stdr_gui: stdr_info_loader.cpp Source File

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00001 /******************************************************************************
00002    STDR Simulator - Simple Two DImensional Robot Simulator
00003    Copyright (C) 2013 STDR Simulator
00004    This program is free software; you can redistribute it and/or modify
00005    it under the terms of the GNU General Public License as published by
00006    the Free Software Foundation; either version 3 of the License, or
00007    (at your option) any later version.
00008    This program is distributed in the hope that it will be useful,
00009    but WITHOUT ANY WARRANTY; without even the implied warranty of
00010    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00011    GNU General Public License for more details.
00012    You should have received a copy of the GNU General Public License
00013    along with this program; if not, write to the Free Software Foundation,
00014    Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301  USA
00015    
00016    Authors : 
00017    * Manos Tsardoulias, etsardou@gmail.com
00018    * Aris Thallas, aris.thallas@gmail.com
00019    * Chris Zalidis, zalidis@gmail.com 
00020 ******************************************************************************/
00021 
00022 #include "stdr_gui/stdr_info_loader.h"
00023 
00024 namespace stdr_gui{
00025   
00032   CInfoLoader::CInfoLoader(int argc, char **argv):
00033     argc_(argc),
00034     argv_(argv)
00035   {
00036     setupUi(this);
00037     
00038     stdrInformationTree->header()->setDefaultSectionSize(20);
00039     stdrInformationTree->header()->setMinimumSectionSize(10);
00040     
00041     stdrInformationTree->setColumnCount(4);
00042     stdrInformationTree->setColumnWidth(0,200);
00043     stdrInformationTree->setColumnWidth(1,100);
00044     stdrInformationTree->setColumnWidth(2,20);
00045     stdrInformationTree->setColumnWidth(3,20);
00046     
00047     QStringList ColumnNames;
00048     ColumnNames << "" << "" << "" << "" << "";
00049  
00050     stdrInformationTree->setHeaderLabels(ColumnNames);
00051     
00052     generalInfo.setText(0,"Information");
00053     robotsInfo.setText(0,"Robots");
00054     
00055     mapWidth.setText(0,"Map width");
00056     mapWidth.setText(1,"-");
00057     generalInfo.addChild(&mapWidth);
00058     mapHeight.setText(0,"Map height");
00059     mapHeight.setText(1,"-");
00060     generalInfo.addChild(&mapHeight);
00061     mapOcgd.setText(0,"Resolution");
00062     mapOcgd.setText(1,"-");
00063     generalInfo.addChild(&mapOcgd);
00064     
00065     stdrInformationTree->addTopLevelItem(&generalInfo);
00066     stdrInformationTree->addTopLevelItem(&robotsInfo);
00067     
00068     generalInfo.setExpanded(true);
00069     robotsInfo.setExpanded(true);
00070 
00071     visible_icon_.addFile(QString((
00072       stdr_gui_tools::getRosPackagePath("stdr_gui") + 
00073         std::string("/resources/images/visible.png")).c_str()));
00074         
00075     visible_icon_on_.addFile(QString((
00076       stdr_gui_tools::getRosPackagePath("stdr_gui") + 
00077         std::string("/resources/images/visible_on.png")).c_str()));
00078     visible_icon_off_.addFile(QString((
00079       stdr_gui_tools::getRosPackagePath("stdr_gui") + 
00080         std::string("/resources/images/visible_off.png")).c_str()));
00081     visible_icon_trans_.addFile(QString((
00082       stdr_gui_tools::getRosPackagePath("stdr_gui") + 
00083         std::string("/resources/images/visible_transparent.png")).c_str()));
00084   }
00085   
