.verticalLayout.setObjectName(_fromUtf8("verticalLayout"))
self.horizontalLayout = QtGui.QHBoxLayout()
self.horizontalLayout.setContentsMargins(-1, 0, -1, -1)
self.horizontalLayout.setObjectName(_fromUtf8("horizontalLayout"))
self.label = QtGui.QLabel(Dialog)
self.label.setLineWidth(0)
self.label.setObjectName(_fromUtf8("label"))
self.horizontalLayout.addWidget(self.label)
self.cb_guitype = QtGui.QComboBox(Dialog)
self.cb_guitype.setObjectName(_fromUtf8("cb_guitype"))
self.horizontalLayout.addWidget(self.cb_guitype)
self.verticalLayout.addLayout(self.horizontalLayout)
self.treeView = QtGui.QTreeView(Dialog)
self.treeView.setObjectName(_fromUtf8("treeView"))
self.verticalLayout.addWidget(self.treeView)
self.retranslateUi(Dialog)
QtCore.QMetaObject.connectSlotsByName(Dialog)
def setup_ui(self):
horizontal_layout = QtGui.QHBoxLayout()
reload_button = QtGui.QPushButton(parent=self)
reload_button.setMaximumWidth(30)
reload_button.setIcon(self.style().standardIcon(
QtGui.QStyle.SP_BrowserReload))
reload_button.clicked.connect(self.update_combo_items)
topic_label = QtGui.QLabel('topic(+data member) name')
clear_button = QtGui.QPushButton('all clear')
clear_button.setMaximumWidth(200)
clear_button.clicked.connect(self.clear_sliders)
self._combo = QtGui.QComboBox()
self._combo.setEditable(True)
self.update_combo_items()
self._combo.activated.connect(self.add_slider_from_combo)
horizontal_layout.addWidget(reload_button)
horizontal_layout.addWidget(topic_label)
horizontal_layout.addWidget(self._combo)
horizontal_layout.addWidget(clear_button)
self._main_vertical_layout = QtGui.QVBoxLayout()
self._main_vertical_layout.addLayout(horizontal_layout)
self._main_vertical_layout.setAlignment(horizontal_layout,
QtCore.Qt.AlignTop)
self.setLayout(self._main_vertical_layout)
def __init__(self,
topic,
msg_type,
show_only_rate=False,
masteruri=None,
use_ssh=False,
parent=None):
'''
Creates an input dialog.
@param topic: the name of the topic
@type topic: C{str}
@param msg_type: the type of the topic
@type msg_type: C{str}
@raise Exception: if no topic class was found for the given type
'''
QtGui.QDialog.__init__(self, parent=parent)
self._masteruri = masteruri
masteruri_str = '' if masteruri is None else '[%s]' % masteruri
self.setObjectName(' - '.join(['EchoDialog', topic, masteruri_str]))
self.setAttribute(QtCore.Qt.WA_DeleteOnClose, True)
self.setWindowFlags(QtCore.Qt.Window)
self.setWindowTitle('%s %s %s' %
('Echo --- ' if not show_only_rate else 'Hz --- ',
topic, masteruri_str))
self.resize(728, 512)
self.verticalLayout = QtGui.QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.verticalLayout.setContentsMargins(1, 1, 1, 1)
self.mIcon = QtGui.QIcon(":/icons/crystal_clear_prop_run_echo.png")
self.setWindowIcon(self.mIcon)
self.topic = topic
self.show_only_rate = show_only_rate
self.lock = threading.RLock()
self.last_printed_count = 0
self.msg_t0 = -1.
self.msg_tn = 0
self.times = []
self.message_count = 0
self._rate_message = ''
self._scrapped_msgs = 0
self._scrapped_msgs_sl = 0
self._last_received_ts = 0
self.receiving_hz = self.MESSAGE_HZ_LIMIT
self.line_limit = self.MESSAGE_LINE_LIMIT
self.field_filter_fn = None
options = QtGui.QWidget(self)
if not show_only_rate:
hLayout = QtGui.QHBoxLayout(options)
hLayout.setContentsMargins(1, 1, 1, 1)
self.no_str_checkbox = no_str_checkbox = QtGui.QCheckBox(
'Hide strings')
no_str_checkbox.toggled.connect(self.on_no_str_checkbox_toggled)
hLayout.addWidget(no_str_checkbox)
self.no_arr_checkbox = no_arr_checkbox = QtGui.QCheckBox(
'Hide arrays')
no_arr_checkbox.toggled.connect(self.on_no_arr_checkbox_toggled)
hLayout.addWidget(no_arr_checkbox)
self.combobox_reduce_ch = QtGui.QComboBox(self)
self.combobox_reduce_ch.addItems(
[str(self.MESSAGE_LINE_LIMIT), '0', '80', '256', '1024'])
self.combobox_reduce_ch.activated[str].connect(
self.combobox_reduce_ch_activated)
self.combobox_reduce_ch.setEditable(True)
self.combobox_reduce_ch.setToolTip(
"Set maximum line width. 0 disables the limit.")
hLayout.addWidget(self.combobox_reduce_ch)
# reduce_ch_label = QtGui.QLabel('ch', self)
# hLayout.addWidget(reduce_ch_label)
# add spacer
spacerItem = QtGui.QSpacerItem(515, 20,
QtGui.QSizePolicy.Expanding,
QtGui.QSizePolicy.Minimum)
hLayout.addItem(spacerItem)
# add combobox for displaying frequency of messages
self.combobox_displ_hz = QtGui.QComboBox(self)
self.combobox_displ_hz.addItems([
str(self.MESSAGE_HZ_LIMIT), '0', '0.1', '1', '50', '100',
'1000'
])
self.combobox_displ_hz.activated[str].connect(
self.on_combobox_hz_activated)
self.combobox_displ_hz.setEditable(True)
hLayout.addWidget(self.combobox_displ_hz)
displ_hz_label = QtGui.QLabel('Hz', self)
hLayout.addWidget(displ_hz_label)
# add combobox for count of displayed messages
self.combobox_msgs_count = QtGui.QComboBox(self)
self.combobox_msgs_count.addItems(
[str(self.MAX_DISPLAY_MSGS), '0', '50', '100'])
self.combobox_msgs_count.activated[str].connect(
self.on_combobox_count_activated)
self.combobox_msgs_count.setEditable(True)
self.combobox_msgs_count.setToolTip(
"Set maximum displayed message count. 0 disables the limit.")
hLayout.addWidget(self.combobox_msgs_count)
displ_count_label = QtGui.QLabel('#', self)
hLayout.addWidget(displ_count_label)
# add topic control button for unsubscribe and subscribe
self.topic_control_button = QtGui.QToolButton(self)
self.topic_control_button.setText('stop')
self.topic_control_button.setIcon(
QtGui.QIcon(':/icons/deleket_deviantart_stop.png'))
self.topic_control_button.clicked.connect(
self.on_topic_control_btn_clicked)
hLayout.addWidget(self.topic_control_button)
# add clear button
clearButton = QtGui.QToolButton(self)
clearButton.setText('clear')
clearButton.clicked.connect(self.on_clear_btn_clicked)
hLayout.addWidget(clearButton)
self.verticalLayout.addWidget(options)
self.display = QtGui.QTextBrowser(self)
self.display.setReadOnly(True)
self.verticalLayout.addWidget(self.display)
self.display.document().setMaximumBlockCount(500)
self.max_displayed_msgs = self.MAX_DISPLAY_MSGS
self._blocks_in_msg = None
self.display.setOpenLinks(False)
self.display.anchorClicked.connect(self._on_display_anchorClicked)
self.status_label = QtGui.QLabel('0 messages', self)
self.verticalLayout.addWidget(self.status_label)
# subscribe to the topic
errmsg = ''
try:
self.__msg_class = message.get_message_class(msg_type)
if not self.__msg_class:
errmsg = "Cannot load message class for [%s]. Did you build messages?" % msg_type
# raise Exception("Cannot load message class for [%s]. Did you build messages?"%msg_type)
except Exception as e:
self.__msg_class = None
errmsg = "Cannot load message class for [%s]. Did you build messagest?\nError: %s" % (
msg_type, e)
# raise Exception("Cannot load message class for [%s]. Did you build messagest?\nError: %s"%(msg_type, e))
# variables for Subscriber
self.msg_signal.connect(self._append_message)
self.sub = None
# vairables for SSH connection
self.ssh_output_file = None
self.ssh_error_file = None
self.ssh_input_file = None
self.text_signal.connect(self._append_text)
self.text_hz_signal.connect(self._append_text_hz)
self._current_msg = ''
self._current_errmsg = ''
self.text_error_signal.connect(self._append_error_text)
# decide, which connection to open
if use_ssh:
self.__msg_class = None
self._on_display_anchorClicked(QtCore.QUrl(self._masteruri))
elif self.__msg_class is None:
errtxt = '<pre style="color:red; font-family:Fixedsys,Courier,monospace; padding:10px;">\n%s</pre>' % (
errmsg)
self.display.setText('<a href="%s">open using SSH</a>' %
(masteruri))
self.display.append(errtxt)
else:
self.sub = rospy.Subscriber(self.topic, self.__msg_class,
self._msg_handle)
self.print_hz_timer = QtCore.QTimer()
self.print_hz_timer.timeout.connect(self._on_calc_hz)
self.print_hz_timer.start(1000)
def __init__(self,
items=list(),
buttons=QtGui.QDialogButtonBox.Cancel
| QtGui.QDialogButtonBox.Ok,
exclusive=False,
preselect_all=False,
title='',
description='',
icon='',
parent=None,
select_if_single=True):
'''
Creates an input dialog.
