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1 | initial version |
For reference in case other people are interested: The complete plugin code with the corrections marked out by @dirk-thomas
import os
import rospy
import rospkg
from qt_gui.plugin import Plugin
from python_qt_binding import loadUi
from python_qt_binding.QtWidgets import QWidget
from python_qt_binding.QtCore import Signal, Slot
import std_srvs.srv as stdsrvs
from rosgraph_msgs.msg import Clock
class SimControl(Plugin):
update_clock_signal = Signal(float) # Update clock signal, has to be defined as class attribute
def __init__(self, context):
super(SimControl, self).__init__(context)
# Give QObjects reasonable names
self.setObjectName('SimControl')
# Process standalone plugin command-line arguments
from argparse import ArgumentParser
parser = ArgumentParser()
# Add argument(s) to the parser.
parser.add_argument("-q", "--quiet", action="store_true",
dest="quiet",
help="Put plugin in silent mode")
args, unknowns = parser.parse_known_args(context.argv())
if not args.quiet:
print('arguments: ', args)
print('unknowns: ', unknowns)
# Create QWidget
self._widget = QWidget()
# Get path to UI file which should be in the "resource" folder of this package
ui_file = os.path.join(rospkg.RosPack().get_path('ros_af_sim'),
'resource', 'sim_control.ui')
# Extend the widget with all attributes and children from UI file
loadUi(ui_file, self._widget)
# Give QObjects reasonable names
self._widget.setObjectName('SimControlUi')
# Show _widget.windowTitle on left-top of each plugin (when
# it's set in _widget). This is useful when you open multiple
# plugins at once. Also if you open multiple instances of your
# plugin at once, these lines add number to make it easy to
# tell from pane to pane.
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() + (
' (%d)' % context.serial_number()))
# Set up handlers
run_service = '/sim_control/run'
print('Waiting for services')
rospy.wait_for_service(run_service, timeout=5.0)
self.s_run = rospy.ServiceProxy(run_service, stdsrvs.SetBool)
self._widget.run_button.clicked[bool].connect(self._handle_run_clicked)
self._widget.pause_button.clicked[bool].connect(
self._handle_pause_clicked)
self.update_clock_signal.connect(self._update_clock) # Connect GUI updater to signal
self.clock_sub = rospy.Subscriber('/clock', Clock, self._clock_sub)
print("Finished setup")
# Add widget to the user interface
context.add_widget(self._widget)
def shutdown_plugin(self):
# Unregister all publishers here
self.clock_sub.unregister()
self.s_run.close()
def save_settings(self, plugin_settings, instance_settings):
# TODO save intrinsic configuration, usually using:
# instance_settings.set_value(k, v)
pass
def restore_settings(self, plugin_settings, instance_settings):
# TODO restore intrinsic configuration, usually using:
# v = instance_settings.value(k)
pass
def _handle_run_clicked(self):
try:
self.s_run(stdsrvs.SetBoolRequest(True))
except rospy.service.ServiceException as e:
print(e.message)
def _handle_pause_clicked(self):
try:
self.s_run(stdsrvs.SetBoolRequest(False))
except rospy.service.ServiceException as e:
print(e.message)
def _clock_sub(self, msg):
clock = msg.clock.to_sec()
self.update_clock_signal.emit(clock) # Emit signal
@Slot(float)
def _update_clock(self, clock):
self._widget.clock_field.setText('{}'.format(clock))
# def trigger_configuration(self):
# Comment in to signal that the plugin has a way to configure
# This will enable a setting button (gear icon) in each dock widget title bar
# Usually used to open a modal configuration dialog
2 | No.2 Revision |
For reference in case other people are interested: The complete plugin code with the corrections marked out by @dirk-thomas
import os
import rospy
import rospkg
from qt_gui.plugin import Plugin
from python_qt_binding import loadUi
from python_qt_binding.QtWidgets import QWidget
from python_qt_binding.QtCore import Signal, Slot
import std_srvs.srv as stdsrvs
from rosgraph_msgs.msg import Clock
class SimControl(Plugin):
update_clock_signal = Signal(float) # Update clock signal, has to be defined as class attribute
def __init__(self, context):
super(SimControl, self).__init__(context)
# Give QObjects reasonable names
self.setObjectName('SimControl')
# Process standalone plugin command-line arguments
from argparse import ArgumentParser
parser = ArgumentParser()
# Add argument(s) to the parser.
parser.add_argument("-q", "--quiet", action="store_true",
dest="quiet",
help="Put plugin in silent mode")
args, unknowns = parser.parse_known_args(context.argv())
if not args.quiet:
print('arguments: ', args)
print('unknowns: ', unknowns)
# Create QWidget
self._widget = QWidget()
# Get path to UI file which should be in the "resource" folder of this package
ui_file = os.path.join(rospkg.RosPack().get_path('ros_af_sim'),
'resource', 'sim_control.ui')
# Extend the widget with all attributes and children from UI file
loadUi(ui_file, self._widget)
# Give QObjects reasonable names
self._widget.setObjectName('SimControlUi')
