nav_view_dash_widget.py

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from rqt_nav_view import NavViewWidget
from .icon_tool_button import IconToolButton


class NavViewDashWidget(IconToolButton):
    """
    A widget which launches a nav_view widget in order to view and interact with the ROS nav stack

    :param context: The plugin context in which to dsiplay the nav_view
    :type context: qt_gui.plugin_context.PluginContext
    :param name: The widgets name
    :type name: str
    """
    def __init__(self, context, name='NavView', icon_paths=[]):
        super(NavViewDashWidget, self).__init__(name, icons=[['ic-navigation.svg']], suppress_overlays=True, icon_paths=icon_paths)
        self.context = context

        self._nav_view = None

        self.clicked.connect(self._show_nav_view)

    def _show_nav_view(self):
        if not self._nav_view:
            #TODO: There should be some way to customize the params for nav_view creation
            self._nav_view = NavViewWidget()
            self._nav_view.destroyed.connect(self._view_closed)

        self.context.add_widget(self._nav_view)

    def _view_closed(self):
        self._nav_view = None