@param items: a list with strings
@type items: C{list()}
'''
QtGui.QDialog.__init__(self, parent=parent)
self.setObjectName(' - '.join(['SelectDialog', str(items)]))
self.verticalLayout = QtGui.QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.verticalLayout.setContentsMargins(1, 1, 1, 1)
# add filter row
self.filter_frame = QtGui.QFrame(self)
filterLayout = QtGui.QHBoxLayout(self.filter_frame)
filterLayout.setContentsMargins(1, 1, 1, 1)
label = QtGui.QLabel("Filter:", self.filter_frame)
self.filter_field = QtGui.QLineEdit(self.filter_frame)
filterLayout.addWidget(label)
filterLayout.addWidget(self.filter_field)
self.filter_field.textChanged.connect(self._on_filter_changed)
self.verticalLayout.addWidget(self.filter_frame)
if description:
self.description_frame = QtGui.QFrame(self)
descriptionLayout = QtGui.QHBoxLayout(self.description_frame)
# descriptionLayout.setContentsMargins(1, 1, 1, 1)
if icon:
self.icon_label = QtGui.QLabel(self.description_frame)
self.icon_label.setSizePolicy(QtGui.QSizePolicy.Fixed,
QtGui.QSizePolicy.Fixed)
self.icon_label.setPixmap(
QtGui.QPixmap(icon).scaled(30, 30,
QtCore.Qt.KeepAspectRatio))
descriptionLayout.addWidget(self.icon_label)
self.description_label = QtGui.QLabel(self.description_frame)
self.description_label.setWordWrap(True)
self.description_label.setText(description)
descriptionLayout.addWidget(self.description_label)
self.verticalLayout.addWidget(self.description_frame)
# create area for the parameter
self.scrollArea = scrollArea = QtGui.QScrollArea(self)
self.scrollArea.setFocusPolicy(QtCore.Qt.NoFocus)
scrollArea.setObjectName("scrollArea")
scrollArea.setWidgetResizable(True)
self.content = MainBox(self)
scrollArea.setWidget(self.content)
self.verticalLayout.addWidget(scrollArea)
# add select all option
if not exclusive:
self._ignore_next_toggle = False
options = QtGui.QWidget(self)
hLayout = QtGui.QHBoxLayout(options)
hLayout.setContentsMargins(1, 1, 1, 1)
self.select_all_checkbox = QtGui.QCheckBox('all')
self.select_all_checkbox.setTristate(True)
self.select_all_checkbox.stateChanged.connect(
self._on_select_all_checkbox_stateChanged)
hLayout.addWidget(self.select_all_checkbox)
self.content.toggled.connect(self._on_main_toggle)
# add spacer
spacerItem = QtGui.QSpacerItem(515, 20,
QtGui.QSizePolicy.Expanding,
QtGui.QSizePolicy.Minimum)
hLayout.addItem(spacerItem)
self.verticalLayout.addWidget(options)
# create buttons
self.buttonBox = QtGui.QDialogButtonBox(self)
self.buttonBox.setObjectName("buttonBox")
self.buttonBox.setOrientation(QtCore.Qt.Horizontal)
self.buttonBox.setStandardButtons(buttons)
self.buttonBox.accepted.connect(self.accept)
self.buttonBox.rejected.connect(self.reject)
self.verticalLayout.addWidget(self.buttonBox)
# set the input fields
if items:
self.content.createFieldsFromValues(items, exclusive)
if (select_if_single and len(items) == 1) or preselect_all:
self.select_all_checkbox.setCheckState(QtCore.Qt.Checked)
if not items or len(items) < 11:
self.filter_frame.setVisible(False)
def __init__(self, params=dict(), buttons=QtGui.QDialogButtonBox.Cancel|QtGui.QDialogButtonBox.Ok, sidebar_var='', parent=None):
'''
Creates an input dialog.
@param params: a dictionary with parameter names and (type, values).
The C{value}, can be a primitive value, a list with values or parameter
dictionary to create groups. In this case the type is the name of the group.
@type params: C{dict(str:(str, {value, [..], dict()}))}
'''
QtGui.QDialog.__init__(self, parent=parent)
self.setObjectName('ParameterDialog - %s'%str(params))
self.__current_path = nm.settings().current_dialog_path
self.horizontalLayout = QtGui.QHBoxLayout(self)
self.horizontalLayout.setObjectName("horizontalLayout")
self.horizontalLayout.setContentsMargins(1, 1, 1, 1)
self.verticalLayout = QtGui.QVBoxLayout()
self.verticalLayout.setObjectName("verticalLayout")
self.verticalLayout.setContentsMargins(1, 1, 1, 1)
# add filter row
self.filter_frame = QtGui.QFrame(self)
filterLayout = QtGui.QHBoxLayout(self.filter_frame)
filterLayout.setContentsMargins(1, 1, 1, 1)
label = QtGui.QLabel("Filter:", self.filter_frame)
self.filter_field = QtGui.QLineEdit(self.filter_frame)
filterLayout.addWidget(label)
filterLayout.addWidget(self.filter_field)
self.filter_field.textChanged.connect(self._on_filter_changed)
self.filter_visible = True
self.verticalLayout.addWidget(self.filter_frame)
# create area for the parameter
self.scrollArea = scrollArea = ScrollArea(self);
scrollArea.setObjectName("scrollArea")
scrollArea.setWidgetResizable(True)
self.content = MainBox('/', 'str', False, self)
scrollArea.setWidget(self.content)
self.verticalLayout.addWidget(scrollArea)
# add info text field
self.info_field = QtGui.QTextEdit(self)
self.info_field.setVisible(False)
palette = QtGui.QPalette()
brush = QtGui.QBrush(QtGui.QColor(255, 254, 242))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Active, QtGui.QPalette.Base, brush)
brush = QtGui.QBrush(QtGui.QColor(255, 254, 242))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Inactive, QtGui.QPalette.Base, brush)
brush = QtGui.QBrush(QtGui.QColor(244, 244, 244))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Disabled, QtGui.QPalette.Base, brush)
self.info_field.setPalette(palette)
self.info_field.setFrameShadow(QtGui.QFrame.Plain)
self.info_field.setReadOnly(True)
self.info_field.setTextInteractionFlags(QtCore.Qt.LinksAccessibleByKeyboard|QtCore.Qt.LinksAccessibleByMouse|QtCore.Qt.TextBrowserInteraction|QtCore.Qt.TextSelectableByKeyboard|QtCore.Qt.TextSelectableByMouse)
self.info_field.setObjectName("dialog_info_field")
self.verticalLayout.addWidget(self.info_field)
# create buttons
self.buttonBox = QtGui.QDialogButtonBox(self)
self.buttonBox.setObjectName("buttonBox")
self.buttonBox.setOrientation(QtCore.Qt.Horizontal)
self.buttonBox.setStandardButtons(buttons)
self.buttonBox.accepted.connect(self.accept)
self.buttonBox.rejected.connect(self.reject)
self.verticalLayout.addWidget(self.buttonBox)
self.horizontalLayout.addLayout(self.verticalLayout)
# add side bar for checklist
values = nm.history().cachedParamValues('/%s'%sidebar_var)
self.sidebar_frame = QtGui.QFrame()
self.sidebar_frame.setObjectName(sidebar_var)
sidebarframe_verticalLayout = QtGui.QVBoxLayout(self.sidebar_frame)
sidebarframe_verticalLayout.setObjectName("sidebarframe_verticalLayout")
sidebarframe_verticalLayout.setContentsMargins(1, 1, 1, 1)
self._sidebar_selected = 0
if len(values) > 1 and sidebar_var in params:
self.horizontalLayout.addWidget(self.sidebar_frame)
try:
self.sidebar_default_val = params[sidebar_var][1]
except:
self.sidebar_default_val = ''
values.sort()
for v in values:
checkbox = QtGui.QCheckBox(v)
checkbox.stateChanged.connect(self._on_sidebar_stateChanged)
self.sidebar_frame.layout().addWidget(checkbox)
self.sidebar_frame.layout().addItem(QtGui.QSpacerItem(100, 20, QtGui.QSizePolicy.Minimum, QtGui.QSizePolicy.Expanding))
# set the input fields
if params:
self.content.createFieldFromValue(params)
self.setInfoActive(False)
if self.filter_frame.isVisible():
self.filter_field.setFocus()
self.setMinimumSize(350,200)
def __init__(self, grammar_filename=None):
""" Constructor """
super(ContinueGui, self).__init__()
self.resize(640, 480)
self.move(300, 300)
self.setWindowTitle('Continue GUI')
# Add the description box
self.description_label = QtGui.QLabel(self)
self.description_label.setMaximumHeight(100)
# Add the question box
self.spec_label = QtGui.QLabel(self)
self.spec_label.setMaximumHeight(100)
# Add the key box
self.key_label = QtGui.QLabel(self)
self.key_label.setMaximumHeight(100)
# Add the texteditbox
self.textbox = QtGui.QTextEdit(self)
self.textbox.textChanged.connect(self._text_changed)
# Add the submit button
self.submit_button = QtGui.QPushButton(self)
self.submit_button.setText("Submit")
self.submit_button.setEnabled(False)
# Add the clear button
self.clear_button = QtGui.QPushButton(self)
self.clear_button.setText("Clear")
# Submit/clear button layout
self.submit_clear_button_layout = QtGui.QVBoxLayout()
self.submit_clear_button_layout.addWidget(self.submit_button)
self.submit_clear_button_layout.addWidget(self.clear_button)
self.submit_clear_button_widget = QtGui.QWidget()
self.submit_clear_button_widget.setLayout(self.submit_clear_button_layout)
