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Control changes. Joystick and spacenav sucked. Switched to regular controllers. Added readout for xbox controller mode.

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This commit is contained in:
Corwin Perren
2018-08-06 20:13:50 -07:00
parent e688aff233
commit 5e65f9dfdd
6 changed files with 328 additions and 103 deletions
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132
software/ros_packages/ground_station/src/Framework/InputSystems/JoystickControlSender.py → software/ros_packages/ground_station/src/Framework/InputSystems/LogitechControllerControlSender.py
View File

@@ -13,7 +13,7 @@ from rover_control.msg import DriveCommandMessage, TowerPanTiltControlMessage
##################################### #####################################
# Global Variables # Global Variables
##################################### #####################################
GAME_CONTROLLER_NAME = "Logitech Logitech Extreme 3D Pro" GAME_CONTROLLER_NAME = "Logitech Logitech Dual Action"
DEFAULT_DRIVE_COMMAND_TOPIC = "/rover_control/command_control/ground_station_drive" DEFAULT_DRIVE_COMMAND_TOPIC = "/rover_control/command_control/ground_station_drive"
DEFAULT_TOWER_PAN_TILT_COMMAND_TOPIC = "/rover_control/tower/pan_tilt/control" DEFAULT_TOWER_PAN_TILT_COMMAND_TOPIC = "/rover_control/tower/pan_tilt/control"
@@ -21,8 +21,10 @@ DEFAULT_CHASSIS_PAN_TILT_COMMAND_TOPIC = "/rover_control/chassis/pan_tilt/contro
DRIVE_COMMAND_HERTZ = 20 DRIVE_COMMAND_HERTZ = 20
Y_AXIS_DEADBAND = 0.05 STICK_DEADBAND = 8
X_AXIS_DEADBAND = 0.05
STICK_MAX = 128.0
STICK_OFFSET = 127
THROTTLE_MIN = 0.05 THROTTLE_MIN = 0.05
@@ -56,51 +58,57 @@ class LogitechJoystick(QtCore.QThread):
self.gamepad = None # type: GamePad self.gamepad = None # type: GamePad
self.controller_states = { self.controller_states = {
"x_axis": 512, "left_x_axis": 127,
"y_axis": 512, "left_y_axis": 127,
"z_axis": 128, "right_x_axis": 127,
"throttle_axis": 128, "right_y_axis": 127,
"hat_x_axis": 0, "left_trigger": 0,
"hat_y_axis": 0, "right_trigger": 0,
"trigger_pressed": 0, "left_stick": 0,
"thumb_pressed": 0, "right_right": 0,
"three_pressed": 0,
"four_pressed": 0,
"five_pressed": 0,
"six_pressed": 0,
"seven_pressed": 0, "left_bumper": 0,
"eight_pressed": 0, "right_bumper": 0,
"nine_pressed": 0,
"ten_pressed": 0, "d_pad_x": 0,
"eleven_pressed": 0, "d_pad_y": 0,
"twelve_pressed": 0,
"back": 0,
"start": 0,
"a": 0,
"x": 0,
"y": 0,
"b": 0,
} }
self.raw_mapping_to_class_mapping = { self.raw_mapping_to_class_mapping = {
"ABS_X": "x_axis", "ABS_X": "left_x_axis",
"ABS_Y": "y_axis", "ABS_Y": "left_y_axis",
"ABS_RZ": "z_axis", "ABS_Z": "right_x_axis",
"ABS_THROTTLE": "throttle_axis", "ABS_RZ": "right_y_axis",
"ABS_HAT0X": "hat_x_axis", "BTN_BASE": "left_trigger",
"ABS_HAT0Y": "hat_y_axis", "BTN_BASE2": "right_trigger",
"BTN_TRIGGER": "trigger_pressed", "BTN_BASE5": "left_stick",
"BTN_THUMB": "thumb_pressed", "BTN_BASE6": "right_right",
"BTN_THUMB2": "three_pressed",
"BTN_TOP": "four_pressed",
"BTN_TOP2": "five_pressed",
"BTN_PINKIE": "six_pressed",
"BTN_BASE": "seven_pressed", "BTN_TOP2": "left_bumper",
"BTN_BASE2": "eight_pressed", "BTN_PINKIE": "right_bumper",
"BTN_BASE3": "nine_pressed",
"BTN_BASE4": "ten_pressed", "ABS_HAT0X": "d_pad_x",
"BTN_BASE5": "eleven_pressed", "ABS_HAT0Y": "d_pad_y",
"BTN_BASE6": "twelve_pressed"
"BTN_BASE3": "back",
"BTN_BASE4": "start",
"BTN_THUMB": "a",
"BTN_TRIGGER": "x",
"BTN_TOP": "y",
"BTN_THUMB2": "b",
} }
self.ready = False self.ready = False
@@ -118,6 +126,7 @@ class LogitechJoystick(QtCore.QThread):
def __setup_controller(self): def __setup_controller(self):
