2 from functools
import partial
4 from kobuki_msgs.msg
import MotorPower
7 from python_qt_binding.QtCore
import QSize
11 self.
_pub = rospy.Publisher(topic, MotorPower, queue_size=5)
14 self.
_on_icon = [
'bg-green.svg',
'ic-motors.svg']
15 self.
_stale_icon = [
'bg-grey.svg',
'ic-motors.svg',
'ol-stale-badge.svg']
18 super(MotorWidget, self).
__init__(topic, icons=icons)
19 self.setFixedSize(QSize(40,40))
22 self.setToolTip(
"Motors: Stale")
24 self.clicked.connect(self.
toggle)
28 if state
is not super(MotorWidget, self).state:
31 self.setToolTip(
"Motors: Off")
33 self.setToolTip(
"Motors: On")
36 if super(MotorWidget, self).state
is 1:
37 self._pub.publish(MotorPower(0))
39 self._pub.publish(MotorPower(1))
42 self._pub.unregister()