# Add the QButtonGroup
# self.option_buttons = QtGui.QButtonGroup(self) (ToDo: how can I do this nicely???)
# self.button_layout = QtGui.QVBoxLayout()
self.button_layout = QtGui.QGridLayout()
self.button_widget = QtGui.QWidget()
self.button_widget.setLayout(self.button_layout)
self.button_widget.setSizePolicy(2, 2) # Makes sure we don't get enormous buttons
# Top layout
self._top_layout = QtGui.QHBoxLayout(self)
self._top_layout.addWidget(self.textbox)
self._top_layout.addWidget(self.submit_clear_button_widget)
self._top_widget = QtGui.QWidget()
self._top_widget.setLayout(self._top_layout)
self._top_widget.setMaximumHeight(100)
# Main layout
self._main_layout = QtGui.QVBoxLayout(self)
self._main_layout.addWidget(self.description_label)
self._main_layout.addWidget(self.spec_label)
self._main_layout.addWidget(self.key_label)
self._main_layout.addWidget(self._top_widget)
# self._main_layout.addWidget(self.option_buttons)
self._main_layout.addWidget(self.button_widget)
self._main_layout.insertStretch(-1, 0)
# List with ButtonCBs
self._button_cbs = []
# Setup the interface
self.server_interface = HMIServerGUIInterface('continui', grammar_filename)
# Update thread
self.update_thread = UpdateThread(self, self.server_interface)
self.update_thread.buttons.connect(self.buttons_callback)
self.update_thread.description.connect(self.description_callback)
self.update_thread.spec.connect(self.spec_callback)
self.update_thread.key.connect(self.key_callback)
self.update_thread.valid.connect(self.valid_callback)
self.current_text.connect(self.update_thread.set_text)
self.submit_button.clicked.connect(self.update_thread.submit)
self.submit_button.clicked.connect(self.clear_text)
self.clear_button.clicked.connect(self.clear_text)
self.update_thread.start()
self.show()
def __init__(self, context):
self.prompt_width = 170
self.input_width = 250
super(SimpleGUI, self).__init__(context)
self.setObjectName('SimpleGUI')
self._widget = QWidget()
self._sound_client = SoundClient()
#find relative path for files to load
self.local_dir = os.path.dirname(__file__)
self.dir = os.path.join(self.local_dir, './lib/rqt_simplegui/')
if not os.path.isdir(self.dir):
os.makedirs(self.dir)
#need to add any additional subfolders as needed
if not os.path.isdir(self.dir + 'animations/'):
os.makedirs(self.dir + 'animations/')
# Creates a subscriber to the ROS topic, having msg type SoundRequest
rospy.Subscriber('robotsound', SoundRequest, self.sound_cb)
QtGui.QToolTip.setFont(QtGui.QFont('SansSerif', 10))
self.sound_sig.connect(self.sound_sig_cb)
# Code used for saving/ loading arm poses for the robot
switch_srv_name = 'pr2_controller_manager/switch_controller'
rospy.loginfo('Waiting for switch controller service...')
rospy.wait_for_service(switch_srv_name)
self.switch_service_client = rospy.ServiceProxy(
switch_srv_name, SwitchController)
self.r_joint_names = [
'r_shoulder_pan_joint', 'r_shoulder_lift_joint',
'r_upper_arm_roll_joint', 'r_elbow_flex_joint',
'r_forearm_roll_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint'
]
self.l_joint_names = [
'l_shoulder_pan_joint', 'l_shoulder_lift_joint',
'l_upper_arm_roll_joint', 'l_elbow_flex_joint',
'l_forearm_roll_joint', 'l_wrist_flex_joint', 'l_wrist_roll_joint'
]
self.all_joint_names = []
self.all_joint_poses = []
# Hash tables storing the name of the pose and the
# associated positions for that pose, initially empty
self.saved_l_poses = {}
self.saved_r_poses = {}
# Hash tables for storing name of animations and the associated pose list
self.saved_animations = {}
self.lock = threading.Lock()
rospy.Subscriber('joint_states', JointState, self.joint_states_cb)
#parsing for animations
dir = os.path.dirname(__file__)
qWarning(dir)
filename = os.path.join(self.dir, 'animations/')
ani_path = filename
ani_listing = os.listdir(ani_path)
for infile in ani_listing:
pose_left = []
pose_right = []
left_gripper_states = []
right_gripper_states = []
line_num = 1
for line in fileinput.input(ani_path + infile):
if (line_num % 2 == 1):
pose = [float(x) for x in line.split()]
pose_left.append(pose[:len(pose) / 2])
pose_right.append(pose[len(pose) / 2:])
else:
states = line.split()
left_gripper_states.append(states[0])
right_gripper_states.append(states[1])
line_num += 1
self.saved_animations[os.path.splitext(infile)[0]] = Quad(
pose_left, pose_right, left_gripper_states,
right_gripper_states)
# Create a trajectory action client
r_traj_controller_name = '/r_arm_controller/joint_trajectory_action'
self.r_traj_action_client = SimpleActionClient(r_traj_controller_name,
JointTrajectoryAction)
rospy.loginfo(
'Waiting for a response from the trajectory action server for RIGHT arm...'
)
self.r_traj_action_client.wait_for_server()
l_traj_controller_name = '/l_arm_controller/joint_trajectory_action'
self.l_traj_action_client = SimpleActionClient(l_traj_controller_name,
JointTrajectoryAction)
rospy.loginfo(
'Waiting for a response from the trajectory action server for LEFT arm...'
)
self.l_traj_action_client.wait_for_server()
# Navigation functionality initialization
self.roomNav = RoomNavigator()
self._tf_listener = TransformListener()
self.animPlay = AnimationPlayer(None, None, None, None)
# Detection and pickup functionality
self.pap = PickAndPlaceManager(self._tf_listener, self.roomNav,
self.animPlay)
QtGui.QToolTip.setFont(QtGui.QFont('SansSerif', 10))
self.joint_sig.connect(self.joint_sig_cb)
# Create a large vertical box that is top aligned
large_box = QtGui.QVBoxLayout()
large_box.setAlignment(QtCore.Qt.AlignTop)
large_box.setMargin(0)
large_box.addItem(QtGui.QSpacerItem(10, 0))
# Buttons for controlling the head of the robot
head_box = QtGui.QHBoxLayout()
head_box.addItem(QtGui.QSpacerItem(230, 0))
head_box.addWidget(self.create_pressed_button('Head Up'))
head_box.addStretch(1)
large_box.addLayout(head_box)
button_box = QtGui.QHBoxLayout()
button_box.addItem(QtGui.QSpacerItem(80, 0))
button_box.addWidget(self.create_pressed_button('Head Turn Left'))
button_box.addWidget(self.create_pressed_button('Head Down'))
button_box.addWidget(self.create_pressed_button('Head Turn Right'))
button_box.addStretch(1)
button_box.setMargin(0)
button_box.setSpacing(0)
large_box.addLayout(button_box)
# Shows what the robot says
speech_box = QtGui.QHBoxLayout()
self.speech_label = QtGui.QLabel('Robot has not spoken yet')
palette = QtGui.QPalette()
palette.setColor(QtGui.QPalette.Foreground, QtCore.Qt.blue)
self.speech_label.setPalette(palette) #
speech_box.addItem(QtGui.QSpacerItem(100, 0))
#speech_box.addWidget(self.speech_label) #
large_box.addLayout(speech_box)
# Speak button
speak_button_box = QtGui.QHBoxLayout()
speech_prompt = QtGui.QLabel('Enter Speech Text:')
speech_prompt.setFixedWidth(self.prompt_width)
speak_button_box.addWidget(speech_prompt)
robot_says = QtGui.QLineEdit(self._widget)
robot_says.setFixedWidth(self.input_width)
robot_says.textChanged[str].connect(self.onChanged) #
speak_button_box.addWidget(robot_says)
speak_button_box.addWidget(self.create_button('Speak'))
speak_button_box.addStretch(1)
large_box.addLayout(speak_button_box)
large_box.addItem(QtGui.QSpacerItem(0, 50))
# Buttons for arm poses
pose_button_box1 = QtGui.QHBoxLayout()
pose_button_box1.addItem(QtGui.QSpacerItem(150, 0))
pose_button_box1.addWidget(self.create_button('Relax Left Arm'))
pose_button_box1.addWidget(self.create_button('Relax Right Arm'))
pose_button_box1.addStretch(1)
large_box.addLayout(pose_button_box1)
# Buttons for grippers
gripper_button_box = QtGui.QHBoxLayout()
gripper_button_box.addItem(QtGui.QSpacerItem(150, 0))
gripper_button_box.addWidget(self.create_button('Open Left Gripper'))
gripper_button_box.addWidget(self.create_button('Open Right Gripper'))
gripper_button_box.addStretch(1)
large_box.addLayout(gripper_button_box)
large_box.addItem(QtGui.QSpacerItem(0, 25))
# Buttons for animation
animation_box = QtGui.QHBoxLayout()
play_anim_label = QtGui.QLabel('Select Animation:')
play_anim_label.setFixedWidth(self.prompt_width)
animation_box.addWidget(play_anim_label)
self.saved_animations_list = QtGui.QComboBox(self._widget)
animation_box.addWidget(self.saved_animations_list)
pose_time_label = QtGui.QLabel('Duration(sec):')
pose_time_label.setFixedWidth(100)
animation_box.addWidget(pose_time_label)
self.pose_time = QtGui.QLineEdit(self._widget)
self.pose_time.setFixedWidth(50)
self.pose_time.setText('2.0')
animation_box.addWidget(self.pose_time)
animation_box.addWidget(self.create_button('Play Animation'))
animation_box.addStretch(1)
large_box.addLayout(animation_box)
animation_box2 = QtGui.QHBoxLayout()
animation_name_label = QtGui.QLabel('Enter Animation Name:')
animation_name_label.setFixedWidth(self.prompt_width)
animation_box2.addWidget(animation_name_label)
self.animation_name = QtGui.QLineEdit(self._widget)
self.animation_name.setFixedWidth(self.input_width)
animation_box2.addWidget(self.animation_name)
animation_box2.addWidget(self.create_button('Save Animation'))
animation_box2.addStretch(1)
large_box.addLayout(animation_box2)
animation_box3 = QtGui.QHBoxLayout()