for device in devices.gamepads: for device in devices.gamepads:
# print device
if device.name == GAME_CONTROLLER_NAME: if device.name == GAME_CONTROLLER_NAME:
self.gamepad = device self.gamepad = device
@@ -129,7 +138,7 @@ class LogitechJoystick(QtCore.QThread):
events = self.gamepad.read() events = self.gamepad.read()
for event in events: for event in events:
# print event.code print event.code, event.state
if event.code in self.raw_mapping_to_class_mapping: if event.code in self.raw_mapping_to_class_mapping:
self.controller_states[self.raw_mapping_to_class_mapping[event.code]] = event.state self.controller_states[self.raw_mapping_to_class_mapping[event.code]] = event.state
@@ -139,7 +148,7 @@ class LogitechJoystick(QtCore.QThread):
##################################### #####################################
# Controller Class Definition # Controller Class Definition
##################################### #####################################
class JoystickControlSender(QtCore.QThread): class LogitechControllerControlSender(QtCore.QThread):
set_speed_limit__signal = QtCore.pyqtSignal(int) set_speed_limit__signal = QtCore.pyqtSignal(int)
set_left_drive_output__signal = QtCore.pyqtSignal(int) set_left_drive_output__signal = QtCore.pyqtSignal(int)
set_right_drive_output__signal = QtCore.pyqtSignal(int) set_right_drive_output__signal = QtCore.pyqtSignal(int)
@@ -149,7 +158,7 @@ class JoystickControlSender(QtCore.QThread):
toggle_selected_gui_camera__signal = QtCore.pyqtSignal() toggle_selected_gui_camera__signal = QtCore.pyqtSignal()
def __init__(self, shared_objects): def __init__(self, shared_objects):
super(JoystickControlSender, self).__init__() super(LogitechControllerControlSender, self).__init__()
# ########## Reference to class init variables ########## # ########## Reference to class init variables ##########
self.shared_objects = shared_objects self.shared_objects = shared_objects
@@ -215,7 +224,7 @@ class JoystickControlSender(QtCore.QThread):
self.video_coordinator.pan_tilt_selection_changed__signal.connect(self.on_pan_tilt_selection_changed__slot) self.video_coordinator.pan_tilt_selection_changed__signal.connect(self.on_pan_tilt_selection_changed__slot)
def check_and_set_pause_state(self): def check_and_set_pause_state(self):
thumb_pressed = self.joystick.controller_states["thumb_pressed"] thumb_pressed = self.joystick.controller_states["start"]
if thumb_pressed and (time() - self.last_pause_state_time) > PAUSE_STATE_CHANGE_TIME: if thumb_pressed and (time() - self.last_pause_state_time) > PAUSE_STATE_CHANGE_TIME:
self.drive_paused = not self.drive_paused self.drive_paused = not self.drive_paused
self.show_changed_pause_state() self.show_changed_pause_state()
@@ -227,7 +236,8 @@ class JoystickControlSender(QtCore.QThread):
self.publish_pan_tilt_control_commands() self.publish_pan_tilt_control_commands()
def publish_drive_command(self): def publish_drive_command(self):
throttle_axis = max((255 - self.joystick.controller_states["throttle_axis"]) / 255.0, THROTTLE_MIN) throttle_axis = 1
# throttle_axis = max((255 - self.joystick.controller_states["throttle_axis"]) / 255.0, THROTTLE_MIN)
if self.drive_paused: if self.drive_paused:
drive_message = DriveCommandMessage() drive_message = DriveCommandMessage()
@@ -244,11 +254,11 @@ class JoystickControlSender(QtCore.QThread):
self.drive_command_publisher.publish(drive_message) self.drive_command_publisher.publish(drive_message)
def publish_camera_control_commands(self): def publish_camera_control_commands(self):
trigger_pressed = self.joystick.controller_states["trigger_pressed"] trigger_pressed = self.joystick.controller_states["y"]
