rqt_easy_handeye.py 文件源码

def __init__(self, context):
        super(RqtHandeyeCalibration, self).__init__(context)
        # Give QObjects reasonable names
        self.setObjectName('HandeyeCalibration')

        # Process standalone plugin command-line arguments
        from argparse import ArgumentParser
        parser = ArgumentParser()
        # Add argument(s) to the parser.
        parser.add_argument("-q", "--quiet", action="store_true",
                            dest="quiet",
                            help="Put plugin in silent mode")
        args, unknowns = parser.parse_known_args(context.argv())
        if not args.quiet:
            print 'arguments: ', args
            print 'unknowns: ', unknowns

        # Create QWidget
        self._widget = QWidget()
        # Get path to UI file which should be in the "resource" folder of this package
        ui_file = os.path.join(rospkg.RosPack().get_path('rqt_easy_handeye'), 'resource', 'rqt_handeye.ui')
        # Extend the widget with all attributes and children from UI file
        loadUi(ui_file, self._widget)
        # Give QObjects reasonable names
        self._widget.setObjectName('RqtHandeyeCalibrationUI')
        # Show _widget.windowTitle on left-top of each plugin (when 
        # it's set in _widget). This is useful when you open multiple 
        # plugins at once. Also if you open multiple instances of your 
        # plugin at once, these lines add number to make it easy to 
        # tell from pane to pane.
        if context.serial_number() > 1:
            self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number()))
        # Add widget to the user interface
        context.add_widget(self._widget)

        self.client = HandeyeClient()

        self._widget.calibNameLineEdit.setText(rospy.get_namespace())
        self._widget.trackingBaseFrameLineEdit.setText(self.client.tracking_base_frame)
        self._widget.trackingMarkerFrameLineEdit.setText(self.client.tracking_marker_frame)
        self._widget.robotBaseFrameLineEdit.setText(self.client.robot_base_frame)
        self._widget.robotEffectorFrameLineEdit.setText(self.client.robot_effector_frame)
        if self.client.eye_on_hand:
            self._widget.calibTypeLineEdit.setText("eye on hand")

        else:
            self._widget.calibTypeLineEdit.setText("eye on base")


        self._widget.takeButton.clicked[bool].connect(self.handle_take_sample)
        self._widget.removeButton.clicked[bool].connect(self.handle_remove_sample)
        self._widget.computeButton.clicked[bool].connect(self.handle_compute_calibration)
        self._widget.saveButton.clicked[bool].connect(self.handle_save_calibration)