pose_name_label = QtGui.QLabel('Enter Pose Name:')
pose_name_label.setFixedWidth(self.prompt_width)
animation_box3.addWidget(pose_name_label)
self.pose_name_temp = QtGui.QLineEdit(self._widget)
self.pose_name_temp.setFixedWidth(self.input_width)
animation_box3.addWidget(self.pose_name_temp)
animation_box3.addWidget(self.create_button('Add Current Pose'))
animation_box3.addStretch(1)
large_box.addLayout(animation_box3)
# Playing around with UI stuff
play_box = QtGui.QHBoxLayout()
pose_sequence_label = QtGui.QLabel('Current Pose Sequence:')
pose_sequence_label.setFixedWidth(self.prompt_width)
pose_sequence_label.setAlignment(QtCore.Qt.AlignTop)
self.list_widget = QListWidget()
self.list_widget.setDragDropMode(QAbstractItemView.InternalMove)
self.list_widget.setMaximumSize(self.input_width, 200)
play_box.addWidget(pose_sequence_label)
play_box.addWidget(self.list_widget)
play_box.addStretch(1)
large_box.addLayout(play_box)
large_box.addItem(QtGui.QSpacerItem(0, 50))
# Buttons for first row of base controls
first_base_button_box = QtGui.QHBoxLayout()
first_base_button_box.addItem(QtGui.QSpacerItem(70, 0))
first_base_button_box.addWidget(
self.create_pressed_button('Rotate Left'))
first_base_button_box.addWidget(self.create_pressed_button('^'))
first_base_button_box.addWidget(
self.create_pressed_button('Rotate Right'))
first_base_button_box.addStretch(1)
large_box.addLayout(first_base_button_box)
# Buttons for second row of base controls
second_base_button_box = QtGui.QHBoxLayout()
second_base_button_box.addItem(QtGui.QSpacerItem(70, 0))
second_base_button_box.addWidget(self.create_pressed_button('<'))
second_base_button_box.addWidget(self.create_pressed_button('v'))
second_base_button_box.addWidget(self.create_pressed_button('>'))
second_base_button_box.addWidget(self.create_button('Move to Bin'))
second_base_button_box.addWidget(self.create_button('Object Detect'))
second_base_button_box.addWidget(self.create_button('Clean Room'))
second_base_button_box.addStretch(1)
large_box.addLayout(second_base_button_box)
# Animation related items to store intermediate pose co-ordinates to save
self.animation_map = {}
self.create_state = False
self._widget.setObjectName('SimpleGUI')
self._widget.setLayout(large_box)
context.add_widget(self._widget)
# Look straight and down when launched
self.head_x = 1.0
self.head_y = 0.0
self.head_z = 0.5
self.head_action(self.head_x, self.head_y, self.head_z)
# Set grippers to closed on initialization
self.left_gripper_state = ''
self.right_gripper_state = ''
self.gripper_action('l', 0.0)
self.gripper_action('r', 0.0)
# Lab 6
self.marker_publisher = rospy.Publisher('visualization_marker', Marker)
# Saved states for poses
saved_pose_box = QtGui.QHBoxLayout()
self.saved_left_poses = QtGui.QLabel('')
self.saved_right_poses = QtGui.QLabel('')
saved_pose_box.addWidget(self.saved_left_poses)
saved_pose_box.addWidget(self.saved_right_poses)
large_box.addLayout(saved_pose_box)
# Preload the map of animations
self.saved_animations_list.addItems(self.saved_animations.keys())
# Move the torso all the way down
# self.torso_down(True)
# Autonomous navigation stuff
'''
self.locations = [Pose(Point(2.48293590546, 3.90075874329, 0.000), Quaternion(0.000, 0.000, -0.783917630973, 0.620864838632)),
Pose(Point(3.70106744766, 0.304672241211, 0.000), Quaternion(0.000, 0.000, 0.950186880196, -0.311680754463)),
Pose(Point(2.57326722145, 1.51304531097, 0.000), Quaternion(0.000, 0.000, 0.96127194482, -0.275601611212)),
Pose(Point(1.28060531616, 1.52380752563, 0.000), Quaternion(0.000, 0.000, 0.946345258806, -0.323157316388)),
Pose(Point(2.11048603058, 0.420155525208, 0.000), Quaternion(0.000, 0.000, 0.945222393391, -0.326427062346)),
Pose(Point(2.82733058929, -0.739856719971, 0.000), Quaternion(0.000, 0.000, 0.945473998362, -0.325697587373)),
Pose(Point(1.29184818268, -1.90485572815, 0.000), Quaternion(0.000, 0.000, 0.942275557345, -0.334838429739)),
Pose(Point(0.722846984863, -1.0921459198, 0.000), Quaternion(0.000, 0.000, 0.949330143731, -0.314280572424))]
'''
self.locations = [
Pose(Point(2.04748392105, 2.04748010635, 0.000),
Quaternion(0.000, 0.000, -0.776968030817, 0.629540053601)),
Pose(Point(2.34193611145, 1.43208932877, 0),
Quaternion(0, 0, -0.841674385779, 0.539985396398)),
Pose(Point(3.43202018738, -0.258297920227, 0.000),
Quaternion(0.000, 0.000, 0.996656413122, -0.0817067572629)),
Pose(Point(0.931655406952, -1.96435832977, 0.000),
Quaternion(0.000, 0.000, 0.691187586713, 0.722675390458)),
Pose(Point(-0.369112968445, 0.0330476760864, 0.000),
Quaternion(0.000, 0.000, 0.0275340398899, 0.999620866453))
]
self.index = 1
rospy.loginfo("Completed GUI initialization")
def setupButtons(self, yaml_file):
"""
Parse yaml file and setup Buttons. Format of the yaml file should be:
- name: 'button name' (required)
image: 'path to image for icon' (optional)
image_size: 'width and height of icon' (optional)
service: 'service' (required)
column: 'column index' (optional, defaults to 0)
"""
self.buttons = []
with open(yaml_file) as f:
yaml_data = yaml.load(f)
# lookup colum direction
direction = 'vertical'
for d in yaml_data:
if d.has_key('direction'):
if d['direction'] == 'horizontal':
direction = 'horizontal'
else: # d['direction'] == 'vertical':
direction = 'vertical'
yaml_data.remove(d)
break
# lookup column num
column_indices = [d['column'] for d in yaml_data]
max_column_index = max(*column_indices)
if direction == 'vertical':
self.layout = QtGui.QHBoxLayout()
self.layout_boxes = [QtGui.QVBoxLayout()
for i in range(max_column_index + 1)]
else: # direction == 'horizontal'
self.layout = QtGui.QVBoxLayout()
self.layout_boxes = [QtGui.QHBoxLayout()
for i in range(max_column_index + 1)]
self.button_groups = [QtGui.QGroupBox()
for i in range(max_column_index + 1)]
for button_data in yaml_data:
# check if all the field is available
if not button_data.has_key("name"):
self.showError("name field is missed in yaml")
raise Exception("name field is missed in yaml")
if not button_data.has_key("service"):
self.showError("service field is missed in yaml")
raise Exception("service field is missed in yaml")
if self.button_type == "push":
button = QtGui.QToolButton()
else: # self.button_type == "Radio":
button = QtGui.QRadioButton()
button.setSizePolicy(QSizePolicy(QSizePolicy.Preferred, QSizePolicy.Preferred))
if button_data.has_key("image"):
image_file = get_filename(button_data["image"])[len("file://"):]
if os.path.exists(image_file):
icon = QtGui.QIcon(image_file)
button.setIcon(icon)
if button_data.has_key("image_size"):
button.setIconSize(QSize(button_data["image_size"][0], button_data["image_size"][1]))
else:
button.setIconSize(QSize(100, 100))
if button_data.has_key("name"):
name = button_data['name']
button.setText(name)
button.clicked.connect(self.buttonCallback(button_data['service']))
if self.button_type == "push":
button.setToolButtonStyle(QtCore.Qt.ToolButtonTextUnderIcon)
else: # self.button_type == "Radio":
if button_data.has_key("default_value") and button_data['default_value']:
button.setChecked(True)
self.layout_boxes[button_data['column']].addWidget(button)
self.buttons.append(button)
for i in range(len(self.button_groups)):
self.button_groups[i].setLayout(self.layout_boxes[i])
for group in self.button_groups:
self.layout.addWidget(group)
self.setLayout(self.layout)
def __init__(self, context):
super(HalloweenGUI, self).__init__(context)
self.setObjectName('HalloweenGUI')
self._widget = QWidget()
self._widget.setFixedSize(525, 300)
self.arm_db = ArmDB()
self._tf_listener = TransformListener()
# Action/service/message clients or servers
switch_srv_name = 'pr2_controller_manager/switch_controller'
rospy.loginfo('Waiting for switch controller service...')
rospy.wait_for_service(switch_srv_name)
self.switch_service_client = rospy.ServiceProxy(
switch_srv_name, SwitchController)
self.r_joint_names = [
'r_shoulder_pan_joint', 'r_shoulder_lift_joint',
'r_upper_arm_roll_joint', 'r_elbow_flex_joint',
'r_forearm_roll_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint'
]
self.l_joint_names = [
'l_shoulder_pan_joint', 'l_shoulder_lift_joint',
'l_upper_arm_roll_joint', 'l_elbow_flex_joint',
'l_forearm_roll_joint', 'l_wrist_flex_joint', 'l_wrist_roll_joint'
]
self.all_joint_names = []
self.all_joint_poses = []
self.saved_r_arm_pose = None
self.saved_l_arm_pose = None
self.lock = threading.Lock()
rospy.Subscriber('joint_states', JointState, self.joint_states_cb)
# Create a trajectory action client
r_traj_controller_name = '/r_arm_controller/joint_trajectory_action'
self.r_traj_action_client = SimpleActionClient(r_traj_controller_name,
JointTrajectoryAction)
rospy.loginfo(
'Waiting for a response from the trajectory action server for RIGHT arm...'
)
self.r_traj_action_client.wait_for_server()
l_traj_controller_name = '/l_arm_controller/joint_trajectory_action'
self.l_traj_action_client = SimpleActionClient(l_traj_controller_name,
JointTrajectoryAction)
rospy.loginfo(
'Waiting for a response from the trajectory action server for LEFT arm...'