three_pressed = self.joystick.controller_states["three_pressed"] three_pressed = self.joystick.controller_states["left_bumper"]
four_pressed = self.joystick.controller_states["four_pressed"] four_pressed = self.joystick.controller_states["right_bumper"]
five_pressed = self.joystick.controller_states["five_pressed"] five_pressed = self.joystick.controller_states["left_trigger"]
six_pressed = self.joystick.controller_states["six_pressed"] six_pressed = self.joystick.controller_states["right_trigger"]
if (five_pressed or six_pressed) and (time() - self.last_camera_change_time) > CAMERA_CHANGE_TIME: if (five_pressed or six_pressed) and (time() - self.last_camera_change_time) > CAMERA_CHANGE_TIME:
change = -1 if five_pressed else 1 change = -1 if five_pressed else 1
@@ -265,9 +275,9 @@ class JoystickControlSender(QtCore.QThread):
self.last_camera_toggle_time = time() self.last_camera_toggle_time = time()
def publish_pan_tilt_control_commands(self): def publish_pan_tilt_control_commands(self):
button_eight = self.joystick.controller_states["seven_pressed"] button_eight = self.joystick.controller_states["a"]
hat_x = self.joystick.controller_states["hat_x_axis"] hat_x = self.joystick.controller_states["d_pad_x"]
hat_y = self.joystick.controller_states["hat_y_axis"] hat_y = self.joystick.controller_states["d_pad_y"]
if (hat_x == 0 and not self.last_hat_x_was_movement) and ( if (hat_x == 0 and not self.last_hat_x_was_movement) and (
hat_y == 0 and not self.last_hat_y_was_movement) and not button_eight: hat_y == 0 and not self.last_hat_y_was_movement) and not button_eight:
@@ -294,20 +304,14 @@ class JoystickControlSender(QtCore.QThread):
def get_drive_message(self, throttle_axis): def get_drive_message(self, throttle_axis):
drive_message = DriveCommandMessage() drive_message = DriveCommandMessage()
y_axis = throttle_axis * (-(self.joystick.controller_states["y_axis"] - 512) / 512.0) left_y_axis = self.joystick.controller_states["left_y_axis"] if abs(self.joystick.controller_states["left_y_axis"]) > STICK_DEADBAND else 0
z_axis = throttle_axis * (-(self.joystick.controller_states["z_axis"] - 128) / 128.0) right_y_axis = self.joystick.controller_states["right_y_axis"] if abs(self.joystick.controller_states["right_y_axis"]) > STICK_DEADBAND else 0
x_axis = throttle_axis * (-(self.joystick.controller_states["x_axis"] - 512) / 512.0)
if abs(y_axis) < Y_AXIS_DEADBAND: left_y_axis = throttle_axis * (-(left_y_axis - STICK_OFFSET) / STICK_MAX)
y_axis = 0 right_y_axis = throttle_axis * (-(right_y_axis - STICK_OFFSET) / STICK_MAX)
if abs(x_axis) < X_AXIS_DEADBAND and y_axis == 0: drive_message.drive_twist.linear.x = (left_y_axis + right_y_axis) / 2.0
twist = z_axis drive_message.drive_twist.angular.z = (right_y_axis - left_y_axis) / 2.0
else:
twist = x_axis if y_axis >= 0 else -x_axis
drive_message.drive_twist.linear.x = y_axis
drive_message.drive_twist.angular.z = twist
return drive_message return drive_message

13
software/ros_packages/ground_station/src/Framework/InputSystems/SpaceNavControlSender.py
View File

@@ -160,20 +160,7 @@ class SpaceNavControlSender(QtCore.QThread):
elif self.current_control_mode == self.ARM_MODE: elif self.current_control_mode == self.ARM_MODE:
pass pass
def send_mining_commands(self):
linear_z = self.spnav_states["linear_z"]
angular_y = self.spnav_states["angular_y"]
message = MiningControlMessage()
message.lift_set_absolute = 1024
message.tilt_set_absolute = 1024
message.lift_set_relative = linear_z * MINING_LIFT_SCALAR if abs(linear_z) > Z_LINEAR_DEADBAND else 0
message.tilt_set_relative = angular_y * MINING_TILT_SCALAR if abs(angular_y) > Y_ANGULAR_DEADBAND else 0
message.cal_factor = -1
