joint_state_sliders.py
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00001 #!/usr/bin/env python
00002 
00003 import roslib
00004 roslib.load_manifest('joint_state_gui')
00005 from sensor_msgs.msg import JointState
00006 import rospy
00007 
00008 from math import pi
00009 
00010 import wx
00011 
00012 class SliderPanel(wx.Panel):
00013   """ creates a panel with sliders """
00014   def __init__(self, parent, id, slider_names):
00015     wx.Panel.__init__(self, parent, id)
00016 
00017     self.SetBackgroundColour("white")
00018     self.sizer = wx.FlexGridSizer(2, 2, 0, 0)
00019     self.sizer.AddGrowableCol(1, 1)
00020     self.SetSizer(self.sizer)
00021 
00022     self.Bind(wx.EVT_SLIDER, self._slider_update)
00023 
00024     self.joint_names = slider_names
00025     self.joint_angles = [0.0]*len(self.joint_names)
00026 
00027     #Add labels and sliders
00028     for i in range(len(self.joint_names)):
00029       l = wx.StaticText(self, id=-1, label=self.joint_names[i])
00030       s = wx.Slider(self, id=i,
00031             style = wx.SL_HORIZONTAL | wx.SL_AUTOTICKS | wx.SL_LABELS)
00032       s.SetRange(-180, 180)
00033       s.SetSizeHints(360, 40)
00034 
00035       self.sizer.Add(l, 1, wx.ALIGN_BOTTOM)
00036       self.sizer.Add(s, 1, wx.EXPAND)
00037 
00038   def set_slider_cb(self, callback):
00039     self.slider_callback = callback
00040 
00041   def _slider_update(self, event):
00042     self.joint_angles[event.Id] = event.Int
00043     self.slider_callback(self.joint_angles, self.joint_names)
00044 
00045 
00046 class RosComm:
00047   def __init__(self):
00048     """ initialize ROS """
00049 
00050     self.joint_names = None
00051 
00052     rospy.init_node('joint_gui')
00053     self.name = rospy.names.get_name()
00054 
00055     if rospy.client.has_param('~axes'):
00056       self.joint_names = rospy.client.get_param('~axes')
00057 
00058     self._pub = rospy.Publisher('/joint_states', JointState)
00059 
00060     self._shutdown_timer = wx.Timer()
00061     self._shutdown_timer.Bind(wx.EVT_TIMER, self._on_shutdown_timer)
00062     self._shutdown_timer.Start(100)
00063 
00064   def _on_shutdown_timer(self, event):
00065     """shut down the program when the node closes"""
00066     if rospy.is_shutdown():
00067       wx.Exit()
00068 
00069   def send_angles(self, joint_angles, joint_names):
00070     """ publish joint states """
00071     jss=JointState()
00072     for i in range(len(joint_names)):
00073       jss.name.append(joint_names[i])
00074       jss.position.append(joint_angles[i]*pi/180.0)
00075       jss.velocity.append(0.0)
00076       jss.header.stamp=rospy.Time.now()
00077 
00078     self._pub.publish(jss)
00079 
00080 
00081 # main
00082 
00083 if __name__ == "__main__":
00084 
00085   app = wx.PySimpleApp()
00086 
00087   ros = RosComm()
00088 
00089   if ros.joint_names == None:
00090     rospy.logerr("parameter ~axes not set")
00091     exit()
00092 
00093   frame = wx.Frame(None, -1, ros.name, size = (400, 310))
00094   panel = SliderPanel(frame,-1,ros.joint_names)
00095   panel.set_slider_cb(ros.send_angles)
00096 
00097   frame.ClientSize = panel.BestSize
00098 
00099   frame.Show(True)
00100   app.MainLoop()
00101 
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joint_state_gui
Author(s): Ingo Kresse
autogenerated on Thu May 23 2013 12:41:44