)
self.l_traj_action_client.wait_for_server()
QtGui.QToolTip.setFont(QtGui.QFont('SansSerif', 10))
self.joint_sig.connect(self.joint_sig_cb)
large_box = QtGui.QVBoxLayout()
arm_box = QtGui.QHBoxLayout()
right_arm_box = QtGui.QVBoxLayout()
left_arm_box = QtGui.QVBoxLayout()
left_arm_box.addItem(QtGui.QSpacerItem(50, 50))
right_arm_box.addItem(QtGui.QSpacerItem(50, 50))
right_arm_box.addWidget(self.create_button('Relax right arm'))
right_arm_box.addWidget(self.create_button('Freeze right arm'))
left_arm_box.addWidget(self.create_button('Relax left arm'))
left_arm_box.addWidget(self.create_button('Freeze left arm'))
left_arm_box.addItem(QtGui.QSpacerItem(50, 20))
right_arm_box.addItem(QtGui.QSpacerItem(50, 20))
left_pose_saver = PoseSaver(PoseSaver.LEFT, self)
right_pose_saver = PoseSaver(PoseSaver.RIGHT, self)
left_arm_box.addWidget(
self.create_button("Create left arm pose",
left_pose_saver.create_closure()))
right_arm_box.addWidget(
self.create_button("Create right arm pose",
right_pose_saver.create_closure()))
left_arm_box.addItem(QtGui.QSpacerItem(50, 20))
right_arm_box.addItem(QtGui.QSpacerItem(50, 20))
# Dropdown boxes for saved poses
left_pose_loader = PoseLoader(PoseLoader.LEFT, self)
right_pose_loader = PoseLoader(PoseLoader.RIGHT, self)
self.combo_box_left = left_pose_loader.create_button()
self.combo_box_right = right_pose_loader.create_button()
left_arm_box.addWidget(self.combo_box_left)
right_arm_box.addWidget(self.combo_box_right)
left_pose_option_box = QtGui.QHBoxLayout()
right_pose_option_box = QtGui.QHBoxLayout()
right_pose_option_box.addWidget(self.create_button('Move to pose (R)'))
left_pose_option_box.addWidget(self.create_button('Move to pose (L)'))
# Buttons for deleting poses for left/right arms
left_pose_option_box.addWidget(self.create_button('Delete pose (L)'))
right_pose_option_box.addWidget(self.create_button('Delete pose (R)'))
left_arm_box.addLayout(left_pose_option_box)
right_arm_box.addLayout(right_pose_option_box)
left_arm_box.addItem(QtGui.QSpacerItem(50, 50))
right_arm_box.addItem(QtGui.QSpacerItem(50, 50))
arm_box.addLayout(left_arm_box)
arm_box.addItem(QtGui.QSpacerItem(20, 20))
arm_box.addLayout(right_arm_box)
large_box.addLayout(arm_box)
# Initialize state of saved arm poses for selected dropdowns
self.update_saved_l_arm_pose()
self.update_saved_r_arm_pose()
# Update saved arm pose data on the changing of selected pose
self.combo_box_left.connect(
self.combo_box_left, QtCore.SIGNAL("currentIndexChanged(QString)"),
self.update_saved_l_arm_pose)
self.combo_box_right.connect(
self.combo_box_right,
QtCore.SIGNAL("currentIndexChanged(QString)"),
self.update_saved_r_arm_pose)
self._widget.setObjectName('HalloweenGUI')
self._widget.setLayout(large_box)
context.add_widget(self._widget)
self._widget.setStyleSheet(
"QWidget { image: url(%s) }" %
(str(os.path.dirname(os.path.realpath(__file__))) +
"/../../arm_gui_bg_large.png"))
rospy.loginfo('GUI initialization complete.')
def __init__(self, filenames, search_text='', parent=None):
'''
@param filenames: a list with filenames. The last one will be activated.
@type filenames: C{[str, ...]}
@param search_text: if not empty, searches in new document for first occurrence of the given text
@type search_text: C{str} (Default: C{Empty String})
'''
QtGui.QDialog.__init__(self, parent)
self.setObjectName(' - '.join(['xmlEditor', str(filenames)]))
self.setAttribute(QtCore.Qt.WA_DeleteOnClose, True)
self.setWindowFlags(QtCore.Qt.Window)
self.mIcon = QtGui.QIcon(":/icons/crystal_clear_edit_launch.png")
self._error_icon = QtGui.QIcon(":/icons/crystal_clear_warning.png")
self._empty_icon = QtGui.QIcon()
self.setWindowIcon(self.mIcon)
self.setWindowTitle("ROSLaunch Editor");
# self.finished.connect(self.closeEvent)
self.init_filenames = list(filenames)
self.files = []
'''@ivar: list with all open files '''
# create tabs for files
self.verticalLayout = QtGui.QVBoxLayout(self)
self.verticalLayout.setContentsMargins(0, 0, 0, 0)
self.verticalLayout.setObjectName("verticalLayout")
self.tabWidget = QtGui.QTabWidget(self)
self.tabWidget.setTabPosition(QtGui.QTabWidget.North)
self.tabWidget.setDocumentMode(True)
self.tabWidget.setTabsClosable(True)
self.tabWidget.setMovable(False)
self.tabWidget.setObjectName("tabWidget")
self.tabWidget.tabCloseRequested.connect(self.on_close_tab)
self.verticalLayout.addWidget(self.tabWidget)
# create the buttons line
self.buttons = QtGui.QWidget(self)
self.horizontalLayout = QtGui.QHBoxLayout(self.buttons)
self.horizontalLayout.setContentsMargins(4, 0, 4, 0)
self.horizontalLayout.setObjectName("horizontalLayout")
# add the search button
self.searchButton = QtGui.QPushButton(self)
self.searchButton.setObjectName("searchButton")
self.searchButton.clicked.connect(self.on_shortcut_find)
self.searchButton.setText(QtGui.QApplication.translate("XmlEditor", "Search", None, QtGui.QApplication.UnicodeUTF8))
self.searchButton.setShortcut(QtGui.QApplication.translate("XmlEditor", "Ctrl+F", None, QtGui.QApplication.UnicodeUTF8))
self.searchButton.setToolTip('Open a search dialog (Ctrl+F)')
self.horizontalLayout.addWidget(self.searchButton)
# add the goto button
self.gotoButton = QtGui.QPushButton(self)
self.gotoButton.setObjectName("gotoButton")
self.gotoButton.clicked.connect(self.on_shortcut_goto)
self.gotoButton.setText(QtGui.QApplication.translate("XmlEditor", "Goto line", None, QtGui.QApplication.UnicodeUTF8))
self.gotoButton.setShortcut(QtGui.QApplication.translate("XmlEditor", "Ctrl+L", None, QtGui.QApplication.UnicodeUTF8))
self.gotoButton.setToolTip('Open a goto dialog (Ctrl+L)')
self.horizontalLayout.addWidget(self.gotoButton)
# add a tag button
self.tagButton = self._create_tag_button(self)
self.horizontalLayout.addWidget(self.tagButton)
# add spacer
spacerItem = QtGui.QSpacerItem(515, 20, QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Minimum)
self.horizontalLayout.addItem(spacerItem)
# add line number label
self.pos_label = QtGui.QLabel()
self.horizontalLayout.addWidget(self.pos_label)
# add spacer
spacerItem = QtGui.QSpacerItem(515, 20, QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Minimum)
self.horizontalLayout.addItem(spacerItem)
# add save button
self.saveButton = QtGui.QPushButton(self)
self.saveButton.setObjectName("saveButton")
self.saveButton.clicked.connect(self.on_saveButton_clicked)
self.saveButton.setText(QtGui.QApplication.translate("XmlEditor", "Save", None, QtGui.QApplication.UnicodeUTF8))
self.saveButton.setShortcut(QtGui.QApplication.translate("XmlEditor", "Ctrl+S", None, QtGui.QApplication.UnicodeUTF8))
self.saveButton.setToolTip('Save the changes to the file (Ctrl+S)')
self.horizontalLayout.addWidget(self.saveButton)
self.verticalLayout.addWidget(self.buttons)
#create the find dialog
self.find_dialog = FindDialog(self)
self.find_dialog.buttonBox.clicked.connect(self.on_find_dialog_clicked)
self.find_dialog.found_files.itemActivated.connect(self.find_dialog_itemActivated)
# self._shortcut_find = QtGui.QShortcut(QtGui.QKeySequence(self.tr("Ctrl+F", "find text")), self)
# self._shortcut_find.activated.connect(self.on_shortcut_find)
#open the files
for f in filenames:
if f:
self.on_load_request(os.path.normpath(f), search_text)
self.readSettings()
def __init__(self, context):
super(PbDGUI, self).__init__(context)
self.setObjectName('PbDGUI')
self._widget = QWidget()
self.speech_cmd_publisher = rospy.Publisher('recognized_command',
Command)
self.gui_cmd_publisher = rospy.Publisher('gui_command', GuiCommand)
rospy.Subscriber('experiment_state', ExperimentState,
self.exp_state_cb)
rospy.Subscriber('robotsound', SoundRequest, self.robotSoundReceived)
QtGui.QToolTip.setFont(QtGui.QFont('SansSerif', 10))
self.exp_state_sig.connect(self.update_state)
self.commands = dict()
self.commands[Command.TEST_MICROPHONE] = 'Test microphone'
self.commands[Command.NEW_DEMONSTRATION] = 'New demonstration'
self.commands[Command.START_RECORDING] = 'Start recording'
self.commands[Command.STOP_RECORDING] = 'Stop recording'
self.commands[Command.REPLAY_DEMONSTRATION] = 'Replay demonstration'
self.commands[Command.DETECT_SURFACE] = 'Detect surface'
self.commands[Command.TAKE_TOOL] = 'Take tool'
self.commands[Command.RELEASE_TOOL] = 'Release tool'
self.commands[Command.SAVE_ARM_POSE] = 'Save arm pose'
self.currentAction = -1
self.currentStep = -1
allWidgetsBox = QtGui.QVBoxLayout()
actionBox = QGroupBox('Demonstrations', self._widget)
self.actionGrid = QtGui.QGridLayout()
self.actionGrid.setHorizontalSpacing(0)
for i in range(6):
self.actionGrid.addItem(QtGui.QSpacerItem(90, 90), 0, i,
QtCore.Qt.AlignCenter)
self.actionGrid.setColumnStretch(i, 0)
self.actionIcons = dict()
actionBoxLayout = QtGui.QHBoxLayout()
actionBoxLayout.addLayout(self.actionGrid)
actionBox.setLayout(actionBoxLayout)
actionButtonGrid = QtGui.QHBoxLayout()
actionButtonGrid.addWidget(
self.create_button(Command.NEW_DEMONSTRATION))
self.stepsBox = QGroupBox('No demonstrations', self._widget)
self.stepsGrid = QtGui.QGridLayout()
self.l_model = QtGui.QStandardItemModel(self)
self.l_view = self._create_table_view(self.l_model,