self.mining_control_publisher.publish(message)
# print self.spnav_states["linear_z"], self.spnav_states["angular_y"] # print self.spnav_states["linear_z"], self.spnav_states["angular_y"]
def connect_signals_and_slots(self): def connect_signals_and_slots(self):

106
software/ros_packages/ground_station/src/Framework/InputSystems/ControllerControlSender.py → software/ros_packages/ground_station/src/Framework/InputSystems/XBOXControllerControlSender.py
View File

@@ -9,6 +9,7 @@ from time import time
import rospy import rospy
from rover_arm.msg import ArmControlMessage from rover_arm.msg import ArmControlMessage
from rover_control.msg import MiningControlMessage
##################################### #####################################
# Global Variables # Global Variables
@@ -18,6 +19,7 @@ GAME_CONTROLLER_NAME = "Afterglow Gamepad for Xbox 360"
DRIVE_COMMAND_HERTZ = 20 DRIVE_COMMAND_HERTZ = 20
RELATIVE_ARM_CONTROL_TOPIC = "/rover_arm/control/relative" RELATIVE_ARM_CONTROL_TOPIC = "/rover_arm/control/relative"
MINING_CONTROL_TOPIC = "/rover_control/mining/control"
BASE_SCALAR = 0.003 BASE_SCALAR = 0.003
SHOULDER_SCALAR = 0.002 SHOULDER_SCALAR = 0.002
@@ -32,6 +34,15 @@ LEFT_Y_AXIS_DEADZONE = 1500
RIGHT_X_AXIS_DEADZONE = 1500 RIGHT_X_AXIS_DEADZONE = 1500
RIGHT_Y_AXIS_DEADZONE = 1500 RIGHT_Y_AXIS_DEADZONE = 1500
THUMB_STICK_MAX = 32768.0
MINING_LIFT_SCALAR = 5
MINING_TILT_SCALAR = 5
COLOR_GREEN = "background-color:darkgreen; border: 1px solid black;"
COLOR_NONE = "border: 1px solid black;"
##################################### #####################################
# Controller Class Definition # Controller Class Definition
@@ -120,7 +131,7 @@ class XBOXController(QtCore.QThread):
def __setup_controller(self): def __setup_controller(self):
for device in devices.gamepads: for device in devices.gamepads:
print device # print device
if device.name == GAME_CONTROLLER_NAME: if device.name == GAME_CONTROLLER_NAME:
self.gamepad = device self.gamepad = device
@@ -146,15 +157,23 @@ class XBOXController(QtCore.QThread):
##################################### #####################################
# Controller Class Definition # Controller Class Definition
##################################### #####################################
class ControllerControlSender(QtCore.QThread): class XBOXControllerControlSender(QtCore.QThread):
STATES = [
"ARM",
"MINING"
]
xbox_control_arm_stylesheet_update_ready__signal = QtCore.pyqtSignal(str)
xbox_control_mining_stylesheet_update_ready__signal = QtCore.pyqtSignal(str)
def __init__(self, shared_objects): def __init__(self, shared_objects):
super(ControllerControlSender, self).__init__() super(XBOXControllerControlSender, self).__init__()
# ########## Reference to class init variables ########## # ########## Reference to class init variables ##########
self.shared_objects = shared_objects self.shared_objects = shared_objects
self.video_coordinator = self.shared_objects["threaded_classes"]["Video Coordinator"] self.left_screen = self.shared_objects["screens"]["left_screen"]
self.right_screen = self.shared_objects["screens"]["right_screen"] self.xbox_mode_arm_label = self.left_screen.xbox_mode_arm_label # type: QtWidgets.QLabel
self.xbox_mode_mining_label = self.left_screen.xbox_mode_mining_label # type: QtWidgets.QLabel
# ########## Get the settings instance ########## # ########## Get the settings instance ##########
self.settings = QtCore.QSettings() self.settings = QtCore.QSettings()
@@ -173,6 +192,12 @@ class ControllerControlSender(QtCore.QThread):
self.relative_arm_control_publisher = rospy.Publisher(RELATIVE_ARM_CONTROL_TOPIC, ArmControlMessage, self.relative_arm_control_publisher = rospy.Publisher(RELATIVE_ARM_CONTROL_TOPIC, ArmControlMessage,