# Show _widget.windowTitle on left-top of each plugin (when
# it's set in _widget). This is useful when you open multiple
# plugins at once. Also if you open multiple instances of your
# plugin at once, these lines add number to make it easy to
# tell from pane to pane.
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() + (
' (%d)' % context.serial_number()))
# Set up handlers
run_service = '/sim_control/run'
print('Waiting for services')
rospy.wait_for_service(run_service, timeout=5.0)
self.s_run = rospy.ServiceProxy(run_service, stdsrvs.SetBool)
self._widget.run_button.clicked[bool].connect(self._handle_run_clicked)
self._widget.pause_button.clicked[bool].connect(
self._handle_pause_clicked)
self.update_clock_signal.connect(self._update_clock) # Connect GUI updater to signal
self.clock_sub = rospy.Subscriber('/clock', Clock, self._clock_sub)
print("Finished setup")
# Add widget to the user interface
context.add_widget(self._widget)
def shutdown_plugin(self):
# Unregister all publishers here
self.clock_sub.unregister()
self.s_run.close()
def save_settings(self, plugin_settings, instance_settings):
# TODO save intrinsic configuration, usually using:
# instance_settings.set_value(k, v)
pass
def restore_settings(self, plugin_settings, instance_settings):
# TODO restore intrinsic configuration, usually using:
# v = instance_settings.value(k)
pass
def _handle_run_clicked(self):
try:
self.s_run(stdsrvs.SetBoolRequest(True))
except rospy.service.ServiceException as e:
print(e.message)
def _handle_pause_clicked(self):
try:
self.s_run(stdsrvs.SetBoolRequest(False))
except rospy.service.ServiceException as e:
print(e.message)
def _clock_sub(self, msg):
clock = msg.clock.to_sec()
self.update_clock_signal.emit(clock) # Emit signal
@Slot(float)
def _update_clock(self, clock):
self._widget.clock_field.setText('{}'.format(clock))
# def trigger_configuration(self):
# Comment in to signal that the plugin has a way to configure
# This will enable a setting button (gear icon) in each dock widget title bar
# Usually used to open a modal configuration dialog
3 | No.3 Revision |
For reference in case other people are interested: The complete plugin code with for the corrections marked out by @dirk-thomasworking plugin.
import os
import rospy
import rospkg
from qt_gui.plugin import Plugin
from python_qt_binding import loadUi
from python_qt_binding.QtWidgets import QWidget
from python_qt_binding.QtCore import Signal, Slot
import std_srvs.srv as stdsrvs
from rosgraph_msgs.msg import Clock
class SimControl(Plugin):
update_clock_signal = Signal(float) # Update clock signal, has to be defined as class attribute
def __init__(self, context):
super(SimControl, self).__init__(context)
# Give QObjects reasonable names
self.setObjectName('SimControl')
# Process standalone plugin command-line arguments
from argparse import ArgumentParser
parser = ArgumentParser()
# Add argument(s) to the parser.
parser.add_argument("-q", "--quiet", action="store_true",
dest="quiet",
help="Put plugin in silent mode")
args, unknowns = parser.parse_known_args(context.argv())
if not args.quiet:
print('arguments: ', args)
print('unknowns: ', unknowns)
# Create QWidget
self._widget = QWidget()
# Get path to UI file which should be in the "resource" folder of this package
ui_file = os.path.join(rospkg.RosPack().get_path('ros_af_sim'),
'resource', 'sim_control.ui')
# Extend the widget with all attributes and children from UI file
loadUi(ui_file, self._widget)
# Give QObjects reasonable names
self._widget.setObjectName('SimControlUi')
# Show _widget.windowTitle on left-top of each plugin (when
# it's set in _widget). This is useful when you open multiple
# plugins at once. Also if you open multiple instances of your
# plugin at once, these lines add number to make it easy to
# tell from pane to pane.
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() + (
' (%d)' % context.serial_number()))
# Set up handlers
run_service = '/sim_control/run'
print('Waiting for services')
rospy.wait_for_service(run_service, timeout=5.0)
self.s_run = rospy.ServiceProxy(run_service, stdsrvs.SetBool)
self._widget.run_button.clicked[bool].connect(self._handle_run_clicked)
self._widget.pause_button.clicked[bool].connect(
self._handle_pause_clicked)
self.update_clock_signal.connect(self._update_clock) # Connect GUI updater to signal
self.clock_sub = rospy.Subscriber('/clock', Clock, self._clock_sub)
print("Finished setup")
# Add widget to the user interface
context.add_widget(self._widget)
def shutdown_plugin(self):
# Unregister all publishers here
self.clock_sub.unregister()
self.s_run.close()
def save_settings(self, plugin_settings, instance_settings):
# TODO save intrinsic configuration, usually using:
# instance_settings.set_value(k, v)
pass
def restore_settings(self, plugin_settings, instance_settings):
# TODO restore intrinsic configuration, usually using:
# v = instance_settings.value(k)
pass
def _handle_run_clicked(self):
try:
self.s_run(stdsrvs.SetBoolRequest(True))
except rospy.service.ServiceException as e:
print(e.message)
def _handle_pause_clicked(self):
try:
self.s_run(stdsrvs.SetBoolRequest(False))
except rospy.service.ServiceException as e:
print(e.message)
def _clock_sub(self, msg):
clock = msg.clock.to_sec()
self.update_clock_signal.emit(clock) # Emit signal
@Slot(float)
def _update_clock(self, clock):
self._widget.clock_field.setText('{}'.format(clock))
# def trigger_configuration(self):
# Comment in to signal that the plugin has a way to configure
# This will enable a setting button (gear icon) in each dock widget title bar
# Usually used to open a modal configuration dialog