self.l_row_clicked_cb)
self.r_model = QtGui.QStandardItemModel(self)
self.r_view = self._create_table_view(self.r_model,
self.r_row_clicked_cb)
self.stepsGrid.addItem(QtGui.QSpacerItem(280, 10), 0, 0, 2, 3)
self.stepsGrid.addItem(QtGui.QSpacerItem(10, 10), 0, 1, 2, 3)
self.stepsGrid.addItem(QtGui.QSpacerItem(280, 10), 0, 2, 2, 3)
self.stepsGrid.addWidget(QtGui.QLabel('Left Arm'), 0, 0)
self.stepsGrid.addWidget(QtGui.QLabel('Right Arm'), 0, 2)
self.stepsGrid.addWidget(self.l_view, 1, 0)
self.stepsGrid.addWidget(self.r_view, 1, 2)
stepsBoxLayout = QtGui.QHBoxLayout()
stepsBoxLayout.addLayout(self.stepsGrid)
self.stepsBox.setLayout(stepsBoxLayout)
stepsButtonGrid = QtGui.QHBoxLayout()
stepsButtonGrid.addWidget(
self.create_button(Command.REPLAY_DEMONSTRATION))
motionButtonGrid = QtGui.QHBoxLayout()
motionButtonGrid.addWidget(self.create_button(Command.START_RECORDING))
motionButtonGrid.addWidget(self.create_button(Command.STOP_RECORDING))
misc_grid = QtGui.QHBoxLayout()
misc_grid.addWidget(self.create_button(Command.TEST_MICROPHONE))
misc_grid.addWidget(self.create_button(Command.DETECT_SURFACE))
misc_grid.addStretch(1)
misc_grid2 = QtGui.QHBoxLayout()
misc_grid2.addWidget(self.create_button(Command.TAKE_TOOL))
misc_grid2.addWidget(self.create_button(Command.RELEASE_TOOL))
misc_grid2.addStretch(1)
misc_grid3 = QtGui.QHBoxLayout()
misc_grid3.addWidget(self.create_button(Command.SAVE_ARM_POSE))
misc_grid3.addStretch(1)
speechGroupBox = QGroupBox('Robot Speech', self._widget)
speechGroupBox.setObjectName('RobotSpeechGroup')
speechBox = QtGui.QHBoxLayout()
self.speechLabel = QtGui.QLabel('Robot has not spoken yet')
palette = QtGui.QPalette()
palette.setColor(QtGui.QPalette.Foreground, QtCore.Qt.blue)
self.speechLabel.setPalette(palette)
speechBox.addWidget(self.speechLabel)
speechGroupBox.setLayout(speechBox)
allWidgetsBox.addWidget(actionBox)
allWidgetsBox.addLayout(actionButtonGrid)
allWidgetsBox.addWidget(self.stepsBox)
allWidgetsBox.addLayout(motionButtonGrid)
allWidgetsBox.addLayout(stepsButtonGrid)
allWidgetsBox.addItem(QtGui.QSpacerItem(100, 20))
allWidgetsBox.addLayout(misc_grid)
allWidgetsBox.addItem(QtGui.QSpacerItem(100, 20))
allWidgetsBox.addLayout(misc_grid2)
allWidgetsBox.addItem(QtGui.QSpacerItem(100, 40))
allWidgetsBox.addLayout(misc_grid3)
allWidgetsBox.addItem(QtGui.QSpacerItem(100, 20))
allWidgetsBox.addWidget(speechGroupBox)
allWidgetsBox.addStretch(1)
# Fix layout and add main widget to the user interface
QtGui.QApplication.setStyle(QtGui.QStyleFactory.create('plastique'))
vAllBox = QtGui.QVBoxLayout()
vAllBox.addLayout(allWidgetsBox)
vAllBox.addStretch(1)
hAllBox = QtGui.QHBoxLayout()
hAllBox.addLayout(vAllBox)
hAllBox.addStretch(1)
self._widget.setObjectName('PbDGUI')
self._widget.setLayout(hAllBox)
context.add_widget(self._widget)
rospy.loginfo('Will wait for the experiment state service...')
rospy.wait_for_service('get_experiment_state')
exp_state_srv = rospy.ServiceProxy('get_experiment_state',
GetExperimentState)
rospy.loginfo('Got response from the experiment state service...')
response = exp_state_srv()
self.update_state(response.state)
def __init__(self, context):
super(PbDGUI, self).__init__(context)
self.setObjectName('PbDGUI')
self._widget = QWidget()
self.speech_cmd_publisher = rospy.Publisher('recognized_command',
Command)
self.gui_cmd_publisher = rospy.Publisher('gui_command', GuiCommand)
rospy.Subscriber('experiment_state', ExperimentState,
self.exp_state_cb)
rospy.Subscriber('robotsound', SoundRequest, self.robotSoundReceived)
QtGui.QToolTip.setFont(QtGui.QFont('SansSerif', 10))
self.exp_state_sig.connect(self.update_state)
self.commands = dict()
self.commands[Command.CREATE_NEW_ACTION] = 'New action'
self.commands[Command.TEST_MICROPHONE] = 'Test microphone'
self.commands[Command.NEXT_ACTION] = 'Next action'
self.commands[Command.PREV_ACTION] = 'Previous action'
self.commands[Command.SAVE_POSE] = 'Save pose'
self.commands[Command.RELAX_RIGHT_ARM] = 'Relax right arm'
self.commands[Command.RELAX_LEFT_ARM] = 'Relax left arm'
self.commands[Command.FREEZE_RIGHT_ARM] = 'Freeze right arm'
self.commands[Command.FREEZE_LEFT_ARM] = 'Freeze left arm'
self.commands[Command.OPEN_RIGHT_HAND] = 'Open right hand'
self.commands[Command.OPEN_LEFT_HAND] = 'Open left hand'
self.commands[Command.CLOSE_RIGHT_HAND] = 'Close right hand'
self.commands[Command.CLOSE_LEFT_HAND] = 'Close left hand'
self.commands[Command.CLOSE_LEFT_HAND] = 'Close left hand'
self.commands[Command.EXECUTE_ACTION] = 'Execute action'
self.commands[Command.STOP_EXECUTION] = 'Stop execution'
self.commands[Command.DELETE_ALL_STEPS] = 'Delete all'
self.commands[Command.DELETE_LAST_STEP] = 'Delete last'
self.commands[Command.RECORD_OBJECT_POSE] = 'Record object poses'
self.currentAction = -1
self.currentStep = -1
allWidgetsBox = QtGui.QVBoxLayout()
actionBox = QGroupBox('Actions', self._widget)
self.actionGrid = QtGui.QGridLayout()
self.actionGrid.setHorizontalSpacing(0)
for i in range(6):
self.actionGrid.addItem(QtGui.QSpacerItem(90, 90), 0, i,
QtCore.Qt.AlignCenter)
self.actionGrid.setColumnStretch(i, 0)
self.actionIcons = dict()
actionBoxLayout = QtGui.QHBoxLayout()
actionBoxLayout.addLayout(self.actionGrid)
actionBox.setLayout(actionBoxLayout)
actionButtonGrid = QtGui.QHBoxLayout()
actionButtonGrid.addWidget(
self.create_button(Command.CREATE_NEW_ACTION))
self.stepsBox = QGroupBox('No actions created yet', self._widget)
self.stepsGrid = QtGui.QGridLayout()
self.l_model = QtGui.QStandardItemModel(self)
self.l_view = self._create_table_view(self.l_model,
self.l_row_clicked_cb)
self.r_model = QtGui.QStandardItemModel(self)
self.r_view = self._create_table_view(self.r_model,
self.r_row_clicked_cb)
self.stepsGrid.addItem(QtGui.QSpacerItem(280, 10), 0, 0, 2, 3)
self.stepsGrid.addItem(QtGui.QSpacerItem(10, 10), 0, 1, 2, 3)
self.stepsGrid.addItem(QtGui.QSpacerItem(280, 10), 0, 2, 2, 3)
self.stepsGrid.addWidget(QtGui.QLabel('Left Arm'), 0, 0)
self.stepsGrid.addWidget(QtGui.QLabel('Right Arm'), 0, 2)
self.stepsGrid.addWidget(self.l_view, 1, 0)
self.stepsGrid.addWidget(self.r_view, 1, 2)
stepsBoxLayout = QtGui.QHBoxLayout()
stepsBoxLayout.addLayout(self.stepsGrid)
self.stepsBox.setLayout(stepsBoxLayout)
stepsButtonGrid = QtGui.QHBoxLayout()
stepsButtonGrid.addWidget(self.create_button(Command.SAVE_POSE))
stepsButtonGrid.addWidget(self.create_button(Command.EXECUTE_ACTION))
stepsButtonGrid.addWidget(self.create_button(Command.STOP_EXECUTION))
stepsButtonGrid.addWidget(self.create_button(Command.DELETE_ALL_STEPS))
stepsButtonGrid.addWidget(self.create_button(Command.DELETE_LAST_STEP))
misc_grid = QtGui.QHBoxLayout()
misc_grid.addWidget(self.create_button(Command.TEST_MICROPHONE))
misc_grid.addWidget(self.create_button(Command.RECORD_OBJECT_POSE))
misc_grid.addStretch(1)
misc_grid2 = QtGui.QHBoxLayout()
misc_grid2.addWidget(self.create_button(Command.RELAX_RIGHT_ARM))
misc_grid2.addWidget(self.create_button(Command.RELAX_LEFT_ARM))
misc_grid2.addWidget(self.create_button(Command.FREEZE_RIGHT_ARM))
misc_grid2.addWidget(self.create_button(Command.FREEZE_LEFT_ARM))
misc_grid2.addStretch(1)
misc_grid3 = QtGui.QHBoxLayout()
misc_grid3.addWidget(self.create_button(Command.OPEN_RIGHT_HAND))
misc_grid3.addWidget(self.create_button(Command.OPEN_LEFT_HAND))
misc_grid3.addWidget(self.create_button(Command.CLOSE_RIGHT_HAND))
misc_grid3.addWidget(self.create_button(Command.CLOSE_LEFT_HAND))
misc_grid3.addStretch(1)
misc_grid4 = QtGui.QHBoxLayout()
misc_grid4.addWidget(self.create_button(Command.PREV_ACTION))
misc_grid4.addWidget(self.create_button(Command.NEXT_ACTION))
misc_grid4.addStretch(1)
speechGroupBox = QGroupBox('Robot Speech', self._widget)
speechGroupBox.setObjectName('RobotSpeechGroup')
speechBox = QtGui.QHBoxLayout()
self.speechLabel = QtGui.QLabel('Robot has not spoken yet')
palette = QtGui.QPalette()
palette.setColor(QtGui.QPalette.Foreground, QtCore.Qt.blue)
self.speechLabel.setPalette(palette)
speechBox.addWidget(self.speechLabel)
speechGroupBox.setLayout(speechBox)
allWidgetsBox.addWidget(actionBox)
allWidgetsBox.addLayout(actionButtonGrid)
allWidgetsBox.addWidget(self.stepsBox)
allWidgetsBox.addLayout(stepsButtonGrid)
allWidgetsBox.addItem(QtGui.QSpacerItem(100, 20))
allWidgetsBox.addLayout(misc_grid)
allWidgetsBox.addItem(QtGui.QSpacerItem(100, 20))
allWidgetsBox.addLayout(misc_grid2)
allWidgetsBox.addLayout(misc_grid3)
allWidgetsBox.addItem(QtGui.QSpacerItem(100, 20))
allWidgetsBox.addLayout(misc_grid4)
allWidgetsBox.addItem(QtGui.QSpacerItem(100, 20))
allWidgetsBox.addWidget(speechGroupBox)
allWidgetsBox.addStretch(1)
# Fix layout and add main widget to the user interface
QtGui.QApplication.setStyle(QtGui.QStyleFactory.create('plastique'))
vAllBox = QtGui.QVBoxLayout()
vAllBox.addLayout(allWidgetsBox)
vAllBox.addStretch(1)
hAllBox = QtGui.QHBoxLayout()
hAllBox.addLayout(vAllBox)
hAllBox.addStretch(1)
self._widget.setObjectName('PbDGUI')
self._widget.setLayout(hAllBox)
context.add_widget(self._widget)
rospy.loginfo('Will wait for the experiment state service...')