queue_size=1) queue_size=1)
self.mining_control_publisher = rospy.Publisher(MINING_CONTROL_TOPIC, MiningControlMessage, queue_size=1)
self.current_state = self.STATES.index("ARM")
self.state_just_changed = False
self.last_xbox_button_state = 0
def run(self): def run(self):
self.logger.debug("Starting Joystick Thread") self.logger.debug("Starting Joystick Thread")
@@ -180,7 +205,12 @@ class ControllerControlSender(QtCore.QThread):
while self.run_thread_flag: while self.run_thread_flag:
start_time = time() start_time = time()
self.process_and_send_arm_control() self.change_control_state_if_needed()
if self.current_state == self.STATES.index("ARM"):
self.process_and_send_arm_control()
elif self.current_state == self.STATES.index("MINING"):
self.send_mining_commands()
time_diff = time() - start_time time_diff = time() - start_time
@@ -189,9 +219,32 @@ class ControllerControlSender(QtCore.QThread):
self.logger.debug("Stopping Joystick Thread") self.logger.debug("Stopping Joystick Thread")
def connect_signals_and_slots(self): def connect_signals_and_slots(self):
pass self.xbox_control_arm_stylesheet_update_ready__signal.connect(self.xbox_mode_arm_label.setStyleSheet)
self.xbox_control_mining_stylesheet_update_ready__signal.connect(self.xbox_mode_mining_label.setStyleSheet)
def change_control_state_if_needed(self):
if self.state_just_changed:
self.xbox_control_arm_stylesheet_update_ready__signal.emit(COLOR_NONE)
self.xbox_control_mining_stylesheet_update_ready__signal.emit(COLOR_GREEN)
self.state_just_changed = False
xbox_state = self.controller.controller_states["xbox_button"]
if self.last_xbox_button_state == 0 and xbox_state == 1:
self.current_state += 1
self.current_state = self.current_state % len(self.STATES)
self.state_just_changed = True
self.last_xbox_button_state = 1
elif self.last_xbox_button_state == 1 and xbox_state == 0:
self.last_xbox_button_state = 0
def process_and_send_arm_control(self): def process_and_send_arm_control(self):
if self.state_just_changed:
self.xbox_control_arm_stylesheet_update_ready__signal.emit(COLOR_GREEN)
self.xbox_control_mining_stylesheet_update_ready__signal.emit(COLOR_NONE)
self.state_just_changed = False
message = ArmControlMessage() message = ArmControlMessage()
should_publish = False should_publish = False
@@ -200,13 +253,13 @@ class ControllerControlSender(QtCore.QThread):
right_trigger = self.controller.controller_states["right_trigger"] right_trigger = self.controller.controller_states["right_trigger"]
left_x_axis = self.controller.controller_states["left_x_axis"] if abs(self.controller.controller_states[ left_x_axis = self.controller.controller_states["left_x_axis"] if abs(self.controller.controller_states[
"left_x_axis"]) > LEFT_X_AXIS_DEADZONE else 0 "left_x_axis"]) > LEFT_X_AXIS_DEADZONE else 0
left_y_axis = self.controller.controller_states["left_y_axis"] if abs(self.controller.controller_states[ left_y_axis = self.controller.controller_states["left_y_axis"] if abs(self.controller.controller_states[
"left_y_axis"]) > LEFT_Y_AXIS_DEADZONE else 0 "left_y_axis"]) > LEFT_Y_AXIS_DEADZONE else 0
right_y_axis = self.controller.controller_states["right_y_axis"] if abs(self.controller.controller_states[ right_y_axis = self.controller.controller_states["right_y_axis"] if abs(self.controller.controller_states[
"right_y_axis"]) > RIGHT_Y_AXIS_DEADZONE else 0 "right_y_axis"]) > RIGHT_Y_AXIS_DEADZONE else 0
right_x_axis = self.controller.controller_states["right_x_axis"] if abs(self.controller.controller_states[ right_x_axis = self.controller.controller_states["right_x_axis"] if abs(self.controller.controller_states[