00090   CInfoLoader::~CInfoLoader(void)
00091   {
00092     
00093   }
00094   
00100   void CInfoLoader::deleteTreeNode(QTreeWidgetItem *item)
00101   {
00102     int count = item->childCount();
00103     for(int i = count - 1 ; i >= 0 ; i--)
00104     {
00105       deleteTreeNode(item->child(i));
00106       QTreeWidgetItem *child = item->child(i);
00107       item->removeChild(item->child(i));
00108       delete child;
00109     }
00110   }
00111   
00116   void CInfoLoader::deleteTree(void)
00117   {
00118     int count = robotsInfo.childCount();
00119     for(int i = count - 1 ; i >= 0 ; i--)
00120     {
00121       //~ deleteTreeNode(robotsInfo.child(i));
00122       QTreeWidgetItem *child = robotsInfo.child(i);
00123       robotsInfo.removeChild(robotsInfo.child(i));
00124       //~ delete child;
00125     }
00126   }
00127   
00135   void CInfoLoader::updateMapInfo(float width,float height,float ocgd)
00136   {
00137     mapWidth.setText(1,(QString().setNum(width) + QString(" m")));
00138     mapHeight.setText(1,(QString().setNum(height) + QString(" m")));
00139     mapOcgd.setText(1,(QString().setNum(ocgd) + QString(" m/px")));
00140   }
00141   
00147   void CInfoLoader::updateRobots(const stdr_msgs::RobotIndexedVectorMsg& msg)
00148   {
00149     for(unsigned int i = 0 ; i < msg.robots.size() ; i++)
00150     {
00151       QTreeWidgetItem  *rnode = new QTreeWidgetItem();
00152       rnode->setText(0,QString(msg.robots[i].name.c_str()));
00153       rnode->setIcon(2,visible_icon_on_);
00154       rnode->setIcon(3,visible_icon_);
00155       rnode->setToolTip(2,"Visibility status");
00156       rnode->setToolTip(3,"Visualize robot topics");
00157       
00158       QTreeWidgetItem *radius = new QTreeWidgetItem();
00159       radius->setText(0,"Radius");
00160       radius->setText(1,(QString().setNum(
00161         msg.robots[i].robot.footprint.radius) + QString("m")));
00162       rnode->addChild(radius);
00163       
00164       QTreeWidgetItem *lasers = new QTreeWidgetItem(),
00165                       *sonars = new QTreeWidgetItem(),
00166                       *rfids = new QTreeWidgetItem(),
00167                       *co2_sensors = new QTreeWidgetItem(),
00168                       *thermal_sensors = new QTreeWidgetItem(),
00169                       *sound_sensors = new QTreeWidgetItem(),
00170                       *kinematics = new QTreeWidgetItem();
00171 
00172       lasers->setText(0,"Lasers");
00173       sonars->setText(0,"Sonars");
00174       rfids->setText(0,"RFID readers");
00175       co2_sensors->setText(0,"CO2 sensors");
00176       thermal_sensors->setText(0,"Thermal sensors");
00177       sound_sensors->setText(0,"Sound sensors");
00178       kinematics->setText(0,"Kinematic");
00179       kinematics->setText(1,
00180         QString(msg.robots[i].robot.kinematicModel.type.c_str()));
00181       
00182       for(unsigned int l = 0 ; l < msg.robots[i].robot.laserSensors.size() ; 
00183           l++)
00184       {
00185         QTreeWidgetItem *lname;
00186         lname=new QTreeWidgetItem();
00187         lname->setText(0,
00188           msg.robots[i].robot.laserSensors[l].frame_id.c_str());
00189           
00190         lname->setIcon(2,visible_icon_on_);
00191         lname->setToolTip(2,"Visibility status");
00192         lname->setIcon(3,visible_icon_);
00193         lname->setToolTip(3,"Visualize topic");
00194 
00195         QTreeWidgetItem *lrays = new QTreeWidgetItem();
00196         QTreeWidgetItem *lmaxrange = new QTreeWidgetItem();
00197         QTreeWidgetItem *lminrange = new QTreeWidgetItem();