rospy.wait_for_service('get_experiment_state')
exp_state_srv = rospy.ServiceProxy('get_experiment_state',
GetExperimentState)
rospy.loginfo('Got response from the experiment state service...')
response = exp_state_srv()
self.update_state(response.state)
def make_Graphs(self):
"""Method to initialize the different plots.
Creates a plot with grid and legend, then adds it to the coresponding layout.
"""
self.tempplt = pg.plot()
self.tempplt.setYRange(-1, 100)
self.tempplt.showGrid(x=True, y=True)
self.tempplt.addLegend()
for i in range(0, 10):
self.tempplt.plot(np.zeros(10),
np.zeros(10),
pen=self.colorlist[i],
name=self.motornames[i])
self.tempplt.addLegend(offset=79)
#creates a legend by plotting a single point for each motor, just so they show up in the legend.
#Apparently you are supposed to do it that way...
for i in range(10, 20):
self.tempplt.plot(np.zeros(10),
np.zeros(10),
pen=self.colorlist[i],
name=self.motornames[i])
self.layout_temp = QtGui.QHBoxLayout()
self.combobox3 = QComboBox()
self.combobox3.addItem('All')
for i in self.motornames:
self.combobox3.addItem(i)
self._widget.Temperatur.setLayout(self.layout_temp)
self.layout_temp.addWidget(self.tempplt)
self.layout_temp.addWidget(self.combobox3)
self.tempplt.win.hide()
self.torqueplt = pg.plot()
self.torqueplt.setYRange(-1, 2)
self.torqueplt.showGrid(x=True, y=True)
self.torqueplt.addLegend()
for i in range(0, 10):
self.torqueplt.plot(np.zeros(10),
np.zeros(10),
pen=self.colorlist[i],
name=self.motornames[i])
self.torqueplt.addLegend(offset=79)
for i in range(10, 20):
self.torqueplt.plot(np.zeros(10),
np.zeros(10),
pen=self.colorlist[i],
name=self.motornames[i])
self.layout_torque = QtGui.QHBoxLayout()
self._widget.Torque.setLayout(self.layout_torque)
self.layout_torque.addWidget(self.torqueplt)
self.combobox = QComboBox()
self.combobox.addItem('All')
for i in self.motornames:
self.combobox.addItem(i)
self.layout_torque.addWidget(self.combobox)
self.torqueplt.win.hide()
self.voltageplt = pg.plot()
self.voltageplt.setYRange(-1, 30)
self.voltageplt.showGrid(x=True, y=True)
self.voltageplt.addLegend()
for i in range(0, 10):
self.voltageplt.plot(np.zeros(10),
np.zeros(10),
pen=self.colorlist[i],
name=self.motornames[i])
self.voltageplt.addLegend(offset=79)
for i in range(10, 20):
self.voltageplt.plot(np.zeros(10),
np.zeros(10),
pen=self.colorlist[i],
name=self.motornames[i])
self.layout_voltage = QtGui.QHBoxLayout()
self.combobox2 = QComboBox()
self.combobox2.addItem('All')
for i in self.motornames:
self.combobox2.addItem(i)
self._widget.Voltage.setLayout(self.layout_voltage)
self.layout_voltage.addWidget(self.voltageplt)
self.layout_voltage.addWidget(self.combobox2)
self.voltageplt.win.hide()
def __init__(self, plugin):
super(ControllerManagerWidget, self).__init__()
self._plugin = plugin
self.setWindowTitle('Controller Manager')
# create layouts
vlayout_outer = QtGui.QVBoxLayout(self)
vlayout_outer.setObjectName('vert_layout_outer')
hlayout_top = QtGui.QHBoxLayout(self)
hlayout_top.setObjectName('hori_layout_top')
vlayout_outer.addLayout(hlayout_top)
# create top bar
# controller manager namespace combo box & label
cm_ns_label = QtGui.QLabel(self)
cm_ns_label.setObjectName('cm_ns_label')
cm_ns_label.setText('CM Namespace:')
fixed_policy = QtGui.QSizePolicy(QtGui.QSizePolicy.Fixed)
cm_ns_label.setSizePolicy(fixed_policy)
hlayout_top.addWidget(cm_ns_label)
cm_namespace_combo = QtGui.QComboBox(self)
cm_namespace_combo.setObjectName('cm_namespace_combo')
hlayout_top.addWidget(cm_namespace_combo)
self.cm_namespace_combo = cm_namespace_combo
# load controller combo box & label
load_ctrl_label = QtGui.QLabel(self)
load_ctrl_label.setObjectName('load_ctrl_label')
load_ctrl_label.setText('Load Controller:')
fixed_policy = QtGui.QSizePolicy(QtGui.QSizePolicy.Fixed)
load_ctrl_label.setSizePolicy(fixed_policy)
hlayout_top.addWidget(load_ctrl_label)
load_ctrl_combo = QtGui.QComboBox(self)
load_ctrl_combo.setObjectName('load_ctrl_combo')
load_ctrl_size_policy = QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding,
QtGui.QSizePolicy.Fixed)
load_ctrl_combo.setSizePolicy(load_ctrl_size_policy)
hlayout_top.addWidget(load_ctrl_combo)
self.load_ctrl_combo = load_ctrl_combo
# load control button
load_ctrl_button = QtGui.QPushButton(self)
load_ctrl_button.setObjectName('load_ctrl_button')
button_size_policy = QtGui.QSizePolicy(QtGui.QSizePolicy.Fixed,
QtGui.QSizePolicy.Fixed)
button_size_policy.setHorizontalStretch(0)
button_size_policy.setVerticalStretch(0)
button_size_policy.setHeightForWidth(
load_ctrl_button.sizePolicy().hasHeightForWidth())
load_ctrl_button.setSizePolicy(button_size_policy)
load_ctrl_button.setBaseSize(QtCore.QSize(30, 30))
load_ctrl_button.setIcon(QIcon.fromTheme('list-add'))
load_ctrl_button.setIconSize(QtCore.QSize(20, 20))
load_ctrl_button.clicked.connect(self.load_cur_ctrl)
hlayout_top.addWidget(load_ctrl_button)
# start control button
start_ctrl_button = QtGui.QPushButton(self)
start_ctrl_button.setObjectName('start_ctrl_button')
button_size_policy = QtGui.QSizePolicy(QtGui.QSizePolicy.Fixed,
QtGui.QSizePolicy.Fixed)
button_size_policy.setHorizontalStretch(0)
button_size_policy.setVerticalStretch(0)
button_size_policy.setHeightForWidth(
start_ctrl_button.sizePolicy().hasHeightForWidth())
start_ctrl_button.setSizePolicy(button_size_policy)
start_ctrl_button.setBaseSize(QtCore.QSize(30, 30))
start_ctrl_button.setIcon(QIcon.fromTheme('media-playback-start'))
start_ctrl_button.setIconSize(QtCore.QSize(20, 20))
start_ctrl_button.clicked.connect(self.start_cur_ctrl)
hlayout_top.addWidget(start_ctrl_button)
# create tree/list widget
ctrl_list_tree_widget = QtGui.QTreeWidget(self)
ctrl_list_tree_widget.setObjectName('ctrl_list_tree_widget')
self.ctrl_list_tree_widget = ctrl_list_tree_widget
ctrl_list_tree_widget.setColumnCount(len(self._column_names))
ctrl_list_tree_widget.setHeaderLabels(self._column_names_pretty)
ctrl_list_tree_widget.sortByColumn(0, Qt.AscendingOrder)
ctrl_list_tree_widget.setContextMenuPolicy(Qt.CustomContextMenu)
ctrl_list_tree_widget.customContextMenuRequested.connect(
self.on_ctrl_list_tree_widget_customContextMenuRequested)
vlayout_outer.addWidget(ctrl_list_tree_widget)
header = self.ctrl_list_tree_widget.header()
header.setResizeMode(QHeaderView.ResizeToContents)
header.customContextMenuRequested.connect(
self.handle_header_view_customContextMenuRequested)
header.setContextMenuPolicy(Qt.CustomContextMenu)
self._ctrlers = {}
self._column_index = {}
for column_name in self._column_names:
self._column_index[column_name] = len(self._column_index)
# controller manager services
self.list_types = {}
self.list_ctrlers = {}
self.load_ctrler = {}
self.unload_ctrler = {}
self.switch_ctrlers = {}
self.ctrlman_ns_cur = ''
self.loadable_params = {}
# init and start update timer
self._timer_refresh_ctrlers = QTimer(self)
self._timer_refresh_ctrlers.timeout.connect(self._refresh_ctrlers_cb)
def __init__(self, context):
super(SimpleGUI, self).__init__(context)
self.setObjectName('SimpleGUI')
self._widget = QWidget()
self._widget.setFixedSize(600, 600)
self._sound_client = SoundClient()
rospy.Subscriber('robotsound', SoundRequest, self.sound_cb)
QtGui.QToolTip.setFont(QtGui.QFont('SansSerif', 10))
self.sound_sig.connect(self.sound_sig_cb)
large_box = QtGui.QVBoxLayout()
#Sound textbox
sound_textbox = QtGui.QLineEdit("Squirtle Squirtle") #Default Text
sound_textbox.setFixedWidth(450)
#Set a handle on the textbox to retrieve the text when button clicked
self.sound_textbox = sound_textbox
button_box = QtGui.QHBoxLayout()
button_box.addItem(QtGui.QSpacerItem(15, 20))
button_box.addWidget(self.create_button('Speak', self.command_cb))
button_box.addWidget(sound_textbox)
button_box.addStretch(1)
large_box.addLayout(button_box)
speech_box = QtGui.QHBoxLayout()
speech_box.addItem(QtGui.QSpacerItem(15, 20))
self.speech_label = QtGui.QLabel('Robot has not spoken yet.')