"right_x_axis"]) > RIGHT_X_AXIS_DEADZONE else 0 "right_x_axis"]) > RIGHT_X_AXIS_DEADZONE else 0
# print left_x_axis, ":", left_y_axis, ":", right_x_axis, ":", right_y_axis # print left_x_axis, ":", left_y_axis, ":", right_x_axis, ":", right_y_axis
@@ -215,19 +268,38 @@ class ControllerControlSender(QtCore.QThread):
if left_trigger > 25: if left_trigger > 25:
should_publish = True should_publish = True
message.base = ((left_x_axis / 32768.0) * BASE_SCALAR) * left_trigger_ratio message.base = ((left_x_axis / THUMB_STICK_MAX) * BASE_SCALAR) * left_trigger_ratio
message.shoulder = (-(left_y_axis / 32768.0) * SHOULDER_SCALAR) * left_trigger_ratio message.shoulder = ((left_y_axis / THUMB_STICK_MAX) * SHOULDER_SCALAR) * left_trigger_ratio
message.elbow = ((right_y_axis / 32768.0) * ELBOW_SCALAR) * left_trigger_ratio message.elbow = (-(right_y_axis / THUMB_STICK_MAX) * ELBOW_SCALAR) * left_trigger_ratio
message.roll = (-(right_x_axis / 32768.0) * ROLL_SCALAR) * left_trigger_ratio message.roll = (-(right_x_axis / THUMB_STICK_MAX) * ROLL_SCALAR) * left_trigger_ratio
elif right_trigger > 25: elif right_trigger > 25:
should_publish = True should_publish = True
message.wrist_roll = ((right_x_axis / 32768.0) * WRIST_ROLL_SCALAR) * right_trigger_ratio message.wrist_roll = ((right_x_axis / THUMB_STICK_MAX) * WRIST_ROLL_SCALAR) * right_trigger_ratio
message.wrist_pitch = ((left_y_axis / 32768.0) * WRIST_PITCH_SCALAR) * right_trigger_ratio message.wrist_pitch = (-(left_y_axis / THUMB_STICK_MAX) * WRIST_PITCH_SCALAR) * right_trigger_ratio
if should_publish: if should_publish:
self.relative_arm_control_publisher.publish(message) self.relative_arm_control_publisher.publish(message)
def send_mining_commands(self):
left_y_axis = self.controller.controller_states["left_y_axis"] if abs(self.controller.controller_states["left_y_axis"]) > LEFT_Y_AXIS_DEADZONE else 0
right_y_axis = self.controller.controller_states["right_y_axis"] if abs(self.controller.controller_states[
"right_y_axis"]) > RIGHT_Y_AXIS_DEADZONE else 0
if left_y_axis or right_y_axis:
message = MiningControlMessage()
message.lift_set_absolute = 1024
message.tilt_set_absolute = 1024
message.lift_set_relative = (-(left_y_axis / THUMB_STICK_MAX) * MINING_LIFT_SCALAR)
message.tilt_set_relative = ((right_y_axis / THUMB_STICK_MAX) * MINING_TILT_SCALAR)
message.cal_factor = -1
self.mining_control_publisher.publish(message)
def setup_signals(self, start_signal, signals_and_slots_signal, kill_signal): def setup_signals(self, start_signal, signals_and_slots_signal, kill_signal):
start_signal.connect(self.start) start_signal.connect(self.start)
signals_and_slots_signal.connect(self.connect_signals_and_slots) signals_and_slots_signal.connect(self.connect_signals_and_slots)

168
software/ros_packages/ground_station/src/Resources/Ui/left_screen.ui
View File

@@ -2574,13 +2574,13 @@ N/A</string>
</property> </property>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>640</width> <width>470</width>
<height>360</height> <height>360</height>
</size> </size>
</property> </property>
<property name="maximumSize"> <property name="maximumSize">
<size> <size>
<width>640</width> <width>470</width>
<height>360</height> <height>360</height>
</size> </size>
</property> </property>
@@ -3170,6 +3170,170 @@ N/A</string>
</layout> </layout>
</widget> </widget>
</item> </item>
<item>
<spacer name="horizontalSpacer_16">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="Line" name="line_9">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_17">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout_18">
<property name="spacing">