00198         QTreeWidgetItem *lmaxangle = new QTreeWidgetItem();
00199         QTreeWidgetItem *lminangle = new QTreeWidgetItem();
00200         QTreeWidgetItem *lnoisemean = new QTreeWidgetItem();
00201         QTreeWidgetItem *lnoisestd = new QTreeWidgetItem();
00202         QTreeWidgetItem *lfreq = new QTreeWidgetItem();
00203         QTreeWidgetItem *lposex = new QTreeWidgetItem();
00204         QTreeWidgetItem *lposey = new QTreeWidgetItem();
00205         QTreeWidgetItem *lorientation = new QTreeWidgetItem();
00206         
00207         lrays->setText(0,"Rays");
00208         lrays->setText(1,QString().setNum(
00209           msg.robots[i].robot.laserSensors[l].numRays));
00210         lmaxrange->setText(0,"Max dist");
00211         lmaxrange->setText(1,(QString().setNum(
00212           msg.robots[i].robot.laserSensors[l].maxRange) + QString(" m")));
00213         lminrange->setText(0,"Min dist");
00214         lminrange->setText(1,(QString().setNum(
00215           msg.robots[i].robot.laserSensors[l].minRange) + QString(" m")));
00216         lmaxangle->setText(0,"Max angle");
00217         lmaxangle->setText(1,(QString().setNum(
00218           msg.robots[i].robot.laserSensors[l].maxAngle) + QString(" rad")));
00219         lminangle->setText(0,"Min angle");
00220         lminangle->setText(1,(QString().setNum(
00221           msg.robots[i].robot.laserSensors[l].minAngle) + QString(" rad")));
00222         lnoisemean->setText(0,"Noise (mean)");
00223         lnoisemean->setText(1,(QString().setNum(
00224           msg.robots[i].robot.laserSensors[l].noise.noiseMean) + QString(" m")));
00225         lnoisestd->setText(0,"Noise (std)");
00226         lnoisestd->setText(1,(QString().setNum(
00227           msg.robots[i].robot.laserSensors[l].noise.noiseStd) + QString(" m")));
00228         lfreq->setText(0,"Frequency");
00229         lfreq->setText(1,(QString().setNum(
00230           msg.robots[i].robot.laserSensors[l].frequency) + QString(" Hz")));
00231             
00232         lposex->setText(0,"x pose");
00233         lposex->setText(1,(QString().setNum(
00234           msg.robots[i].robot.laserSensors[l].pose.x) + QString(" m")));
00235         lposey->setText(0,"y pose");
00236         lposey->setText(1,(QString().setNum(
00237           msg.robots[i].robot.laserSensors[l].pose.y) + QString(" m")));
00238         lorientation->setText(0,"Orientation");
00239         lorientation->setText(1,(QString().setNum(
00240           msg.robots[i].robot.laserSensors[l].pose.theta) + QString(" rad")));
00241                   
00242         lname->addChild(lrays);
00243         lname->addChild(lmaxrange);
00244         lname->addChild(lminrange);
00245         lname->addChild(lmaxangle);
00246         lname->addChild(lminangle);
00247         lname->addChild(lnoisemean);
00248         lname->addChild(lnoisestd);
00249         lname->addChild(lfreq);
00250         lname->addChild(lposex);
00251         lname->addChild(lposey);
00252         lname->addChild(lorientation);
00253         
00254         lasers->addChild(lname);
00255       }
00256       
00257       for(unsigned int l = 0; l < msg.robots[i].robot.sonarSensors.size() ; 
00258         l++)
00259       {
00260         QTreeWidgetItem *sname;
00261         sname = new QTreeWidgetItem();
00262         sname->setText(0,
00263           msg.robots[i].robot.sonarSensors[l].frame_id.c_str());
00264         sname->setIcon(2,visible_icon_on_);
00265         sname->setIcon(3,visible_icon_);
00266         
00267         sname->setToolTip(2,"Visibility status");
00268         sname->setToolTip(3,"Visualize topic");