palette = QtGui.QPalette()
palette.setColor(QtGui.QPalette.Foreground, QtCore.Qt.blue)
self.speech_label.setPalette(palette)
speech_box.addWidget(self.speech_label)
large_box.addLayout(speech_box)
large_box.addStretch(1)
#large_box.addItem(QtGui.QSpacerItem(50,20))
up_head = Head(Head.UP)
head_box = QtGui.QVBoxLayout()
up_head_box = QtGui.QHBoxLayout()
up_head_button = self.create_button('^', up_head.create_closure())
#large_box.addWidget(up_head_button)
down_head = Head(Head.DOWN)
down_head_box = QtGui.QHBoxLayout()
down_head_button = self.create_button('v', down_head.create_closure())
#large_box.addWidget(down_head_button)
right_head = Head(Head.RIGHT)
right_head_button = self.create_button('>',
right_head.create_closure())
#large_box.addWidget(right_head_button)
left_head = Head(Head.LEFT)
left_head_button = self.create_button('<', left_head.create_closure())
left_right_head_box = QtGui.QHBoxLayout()
up_head_box.addItem(QtGui.QSpacerItem(235, 20))
up_head_box.addWidget(up_head_button)
up_head_box.addItem(QtGui.QSpacerItem(275, 20))
left_right_head_box.addItem(QtGui.QSpacerItem(160, 20))
left_right_head_box.addWidget(left_head_button)
left_right_head_box.addItem(QtGui.QSpacerItem(60, 20))
left_right_head_box.addWidget(right_head_button)
left_right_head_box.addItem(QtGui.QSpacerItem(225, 20))
down_head_box.addItem(QtGui.QSpacerItem(235, 20))
down_head_box.addWidget(down_head_button)
down_head_box.addItem(QtGui.QSpacerItem(275, 20))
head_box.addLayout(up_head_box)
head_box.addLayout(left_right_head_box)
head_box.addLayout(down_head_box)
large_box.addLayout(head_box)
#large_box.addItem(QtGui.QSpacerItem(500,20))
#large_box.addWidget(left_head_button)
gripper = Gripper(Gripper.RIGHT, Gripper.OPEN)
right_gripper = self.create_button('Right gripper!',
gripper.create_closure())
gripper = Gripper(Gripper.LEFT, Gripper.OPEN)
left_gripper = self.create_button('Left gripper!',
gripper.create_closure())
large_box.addItem(QtGui.QSpacerItem(100, 250))
gripper_box = QtGui.QHBoxLayout()
gripper_box.addItem(QtGui.QSpacerItem(75, 20))
gripper_box.addWidget(left_gripper)
gripper_box.addItem(QtGui.QSpacerItem(450, 20))
gripper_box.addWidget(right_gripper)
gripper_box.addItem(QtGui.QSpacerItem(75, 20))
large_box.addLayout(gripper_box)
base_box = QtGui.QVBoxLayout()
large_box.addItem(QtGui.QSpacerItem(100, 100))
#forward
forward_base_box = QtGui.QHBoxLayout()
forward_base = Base(Base.FORWARD)
forward_base_button = self.create_button('move forward',
forward_base.create_closure())
forward_base_box.addItem(QtGui.QSpacerItem(400, 20))
forward_base_box.addWidget(forward_base_button)
forward_base_box.addItem(QtGui.QSpacerItem(400, 20))
base_box.addLayout(forward_base_box)
#large_box.addWidget(forward_base_button)
#left
left_right_base_box = QtGui.QHBoxLayout()
left_base = Base(Base.LEFT)
left_base_button = self.create_button('move left',
left_base.create_closure())
#large_box.addWidget(left_base_button)
#right
right_base = Base(Base.RIGHT)
right_base_button = self.create_button('move right',
right_base.create_closure())
left_right_base_box.addItem(QtGui.QSpacerItem(300, 20))
left_right_base_box.addWidget(left_base_button)
left_right_base_box.addItem(QtGui.QSpacerItem(50, 20))
left_right_base_box.addWidget(right_base_button)
left_right_base_box.addItem(QtGui.QSpacerItem(300, 20))
base_box.addLayout(left_right_base_box)
#large_box.addWidget(right_base_button)
#backward
backward_base_box = QtGui.QHBoxLayout()
backward_base = Base(Base.BACKWARD)
backward_base_button = self.create_button(
'move backward', backward_base.create_closure())
backward_base_box.addItem(QtGui.QSpacerItem(400, 20))
backward_base_box.addWidget(backward_base_button)
backward_base_box.addItem(QtGui.QSpacerItem(400, 20))
base_box.addLayout(backward_base_box)
#large_box.addWidget(backward_base_button)
large_box.addLayout(base_box)
turn_base_box = QtGui.QHBoxLayout()
#turn left
turnleft_base = Base(Base.TURNLEFT)
turnleft_base_button = self.create_button(
' /\n<--', turnleft_base.create_closure())
#large_box.addWidget(turnleft_base_button)
#turn right
turnright_base = Base(Base.TURNRIGHT)
turnright_base_button = self.create_button(
'\\\n -->', turnright_base.create_closure())
turn_base_box.addItem(QtGui.QSpacerItem(75, 20))
turn_base_box.addWidget(turnright_base_button)
turn_base_box.addItem(QtGui.QSpacerItem(225, 20))
turn_base_box.addWidget(turnleft_base_button)
turn_base_box.addItem(QtGui.QSpacerItem(100, 20))
large_box.addLayout(turn_base_box)
#large_box.addWidget(turnright_base_button)
self._widget.setObjectName('SimpleGUI')
self._widget.setLayout(large_box)
context.add_widget(self._widget)
self._widget.setStyleSheet(
"QWidget { image: url(%s) }" %
"/home/vjampala/catkin_ws/src/cse481/hw1/rqt_simplegui/rosie_background.jpg"
)
def __init__(self, parent=None):
QtGui.QWidget.__init__(self, parent)
path = rospkg.RosPack().get_path('etna_planning')
## rviz.VisualizationFrame is the main container widget of the
## regular RViz application. In this example, we disable everything
## so that the only thing visible is the 3D render window.
self.frame = rviz.VisualizationFrame()
self.frame.setSplashPath("")
self.frame.initialize()
## The reader reads config file data into the config object.
## VisualizationFrame reads its data from the config object.
reader = rviz.YamlConfigReader()
config = rviz.Config()
# rospack = rospkg.RosPack()
# package_path = rospack.get_path('rviz_python_tutorial')
# reader.readFile( config, package_path + "config.myviz" )
reader.readFile(config, os.path.join(path, 'config', 'workcell.rviz'))
self.frame.load(config)
## You can also store any other application data you like in the
## config object. Here we read the window title from the map key
## called "Title", which has been added by hand to the config file.
self.setWindowTitle(config.mapGetChild("Title").getValue())
self.frame.setMenuBar(None)
self.frame.setHideButtonVisibility(False)
self.manager = self.frame.getManager()
## Since the config file is part of the source code for this
## example, we know that the first display in the list is the
## grid we want to control. Here we just save a reference to
## it for later.
self.grid_display = self.manager.getRootDisplayGroup().getDisplayAt(0)
layout = QtGui.QVBoxLayout()
layout.setContentsMargins(9, 0, 9, 0)
self.setLayout(layout)
h_layout = QtGui.QHBoxLayout()
layout.addLayout(h_layout)
orbit_button = QtGui.QPushButton("Orbit View")
orbit_button.clicked.connect(self.onOrbitButtonClick)
h_layout.addWidget(orbit_button)
front_button = QtGui.QPushButton("Front View")
front_button.clicked.connect(self.onFrontButtonClick)
h_layout.addWidget(front_button)
right_button = QtGui.QPushButton("Rigth View")
right_button.clicked.connect(self.onRightButtonClick)
h_layout.addWidget(right_button)
top_button = QtGui.QPushButton("Top View")
top_button.clicked.connect(self.onTopButtonClick)
h_layout.addWidget(top_button)
layout.addWidget(self.frame)