<number>6</number>
</property>
<item>
<widget class="QLabel" name="label_34">
<property name="font">
<font>
<pointsize>12</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Xbox Mode</string>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_16">
<property name="spacing">
<number>0</number>
</property>
<item>
<widget class="QLabel" name="xbox_mode_arm_label">
<property name="minimumSize">
<size>
<width>120</width>
<height>120</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>120</width>
<height>120</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color:darkgreen; border: 1px solid black;</string>
</property>
<property name="text">
<string>Arm</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_17">
<property name="spacing">
<number>0</number>
</property>
<item>
<widget class="QLabel" name="xbox_mode_mining_label">
<property name="minimumSize">
<size>
<width>120</width>
<height>120</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>120</width>
<height>120</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">border: 1px solid black;</string>
</property>
<property name="text">
<string>Mining</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</item>
<item>
<spacer name="verticalSpacer_7">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item>
<spacer name="horizontalSpacer_18">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="Line" name="line_10">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_15">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item> <item>
<widget class="QWidget" name="widget_3" native="true"> <widget class="QWidget" name="widget_3" native="true">
<property name="sizePolicy"> <property name="sizePolicy">

10
software/ros_packages/ground_station/src/ground_station.py
View File

@@ -15,15 +15,14 @@ import Framework.StartupSystems.ROSMasterChecker as ROSMasterChecker
import Framework.LoggingSystems.Logger as Logger import Framework.LoggingSystems.Logger as Logger
import Framework.VideoSystems.RoverVideoCoordinator as RoverVideoCoordinator import Framework.VideoSystems.RoverVideoCoordinator as RoverVideoCoordinator
import Framework.MapSystems.RoverMapCoordinator as RoverMapCoordinator import Framework.MapSystems.RoverMapCoordinator as RoverMapCoordinator
import Framework.InputSystems.JoystickControlSender as JoystickControlSender import Framework.InputSystems.LogitechControllerControlSender as JoystickControlSender
import Framework.InputSystems.ControllerControlSender as ControllerControlSender import Framework.InputSystems.XBOXControllerControlSender as ControllerControlSender
import Framework.NavigationSystems.SpeedAndHeadingIndication as SpeedAndHeading import Framework.NavigationSystems.SpeedAndHeadingIndication as SpeedAndHeading
import Framework.NavigationSystems.WaypointsCoordinator as WaypointsCoordinator import Framework.NavigationSystems.WaypointsCoordinator as WaypointsCoordinator
import Framework.ArmSystems.ArmIndication as ArmIndication import Framework.ArmSystems.ArmIndication as ArmIndication
import Framework.StatusSystems.StatusCore as StatusCore import Framework.StatusSystems.StatusCore as StatusCore
import Framework.StatusSystems.UbiquitiStatusCore as UbiquitiStatusCore import Framework.StatusSystems.UbiquitiStatusCore as UbiquitiStatusCore
import Framework.SettingsSystems.UbiquitiRadioSettings as UbiquitiRadioSettings import Framework.SettingsSystems.UbiquitiRadioSettings as UbiquitiRadioSettings
import Framework.InputSystems.SpaceNavControlSender as SpaceNavControlSender
import Framework.MiscSystems.MiningCore as MiningCore import Framework.MiscSystems.MiningCore as MiningCore