00269 
00270         QTreeWidgetItem *smaxrange = new QTreeWidgetItem();
00271         QTreeWidgetItem *sminrange = new QTreeWidgetItem();
00272         QTreeWidgetItem *scone = new QTreeWidgetItem();
00273         QTreeWidgetItem *sorientation = new QTreeWidgetItem();
00274         QTreeWidgetItem *snoisemean = new QTreeWidgetItem();
00275         QTreeWidgetItem *snoisestd = new QTreeWidgetItem();
00276         QTreeWidgetItem *sfreq = new QTreeWidgetItem();
00277         QTreeWidgetItem *sposex = new QTreeWidgetItem();
00278         QTreeWidgetItem *sposey = new QTreeWidgetItem();
00279         
00280         smaxrange->setText(0,"Max dist");
00281         smaxrange->setText(1,(QString().setNum(
00282           msg.robots[i].robot.sonarSensors[l].maxRange) + QString(" m")));
00283         sminrange->setText(0,"Min dist");
00284         sminrange->setText(1,(QString().setNum(
00285           msg.robots[i].robot.sonarSensors[l].minRange) + QString(" m")));
00286         scone->setText(0,"Cone");
00287         scone->setText(1,(QString().setNum(
00288           msg.robots[i].robot.sonarSensors[l].coneAngle) + QString(" rad")));
00289         sorientation->setText(0,"Orientation");
00290         sorientation->setText(1,(QString().setNum(
00291           msg.robots[i].robot.sonarSensors[l].pose.theta) + QString(" rad")));
00292         snoisemean->setText(0,"Noise (mean)");
00293         snoisemean->setText(1,(QString().setNum(
00294           msg.robots[i].robot.sonarSensors[l].noise.noiseMean) + 
00295             QString(" m")));
00296         snoisestd->setText(0,"Noise (std)");
00297         snoisestd->setText(1,(QString().setNum(
00298           msg.robots[i].robot.sonarSensors[l].noise.noiseStd) + QString(" m")));
00299         sfreq->setText(0,"Frequency");
00300         sfreq->setText(1,(QString().setNum(
00301           msg.robots[i].robot.sonarSensors[l].frequency) + QString(" Hz")));
00302             
00303         sposex->setText(0,"x pose");
00304         sposex->setText(1,(QString().setNum(
00305           msg.robots[i].robot.sonarSensors[l].pose.x) + QString(" m")));
00306         sposey->setText(0,"y pose");
00307         sposey->setText(1,(QString().setNum(
00308           msg.robots[i].robot.sonarSensors[l].pose.y) + QString(" m")));
00309                   
00310         sname->addChild(smaxrange);
00311         sname->addChild(sminrange);
00312         sname->addChild(scone);
00313         sname->addChild(sorientation);
00314         sname->addChild(snoisemean);
00315         sname->addChild(snoisestd);
00316         sname->addChild(sfreq);
00317         sname->addChild(sposex);
00318         sname->addChild(sposey);
00319         
00320         sonars->addChild(sname);
00321       }
00322       
00323       for(unsigned int l = 0; l < msg.robots[i].robot.rfidSensors.size() ; 
00324         l++)
00325       {
00326         QTreeWidgetItem *sname;
00327         sname = new QTreeWidgetItem();
00328         sname->setText(0,
00329           msg.robots[i].robot.rfidSensors[l].frame_id.c_str());
00330         sname->setIcon(2,visible_icon_on_);
00331         //~ sname->setIcon(3,visible_icon_);
00332         
00333         sname->setToolTip(2,"Visibility status");
00334         //~ sname->setToolTip(3,"Visualize topic");
00335 
00336         QTreeWidgetItem *smaxrange = new QTreeWidgetItem();
00337         QTreeWidgetItem *sspan = new QTreeWidgetItem();
00338         QTreeWidgetItem *sorientation = new QTreeWidgetItem();
00339         QTreeWidgetItem *sfreq = new QTreeWidgetItem();
00340         QTreeWidgetItem *scutoff = new QTreeWidgetItem();
