RobotInterface. More...

Inheritance diagram for rocon_qt_library.interfaces.video_teleop_interface.VideoTeleopInterface:

Public Member Functions
def	__init__
def	cmd_vel
def	cmd_vel
def	shutdown
Static Public Attributes
float	cmd_vel_publishing_interval = 0.1
tuple	image_received = Signal(sensor_msgs.CompressedImage, name="image_received")
Private Member Functions
def	_publish_cmd_vel
def	_ros_subscriber_image_callback
Private Attributes
	_cmd_vel
	_cmd_vel_publisher
	_cmd_vel_publisher_timer
	_compressed_image_subscriber
	_lock
Static Private Attributes
list	__slots__

Detailed Description

RobotInterface.

Definition at line 21 of file video_teleop_interface.py.

Constructor & Destructor Documentation

def rocon_qt_library.interfaces.video_teleop_interface.VideoTeleopInterface.__init__	(	self,
		image_received_slot,
		cmd_vel_topic_name = `'cmd_vel'`,
		compressed_image_topic_name = `'compressed_image'`
	)

Initialise the robot interface with slot connections back to whatever
qt views are attached and the ros topic names to be used.

:param slot image_received_slot: slot to connect to the ``image_received`` signal.
:param str cmd_vel_topic_name: topic name for the command velocity publisher.
:param str compressed_image_topic_name: topic name for the compressed image subscriber.

Definition at line 34 of file video_teleop_interface.py.

Member Function Documentation

def rocon_qt_library.interfaces.video_teleop_interface.VideoTeleopInterface._publish_cmd_vel	(	self,
		unused_event
	)	`[private]`

Convert the command into an appropriate one for the
cmd_vel topic and publish.

Definition at line 70 of file video_teleop_interface.py.

def rocon_qt_library.interfaces.video_teleop_interface.VideoTeleopInterface._ros_subscriber_image_callback	(	self,
		msg
	)	`[private]`

Update the teleop image

:param sensor_msgs.CompressedImage msg: an image stream feed from the robot

Definition at line 61 of file video_teleop_interface.py.

def rocon_qt_library.interfaces.video_teleop_interface.VideoTeleopInterface.cmd_vel ( self )

Returns this cmd_vel in a 2-tuple appropriate for 2d teleop'ing robots,
i.e. (linear, angular).

:returns: the last configured cmd_vel as a 2-tuple.
:rtype: (float, float)

Definition at line 95 of file video_teleop_interface.py.

def rocon_qt_library.interfaces.video_teleop_interface.VideoTeleopInterface.cmd_vel	(	self,
		value
	)

Convenient setter from a 2-tuple. The 2-tuple takes the form (linear, angular)
with units in (m/s, rad/s).

Usage:

.. code-block:: python

   teleop_interaface.cmd_vel = (1.0, 0.35)  # linear x, angular z values)

Definition at line 106 of file video_teleop_interface.py.

def rocon_qt_library.interfaces.video_teleop_interface.VideoTeleopInterface.shutdown ( self )

There is a problem in rospy here which spams you with a warning
when the cmd_vel is unregistered. This is just noise I believe (it shouldn't
be printing anything). The publisher gets unregistered properly. Should
be safe to ignore (lots of work to actually follow up).

Definition at line 79 of file video_teleop_interface.py.

Member Data Documentation

list rocon_qt_library::interfaces::video_teleop_interface.VideoTeleopInterface::__slots__ [static, private]

Initial value:

[
                '_cmd_vel',                  # geometry_msgs.Twist
                '_cmd_vel_publisher_timer',
                '_cmd_vel_publisher',
                '_compressed_image_subscriber',
                '_lock'
                ]

Definition at line 25 of file video_teleop_interface.py.

rocon_qt_library::interfaces::video_teleop_interface.VideoTeleopInterface::_cmd_vel [private]

Definition at line 41 of file video_teleop_interface.py.

rocon_qt_library::interfaces::video_teleop_interface.VideoTeleopInterface::_cmd_vel_publisher [private]

Definition at line 41 of file video_teleop_interface.py.

rocon_qt_library::interfaces::video_teleop_interface.VideoTeleopInterface::_cmd_vel_publisher_timer [private]

Definition at line 41 of file video_teleop_interface.py.

rocon_qt_library::interfaces::video_teleop_interface.VideoTeleopInterface::_compressed_image_subscriber [private]

Definition at line 41 of file video_teleop_interface.py.

rocon_qt_library::interfaces::video_teleop_interface.VideoTeleopInterface::_lock [private]

Definition at line 41 of file video_teleop_interface.py.

float rocon_qt_library::interfaces::video_teleop_interface.VideoTeleopInterface::cmd_vel_publishing_interval = 0.1 [static]