diff --git a/design_reference/RightScreenUI.svg b/design_reference/RightScreenUI.svg
new file mode 100644
index 0000000..0bcedc8
--- /dev/null
+++ b/design_reference/RightScreenUI.svg
@@ -0,0 +1,159 @@
+
+
+
+
diff --git a/ground_station/.idea/deployment.xml b/ground_station/.idea/deployment.xml
new file mode 100644
index 0000000..cc6653c
--- /dev/null
+++ b/ground_station/.idea/deployment.xml
@@ -0,0 +1,15 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/ground_station/.idea/dictionaries/caperren.xml b/ground_station/.idea/dictionaries/caperren.xml
new file mode 100644
index 0000000..931eafa
--- /dev/null
+++ b/ground_station/.idea/dictionaries/caperren.xml
@@ -0,0 +1,7 @@
+
+
+
+ roscore
+
+
+
\ No newline at end of file
diff --git a/ground_station/.idea/ground_station.iml b/ground_station/.idea/ground_station.iml
new file mode 100644
index 0000000..8d6ce1b
--- /dev/null
+++ b/ground_station/.idea/ground_station.iml
@@ -0,0 +1,8 @@
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/ground_station/.idea/inspectionProfiles/profiles_settings.xml b/ground_station/.idea/inspectionProfiles/profiles_settings.xml
new file mode 100644
index 0000000..c23ecac
--- /dev/null
+++ b/ground_station/.idea/inspectionProfiles/profiles_settings.xml
@@ -0,0 +1,7 @@
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/ground_station/.idea/misc.xml b/ground_station/.idea/misc.xml
new file mode 100644
index 0000000..b21a5c8
--- /dev/null
+++ b/ground_station/.idea/misc.xml
@@ -0,0 +1,4 @@
+
+
+
+
\ No newline at end of file
diff --git a/ground_station/.idea/modules.xml b/ground_station/.idea/modules.xml
new file mode 100644
index 0000000..4f67be9
--- /dev/null
+++ b/ground_station/.idea/modules.xml
@@ -0,0 +1,8 @@
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/ground_station/.idea/remote-mappings.xml b/ground_station/.idea/remote-mappings.xml
new file mode 100644
index 0000000..2b82d4d
--- /dev/null
+++ b/ground_station/.idea/remote-mappings.xml
@@ -0,0 +1,16 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/ground_station/.idea/webServers.xml b/ground_station/.idea/webServers.xml
new file mode 100644
index 0000000..d47e248
--- /dev/null
+++ b/ground_station/.idea/webServers.xml
@@ -0,0 +1,12 @@
+
+
+
+
+
+
\ No newline at end of file
diff --git a/ground_station/.idea/workspace.xml b/ground_station/.idea/workspace.xml
new file mode 100644
index 0000000..62e81c3
--- /dev/null
+++ b/ground_station/.idea/workspace.xml
@@ -0,0 +1,408 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ true
+ DEFINITION_ORDER
+
+
+
+
+
+
+
+
+
+
+
+
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+
+
+
+
+
+
+
+
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+
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+
+
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+
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+
+
+
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+
+
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+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ project
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 1510962234686
+
+
+ 1510962234686
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+
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+
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+
+
+
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+
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+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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+
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+
+
+
+
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+
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+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/ground_station/RoverGroundStation.py b/ground_station/RoverGroundStation.py
new file mode 100755
index 0000000..74b49ec
--- /dev/null
+++ b/ground_station/RoverGroundStation.py
@@ -0,0 +1,240 @@
+#!/usr/bin/env python
+
+"""
+ Main file used to launch the Rover Base Station
+ No other files should be used for launching this application.