00341         QTreeWidgetItem *sposex = new QTreeWidgetItem();
00342         QTreeWidgetItem *sposey = new QTreeWidgetItem();
00343         
00344         smaxrange->setText(0,"Max dist");
00345         smaxrange->setText(1,(QString().setNum(
00346           msg.robots[i].robot.rfidSensors[l].maxRange) + QString(" m")));
00347        
00348         sspan->setText(0,"Angle span");
00349         sspan->setText(1,(QString().setNum(
00350           msg.robots[i].robot.rfidSensors[l].angleSpan) 
00351             + QString(" rad")));
00352           
00353         sorientation->setText(0,"Orientation");
00354         sorientation->setText(1,(QString().setNum(
00355           msg.robots[i].robot.rfidSensors[l].pose.theta) + 
00356             QString(" rad")));
00357           
00358         scutoff->setText(0,"Signal Cutoff");
00359         scutoff->setText(1,(QString().setNum(
00360           msg.robots[i].robot.rfidSensors[l].signalCutoff) + 
00361             QString("")));
00362 
00363         sfreq->setText(0,"Frequency");
00364         sfreq->setText(1,(QString().setNum(
00365           msg.robots[i].robot.rfidSensors[l].frequency) + QString(" Hz")));
00366             
00367         sposex->setText(0,"x pose");
00368         sposex->setText(1,(QString().setNum(
00369           msg.robots[i].robot.rfidSensors[l].pose.x) + QString(" m")));
00370           
00371         sposey->setText(0,"y pose");
00372         sposey->setText(1,(QString().setNum(
00373           msg.robots[i].robot.rfidSensors[l].pose.y) + QString(" m")));
00374                   
00375         sname->addChild(smaxrange);
00376         sname->addChild(sspan);
00377         sname->addChild(sorientation);
00378         sname->addChild(scutoff);
00379         sname->addChild(sfreq);
00380         sname->addChild(sposex);
00381         sname->addChild(sposey);
00382         
00383         rfids->addChild(sname);
00384       }
00385       for(unsigned int l = 0; l < msg.robots[i].robot.co2Sensors.size() ; 
00386         l++)
00387       {
00388         QTreeWidgetItem *sname;
00389         sname = new QTreeWidgetItem();
00390         sname->setText(0,
00391           msg.robots[i].robot.co2Sensors[l].frame_id.c_str());
00392         sname->setIcon(2,visible_icon_on_);
00393         //~ sname->setIcon(3,visible_icon_);
00394         
00395         sname->setToolTip(2,"Visibility status");
00396         //~ sname->setToolTip(3,"Visualize topic");
00397 
00398         QTreeWidgetItem *smaxrange = new QTreeWidgetItem();
00399         //~ QTreeWidgetItem *sspan = new QTreeWidgetItem();
00400         QTreeWidgetItem *sorientation = new QTreeWidgetItem();
00401         QTreeWidgetItem *sfreq = new QTreeWidgetItem();
00402         //~ QTreeWidgetItem *scutoff = new QTreeWidgetItem();
00403         QTreeWidgetItem *sposex = new QTreeWidgetItem();
00404         QTreeWidgetItem *sposey = new QTreeWidgetItem();
00405         
00406         smaxrange->setText(0,"Max dist");
00407         smaxrange->setText(1,(QString().setNum(
00408           msg.robots[i].robot.co2Sensors[l].maxRange) + QString(" m")));
00409        
00410         //~ sspan->setText(0,"Angle span");
00411         //~ sspan->setText(1,(QString().setNum(
00412           //~ msg.robots[i].robot.rfidSensors[l].angleSpan) 
00413             //~ + QString(" rad")));
00414           
00415         sorientation->setText(0,"Orientation");
00416         sorientation->setText(1,(QString().setNum(
00417           msg.robots[i].robot.co2Sensors[l].pose.theta) + 
00418             QString(" rad")));
00419           