import Framework.MiscSystems.BashConsoleCore as BashConsoleCore import Framework.MiscSystems.BashConsoleCore as BashConsoleCore
import Framework.MiscSystems.MiscArmCore as MiscArmCore import Framework.MiscSystems.MiscArmCore as MiscArmCore
@@ -112,14 +111,13 @@ class GroundStation(QtCore.QObject):
# ##### Instantiate Threaded Classes ###### # ##### Instantiate Threaded Classes ######
self.__add_thread("Video Coordinator", RoverVideoCoordinator.RoverVideoCoordinator(self.shared_objects)) self.__add_thread("Video Coordinator", RoverVideoCoordinator.RoverVideoCoordinator(self.shared_objects))
self.__add_thread("Map Coordinator", RoverMapCoordinator.RoverMapCoordinator(self.shared_objects)) self.__add_thread("Map Coordinator", RoverMapCoordinator.RoverMapCoordinator(self.shared_objects))
self.__add_thread("Joystick Sender", JoystickControlSender.JoystickControlSender(self.shared_objects)) self.__add_thread("Joystick Sender", JoystickControlSender.LogitechControllerControlSender(self.shared_objects))
self.__add_thread("Controller Sender", ControllerControlSender.ControllerControlSender(self.shared_objects)) self.__add_thread("Controller Sender", ControllerControlSender.XBOXControllerControlSender(self.shared_objects))
self.__add_thread("Speed and Heading", SpeedAndHeading.SpeedAndHeadingIndication(self.shared_objects)) self.__add_thread("Speed and Heading", SpeedAndHeading.SpeedAndHeadingIndication(self.shared_objects))
self.__add_thread("Rover Status", StatusCore.SensorCore(self.shared_objects)) self.__add_thread("Rover Status", StatusCore.SensorCore(self.shared_objects))
self.__add_thread("Ubiquiti Status", UbiquitiStatusCore.UbiquitiStatus(self.shared_objects)) self.__add_thread("Ubiquiti Status", UbiquitiStatusCore.UbiquitiStatus(self.shared_objects))
self.__add_thread("Ubiquiti Radio Settings", UbiquitiRadioSettings.UbiquitiRadioSettings(self.shared_objects)) self.__add_thread("Ubiquiti Radio Settings", UbiquitiRadioSettings.UbiquitiRadioSettings(self.shared_objects))
self.__add_thread("Waypoints Coordinator", WaypointsCoordinator.WaypointsCoordinator(self.shared_objects)) self.__add_thread("Waypoints Coordinator", WaypointsCoordinator.WaypointsCoordinator(self.shared_objects))
self.__add_thread("Spacenav Sender", SpaceNavControlSender.SpaceNavControlSender(self.shared_objects))
self.__add_thread("Bash Console", BashConsoleCore.BashConsole(self.shared_objects)) self.__add_thread("Bash Console", BashConsoleCore.BashConsole(self.shared_objects))
self.__add_thread("Misc Arm", MiscArmCore.MiscArm(self.shared_objects)) self.__add_thread("Misc Arm", MiscArmCore.MiscArm(self.shared_objects))
self.__add_thread("RDF", RDFCore.RDF(self.shared_objects)) self.__add_thread("RDF", RDFCore.RDF(self.shared_objects))

2
software/ros_packages/rover_main/launch/ground_station/topic_transport_senders.launch
View File

@@ -9,7 +9,7 @@
[{name: "/rover_control/command_control/ground_station_drive", compress: true, rate: 15.0}, [{name: "/rover_control/command_control/ground_station_drive", compress: true, rate: 15.0},
{name: "/rover_control/tower/pan_tilt/control", compress: true, rate: 30.0}, {name: "/rover_control/tower/pan_tilt/control", compress: true, rate: 30.0},
{name: "/rover_control/chassis/pan_tilt/control", compress: true, rate: 30.0}, {name: "/rover_control/chassis/pan_tilt/control", compress: true, rate: 30.0},
{name: "/rover_control/mining/control", compress: true, rate: 15.0}, {name: "/rover_control/mining/control", compress: true, rate: 30.0},
{name: "/rover_arm/control/relative", compress: true, rate: 30.0}] {name: "/rover_arm/control/relative", compress: true, rate: 30.0}]
</rosparam> </rosparam>
</node> </node>