Event sender and interactive marker to send events or reference frames

This branch has been updated to work with python3 and Qt5

gui_sender.py

Dependecies PyQt5 lxml (python3-lxml)

A simple interface that reads from an xml file with the format

<list>
    <button name='Start' event='e_start' tooltip='start the robot'/>
    <button name='Stop' event='e_stop'/>
</list>

Each button group produces a button that, if pressed sends the named event. The default topic is /events, but can be altered using the ros parameter 'topic_name', see gui_sender.launch for an example on how to change this. The tooltip is an optional field (text when hovering over a button). The xml file is stored in the rosparam "xml_button_file", that defauts to default.xml in the xml directory of this package.

usage

roscore
roslaunch python_gui gui_sender.launch

or

roscore
rosrun python_gui gui_sender.py

or

roscore
cd scripts
./gui_sender.py

parameters

See xml/gui_sender.launch for an example with the default values.

• topic_name: name of the topic to publish the events on
• xml_button_file_pkg: package where to find the xml_button_file, its location is apended to the xml_button_file value
• xml_button_file: location of the xml file with the event buttons to create: full path or path from xml_button_file_pkg location (start with /)

orocos integration

The file 'lua_components/signal_echo.lua' is a an orocos component realized in lua, that reads a std_msgs/String from a topic and echos as a normal string. to connect easily with components running rFSM.

for loading the component (in indigo) try something like

require "rttlib"

tc = tc or rtt.getTC()
depl = depl or tc:getPeer("Deployer")
depl:import("rtt_rosnode")
depl:import("rtt_ros")
depl:import("rtt_std_msgs")
depl:import("rtt_rospack")-- this for using the find

depl:loadComponent("eventEcho", "OCL::LuaComponent")
eventEcho = depl:getPeer("eventEcho")
eventEcho:exec_file( rtt.provides("ros"):find("python_gui").."/lua_components/signal_echo.lua")
eventEcho:configure()

--stream data to component
cp_ros=rtt.Variable("ConnPolicy")
cp_ros.transport=3
cp_ros.name_id="/events"
depl:stream("eventEcho.event_in",cp_ros)
--here, connect "eventEcho.event_out" to some other component
cp=rtt.Variable("ConnPolicy")
cp.type=1-- a buffer
cp.size=10
--depl:connect("...","eventEcho.event_out",cp)