00420         //~ scutoff->setText(0,"Signal Cutoff");
00421         //~ scutoff->setText(1,(QString().setNum(
00422           //~ msg.robots[i].robot.rfidSensors[l].signalCutoff) + 
00423             //~ QString("")));
00424 
00425         sfreq->setText(0,"Frequency");
00426         sfreq->setText(1,(QString().setNum(
00427           msg.robots[i].robot.co2Sensors[l].frequency) + QString(" Hz")));
00428             
00429         sposex->setText(0,"x pose");
00430         sposex->setText(1,(QString().setNum(
00431           msg.robots[i].robot.co2Sensors[l].pose.x) + QString(" m")));
00432           
00433         sposey->setText(0,"y pose");
00434         sposey->setText(1,(QString().setNum(
00435           msg.robots[i].robot.co2Sensors[l].pose.y) + QString(" m")));
00436                   
00437         sname->addChild(smaxrange);
00438         //~ sname->addChild(sspan);
00439         sname->addChild(sorientation);
00440         //~ sname->addChild(scutoff);
00441         sname->addChild(sfreq);
00442         sname->addChild(sposex);
00443         sname->addChild(sposey);
00444         
00445         co2_sensors->addChild(sname);
00446       }
00447       for(unsigned int l = 0; l < msg.robots[i].robot.thermalSensors.size() ; 
00448         l++)
00449       {
00450         QTreeWidgetItem *sname;
00451         sname = new QTreeWidgetItem();
00452         sname->setText(0,
00453           msg.robots[i].robot.thermalSensors[l].frame_id.c_str());
00454         sname->setIcon(2,visible_icon_on_);
00455         //~ sname->setIcon(3,visible_icon_);
00456         
00457         sname->setToolTip(2,"Visibility status");
00458         //~ sname->setToolTip(3,"Visualize topic");
00459 
00460         QTreeWidgetItem *smaxrange = new QTreeWidgetItem();
00461         QTreeWidgetItem *sspan = new QTreeWidgetItem();
00462         QTreeWidgetItem *sorientation = new QTreeWidgetItem();
00463         QTreeWidgetItem *sfreq = new QTreeWidgetItem();
00464         //~ QTreeWidgetItem *scutoff = new QTreeWidgetItem();
00465         QTreeWidgetItem *sposex = new QTreeWidgetItem();
00466         QTreeWidgetItem *sposey = new QTreeWidgetItem();
00467         
00468         smaxrange->setText(0,"Max dist");
00469         smaxrange->setText(1,(QString().setNum(
00470           msg.robots[i].robot.thermalSensors[l].maxRange) + QString(" m")));
00471        
00472         sspan->setText(0,"Angle span");
00473         sspan->setText(1,(QString().setNum(
00474           msg.robots[i].robot.thermalSensors[l].angleSpan) 
00475             + QString(" rad")));
00476           
00477         sorientation->setText(0,"Orientation");
00478         sorientation->setText(1,(QString().setNum(
00479           msg.robots[i].robot.thermalSensors[l].pose.theta) + 
00480             QString(" rad")));
00481           
00482         //~ scutoff->setText(0,"Signal Cutoff");
00483         //~ scutoff->setText(1,(QString().setNum(
00484           //~ msg.robots[i].robot.rfidSensors[l].signalCutoff) + 
00485             //~ QString("")));
00486 
00487         sfreq->setText(0,"Frequency");
00488         sfreq->setText(1,(QString().setNum(
00489           msg.robots[i].robot.thermalSensors[l].frequency) + QString(" Hz")));
00490             
00491         sposex->setText(0,"x pose");
00492         sposex->setText(1,(QString().setNum(
00493           msg.robots[i].robot.thermalSensors[l].pose.x) + QString(" m")));
00494           
00495         sposey->setText(0,"y pose");
00496         sposey->setText(1,(QString().setNum(
00497           msg.robots[i].robot.thermalSensors[l].pose.y) + QString(" m")));
