Source Code for Module node_manager_fkie.menu_rqt

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  3  # Copyright (c) 2012, Fraunhofer FKIE/US, Alexander Tiderko 
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 32   
 33  from python_qt_binding.QtCore import Signal 
 34  try: 
 35      from python_qt_binding.QtGui import QAction, QMenu 
 36  except: 
 37      from python_qt_binding.QtWidgets import QAction, QMenu 
 38  from python_qt_binding.QtGui import QIcon 
 39   
 40  import roslib 
 41   
 42   
 43 -class MenuRqt(QMenu): 
 44      ''' 
 45      This creates a menu to start a several rqt plugins. 
 46      ''' 
 47      start_rqt_plugin_signal = Signal(str, str) 
 48      ''' 
 49    The start_rqt_plugin_signal is emitted to start a rqt plugin (Name, Plugin). 
 50    The Plugin can be empty, in this case the RQT itself will be start. 
 51    ''' 
 52   
 53 -    def __init__(self, menu_button): 
 54          QMenu.__init__(self) 
 55          self.button = menu_button 
 56          try: 
 57              rqt_icon_path = roslib.packages.find_resource('rqt_gui', 'rqt.png').pop() 
 58              menu_button.setText('') 
 59              menu_button.setIcon(QIcon(rqt_icon_path)) 
 60              # creates a default config menu 
 61              self.action_rqt_console = QAction(QIcon.fromTheme('mail-message-new'), 
 62                                                "&Console", self, 
 63                                                statusTip='"<p>Starts a python GUI plugin for displaying and filtering ' 
 64                                                'ROS log messages that is connected to the selected master.</p>"', 
 65                                                triggered=self.on_show_console_clicked) 
 66              self.addAction(self.action_rqt_console) 
 67              self.action_rqt_logger_level = QAction(QIcon.fromTheme('format-indent-more'), 
 68                                                     "&Logger Level", self, 
 69                                                     statusTip='"<p>Starts a python GUI plugin for configuring the level of ' 
 70                                                     'ROS loggers that is connected to the selected master.</p>"', 
 71                                                     triggered=self.on_show_logger_level_clicked) 
 72              self.addAction(self.action_rqt_logger_level) 
 73              self.action_rqt_tf_tree = QAction(QIcon.fromTheme('preferences-system-network'), 
 74                                                "&TF Tree", self, 
 75                                                statusTip='"<p>Starts a python GUI plugin for visualizing the TF tree' 
 76                                                'that is connected to the selected master.</p>"', 
 77                                                triggered=self.on_show_tf_tree_clicked) 
 78              self.addAction(self.action_rqt_tf_tree) 
 79              self.action_rqt_ros_graph = QAction(QIcon(":/icons/button_graph.png"), 
 80                                                  "Ros &Graph", self, 
 81                                                  statusTip='"<p>Starts a python GUI plugin for visualizing the ROS computation graph' 
 82                                                  'that is connected to the selected master</p>"', 
 83                                                  triggered=self.on_show_ros_graph_clicked) 
 84              self.addAction(self.action_rqt_ros_graph) 
 85              self.action_rosbag_record = QAction(QIcon.fromTheme('media-record'), 
 86                                                  "rosbag record", self, 
 87                                                  statusTip='"<p>Starts the rosbag record with selected topics</p>"', 
 88                                                  triggered=self.on_start_rosbag_clicked) 
 89              self.addAction(self.action_rosbag_record) 
 90              self.action_rqt_rviz = QAction(QIcon.fromTheme('image-x-generic'), 
 91                                             "R&Viz", self, 
 92                                             statusTip='"<p>Starts RViz</p>"', 
 93                                             triggered=self.on_show_rviz_clicked) 
 94              self.addAction(self.action_rqt_rviz) 
 95              self.addSeparator() 
 96              self.action_rqt = QAction(QIcon(rqt_icon_path), 
 97                                        "&Rqt GUI", self, 
 98                                        statusTip='"<p>Start the rqt GUI' 
 99                                        'that is connected to the selected master</p>"', 
100                                        triggered=self.on_start_rqt_clicked) 
101              self.addAction(self.action_rqt) 
102              menu_button.setMenu(self) 
103          except Exception as e: 
104              print '%s' % e 
105              menu_button.setEnabled(False) 
106              menu_button.setToolTip('rqt_gui not found! Please install rqt to use its plugins!') 
107   
108 -    def on_show_console_clicked(self): 
109          self.start_rqt_plugin_signal.emit('Console', 'rqt_console.console.Console') 
110   
111 -    def on_show_logger_level_clicked(self): 
112          self.start_rqt_plugin_signal.emit('Logger Level', 'rqt_logger_level.logger_level.LoggerLevel') 
113   
114 -    def on_show_tf_tree_clicked(self): 
115          self.start_rqt_plugin_signal.emit('TF Tree', 'rqt_tf_tree.tf_tree.RosTfTree') 
116   
117 -    def on_show_ros_graph_clicked(self): 
118          self.start_rqt_plugin_signal.emit('Ros Graph', 'rqt_graph.ros_graph.RosGraph') 
119   
120 -    def on_start_rosbag_clicked(self): 
121          self.start_rqt_plugin_signal.emit('rosbag record', '') 
122   
123 -    def on_show_rviz_clicked(self): 
124          self.start_rqt_plugin_signal.emit('RViz', 'rqt_rviz/RViz') 
125   
126 -    def on_start_rqt_clicked(self): 
127          self.start_rqt_plugin_signal.emit('Rqt GUI', '') 
128