+"""
+
+#####################################
+# Imports
+#####################################
+# Python native imports
+import sys
+from PyQt5 import QtWidgets, QtCore, QtGui, uic
+import signal
+import rospy
+import roslaunch
+import os
+import psutil
+import subprocess
+from cv_bridge import CvBridge, CvBridgeError
+import cv2
+import qimage2ndarray
+
+from geometry_msgs.msg import Twist
+from sensor_msgs.msg import CompressedImage
+#from sensor_msgs.msg import Image, CompressedImage
+# Custom Imports
+
+#####################################
+# Global Variables
+#####################################
+UI_FILE_LEFT = "resources/ui/left_screen.ui"
+UI_FILE_RIGHT = "resources/ui/right_screen.ui"
+
+#####################################
+# Class Organization
+#####################################
+# Class Name:
+# "init"
+# "private methods"
+# "public methods, minus slots"
+# "slot methods"
+# "static methods"
+
+
+class VideoTest(QtCore.QThread):
+ ROS_CORE_COMMAND = ["roscore"]
+
+ publish_message_signal = QtCore.pyqtSignal()
+ image_ready_signal = QtCore.pyqtSignal()
+
+ def __init__(self, screen_label, video_size=None, sub_path=None):
+ super(VideoTest, self).__init__()
+
+ self.not_abort = True
+
+ self.right_screen_label = screen_label # type: QtGui.QPixmap
+ self.video_size = video_size
+
+ #rospy.init_node("video_test")
+
+ self.message = None
+
+ self.publisher = rospy.Subscriber(sub_path, CompressedImage, self.__receive_message)
+
+ self.raw_image = None
+ self.cv_image = None
+ self.pixmap = None
+ self.bridge = CvBridge()
+ # self.bridge.com
+
+ self.image_ready_signal.connect(self.__on_image_update_ready)
+
+ def run(self):
+ # TODO: Thread starting message here
+ while self.not_abort:
+ if self.raw_image:
+ self.cv_image = self.bridge.compressed_imgmsg_to_cv2(self.raw_image, "rgb8")
+
+ if self.video_size:
+ self.cv_image = cv2.resize(self.cv_image, self.video_size)
+ self.pixmap = QtGui.QPixmap.fromImage(qimage2ndarray.array2qimage(self.cv_image))
+ self.image_ready_signal.emit()
+ #print "doin stuff"
+ self.msleep(10)
+ # TODO: Thread ending message here
+
+ def __on_image_update_ready(self):
+ self.right_screen_label.setPixmap(self.pixmap)
+
+ def __receive_message(self, message):
+ #print "messgae"
+ self.raw_image = message
+
+ def setup_start_and_kill_signals(self, start_signal, kill_signal):
+ start_signal.connect(self.start)
+ kill_signal.connect(self.on_kill_threads_requested__slot)
+
+ def on_kill_threads_requested__slot(self):
+ self.not_abort = False
+
+
+class DriveTest(QtCore.QThread):
+ ROS_CORE_COMMAND = ["roscore"]
+
+ publish_message_signal = QtCore.pyqtSignal()
+
+ def __init__(self):
+ super(DriveTest, self).__init__()
+
+ self.not_abort = True
+
+ self.message = None
+ self.publisher = rospy.Publisher("/cmd_vel", Twist, queue_size=10)
+
+ rospy.init_node("test")
+
+ def run(self):
+ # TODO: Thread starting message here
+ while self.not_abort:
+ self.message = Twist()
+
+ self.message.linear.x = 1.0
+ self.message.angular.z = 1.0
+
+ self.publisher.publish(self.message)
+
+ self.msleep(100)
+ # TODO: Thread ending message here
+
+ def __publish_message(self):
+ pass
+
+ def setup_start_and_kill_signals(self, start_signal, kill_signal):
+ start_signal.connect(self.start)
+ kill_signal.connect(self.on_kill_threads_requested__slot)
+
+ def on_kill_threads_requested__slot(self):
+ self.not_abort = False
+
+
+#####################################
+# ApplicationWindow Class Definition
+#####################################
+class ApplicationWindow(QtWidgets.QMainWindow):
+ exit_requested_signal = QtCore.pyqtSignal()
+
+ kill_threads_signal = QtCore.pyqtSignal()
+
+ def __init__(self, parent=None, ui_file_path=None):
+ super(ApplicationWindow, self).__init__(parent)
+
+ uic.loadUi(ui_file_path, self)
+
+ QtWidgets.QShortcut(QtGui.QKeySequence("Ctrl+Q"), self, self.exit_requested_signal.emit)
+
+
+#####################################
+# GroundStation Class Definition
+#####################################
+class GroundStation(QtCore.QObject):
+ LEFT_SCREEN_ID = 0
+ RIGHT_SCREEN_ID = 1
+
+ start_threads_signal = QtCore.pyqtSignal()
+ kill_threads_signal = QtCore.pyqtSignal()
+
+ def __init__(self, parent=None,):
+ # noinspection PyArgumentList
+ super(GroundStation, self).__init__(parent)