00498                   
00499         sname->addChild(smaxrange);
00500         sname->addChild(sspan);
00501         sname->addChild(sorientation);
00502         //~ sname->addChild(scutoff);
00503         sname->addChild(sfreq);
00504         sname->addChild(sposex);
00505         sname->addChild(sposey);
00506         
00507         thermal_sensors->addChild(sname);
00508       }
00509       for(unsigned int l = 0; l < msg.robots[i].robot.soundSensors.size() ; 
00510         l++)
00511       {
00512         QTreeWidgetItem *sname;
00513         sname = new QTreeWidgetItem();
00514         sname->setText(0,
00515           msg.robots[i].robot.soundSensors[l].frame_id.c_str());
00516         sname->setIcon(2,visible_icon_on_);
00517         //~ sname->setIcon(3,visible_icon_);
00518         
00519         sname->setToolTip(2,"Visibility status");
00520         //~ sname->setToolTip(3,"Visualize topic");
00521 
00522         QTreeWidgetItem *smaxrange = new QTreeWidgetItem();
00523         QTreeWidgetItem *sspan = new QTreeWidgetItem();
00524         QTreeWidgetItem *sorientation = new QTreeWidgetItem();
00525         QTreeWidgetItem *sfreq = new QTreeWidgetItem();
00526         //~ QTreeWidgetItem *scutoff = new QTreeWidgetItem();
00527         QTreeWidgetItem *sposex = new QTreeWidgetItem();
00528         QTreeWidgetItem *sposey = new QTreeWidgetItem();
00529         
00530         smaxrange->setText(0,"Max dist");
00531         smaxrange->setText(1,(QString().setNum(
00532           msg.robots[i].robot.soundSensors[l].maxRange) + QString(" m")));
00533        
00534         sspan->setText(0,"Angle span");
00535         sspan->setText(1,(QString().setNum(
00536           msg.robots[i].robot.soundSensors[l].angleSpan) 
00537             + QString(" rad")));
00538           
00539         sorientation->setText(0,"Orientation");
00540         sorientation->setText(1,(QString().setNum(
00541           msg.robots[i].robot.soundSensors[l].pose.theta) + 
00542             QString(" rad")));
00543           
00544         //~ scutoff->setText(0,"Signal Cutoff");
00545         //~ scutoff->setText(1,(QString().setNum(
00546           //~ msg.robots[i].robot.rfidSensors[l].signalCutoff) + 
00547             //~ QString("")));
00548 
00549         sfreq->setText(0,"Frequency");
00550         sfreq->setText(1,(QString().setNum(
00551           msg.robots[i].robot.soundSensors[l].frequency) + QString(" Hz")));
00552             
00553         sposex->setText(0,"x pose");
00554         sposex->setText(1,(QString().setNum(
00555           msg.robots[i].robot.soundSensors[l].pose.x) + QString(" m")));
00556           
00557         sposey->setText(0,"y pose");
00558         sposey->setText(1,(QString().setNum(
00559           msg.robots[i].robot.soundSensors[l].pose.y) + QString(" m")));
00560                   
00561         sname->addChild(smaxrange);
00562         sname->addChild(sspan);
00563         sname->addChild(sorientation);
00564         //~ sname->addChild(scutoff);
00565         sname->addChild(sfreq);
00566         sname->addChild(sposex);
00567         sname->addChild(sposey);
00568         
00569         sound_sensors->addChild(sname);
00570       }
00571       
00572       rnode->addChild(lasers);
00573       rnode->addChild(sonars);
00574       rnode->addChild(rfids);
00575       rnode->addChild(co2_sensors);
00576       rnode->addChild(thermal_sensors);
00577       rnode->addChild(sound_sensors);
00578       rnode->addChild(kinematics);
00579       
00580       robotsInfo.addChild(rnode);
00581     }       
00582   }
00583 }