+
+ self.left_screen = self.create_application_window(UI_FILE_LEFT, "Rover Ground Station Left Screen",
+ self.LEFT_SCREEN_ID) # type: ApplicationWindow
+ self.right_screen = self.create_application_window(UI_FILE_RIGHT, "Rover Ground Station Right Screen",
+ self.RIGHT_SCREEN_ID) # type: ApplicationWindow
+
+ # Start ROSCORE
+ self.video_test = VideoTest(self.right_screen.primary_video_label, sub_path="/cam1/usb_cam1/image_raw/compressed")
+ self.video_test_1 = VideoTest(self.right_screen.secondary_video_label, (640, 360), sub_path="/cam2/usb_cam2/image_raw//compressed")
+ self.video_test_2 = VideoTest(self.right_screen.tertiary_video_label, (640, 360), sub_path="/zed/right/image_raw_color/compressed")
+ self.drive_test = DriveTest()
+
+ # Keep track of all threads
+ self.threads = []
+ self.threads.append(self.drive_test)
+ self.threads.append(self.video_test)
+ self.threads.append(self.video_test_1)
+ self.threads.append(self.video_test_2)
+
+ # Connect signals
+ for thread in self.threads:
+ thread.setup_start_and_kill_signals(self.start_threads_signal, self.kill_threads_signal)
+
+ self.__connect_signals_to_slots()
+ self.start_threads_signal.emit()
+
+ def __connect_signals_to_slots(self):
+ self.left_screen.exit_requested_signal.connect(self.on_exit_requested__slot)
+ self.right_screen.exit_requested_signal.connect(self.on_exit_requested__slot)
+
+ def on_exit_requested__slot(self):
+ self.kill_threads_signal.emit()
+
+ # Wait for Threads
+ for thread in self.threads:
+ thread.wait()
+
+ QtGui.QGuiApplication.exit()
+
+ @staticmethod
+ def create_application_window(ui_file_path, title, display_screen):
+ system_desktop = QtWidgets.QDesktopWidget() # This gets us access to the desktop geometry
+
+ app_window = ApplicationWindow(parent=None, ui_file_path=ui_file_path) # Make a window in this application
+ app_window.setWindowTitle(title) # Sets the window title
+
+ app_window.setWindowFlags(app_window.windowFlags() | # Sets the windows flags to:
+ QtCore.Qt.FramelessWindowHint | # remove the border and frame on the application,
+ QtCore.Qt.WindowStaysOnTopHint | # and makes the window stay on top of all others
+ QtCore.Qt.X11BypassWindowManagerHint) # This is needed to show fullscreen in gnome
+
+ app_window.setGeometry(
+ system_desktop.screenGeometry(display_screen)) # Sets the window to be on the first screen
+
+ app_window.showFullScreen() # Shows the window in full screen mode
+
+ return app_window
+
+
+#####################################
+# Main Definition
+#####################################
+if __name__ == "__main__":
+ signal.signal(signal.SIGINT, signal.SIG_DFL) # This allows the keyboard interrupt kill to work properly
+
+ application = QtWidgets.QApplication(sys.argv) # Create the ase qt gui application
+
+ ground_station = GroundStation()
+
+ application.exec_() # Execute launching of the application
diff --git a/ground_station/resources/ui/left_screen.ui b/ground_station/resources/ui/left_screen.ui
new file mode 100644
index 0000000..08f5409
--- /dev/null
+++ b/ground_station/resources/ui/left_screen.ui
@@ -0,0 +1,80 @@
+
+
+ MainWindow
+
+
+
+ 0
+ 0
+ 1920
+ 1080
+
+
+
+
+ 0
+ 0
+
+
+
+
+ 1920
+ 1080
+
+
+
+
+ 1920
+ 1080
+
+
+
+ MainWindow
+
+
+ 1.000000000000000
+
+
+ background-color: #201F1D;
+color: #DCDCDC;
+
+
+
+
+ 0
+
+
+ 0
+
+
+ 0
+
+
+ 0
+
+
+ 0
+
+ -
+
+
+
+ 74
+ 75
+ true
+
+
+
+ UI File 1 (Left Screen)
+
+
+ Qt::AlignCenter
+
+
+
+
+
+
+
+
+
diff --git a/ground_station/resources/ui/right_screen.ui b/ground_station/resources/ui/right_screen.ui
new file mode 100644
index 0000000..0df80bf
--- /dev/null
+++ b/ground_station/resources/ui/right_screen.ui
@@ -0,0 +1,149 @@
+
+
+ MainWindow
+
+
+
+ 0
+ 0
+ 1920
+ 1080
+
+
+
+
+ 0
+ 0
+
+
+
+
+ 1920
+ 1080
+
+
+
+
+ 1920
+ 1080
+
+
+
+ MainWindow
+
+
+ 1.000000000000000
+
+
+ background-color: #201F1D;
+color: #DCDCDC;
+
+
+
+
+ 0
+
+
+ 0
+
+
+ 0
+
+
+ 0
+
+
+ 0
+
+ -
+
+
+
+ 1280
+ 720
+
+
+
+
+ 1280
+ 720
+
+
+
+ background-color: darkblue;
+
+
+
+
+
+
+ -
+
+
+ 0
+
+
-
+
+
+
+ 640
+ 360
+
+
+
+
+ 640
+ 360
+
+
+
+ background-color:darkgreen;
+
+
+
+
+
+
+ -
+
+
+
+ 640
+ 360
+
+
+
+
+ 640
+ 360
+
+
+
+ background-color:maroon;
+
+
+
+
+
+
+
+
+ -
+
+
+ Qt::Horizontal
+
+
+
+ 40
+ 20
+
+
+
+
+
+
+
+
+
+