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arena-rosnav-3D_gui.py
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arena-rosnav-3D_gui.py
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# -*- coding: utf-8 -*-
# Form implementation generated from reading ui file 'arean.ui'
#
# Created by: PyQt5 UI code generator 5.10.1
#
# WARNING! All changes made in this file will be lost!
import rospkg
import pathlib
import os
from PyQt5 import QtCore, QtGui, QtWidgets
from PyQt5 import QtCore, QtGui, QtWidgets
from PyQt5.QtWidgets import QMessageBox
def get_ros_package_path(package_name: str) -> str:
try:
import rospkg
rospack = rospkg.RosPack()
return rospack.get_path(package_name)
except:
return ""
class Ui_MainWindow(object):
def setupUi(self, MainWindow):
MainWindow.setObjectName("MainWindow")
MainWindow.setFixedSize(590, 549)
MainWindow.move(100, 100)
MainWindow.setWindowTitle("arena-rosnav-3D")
font = QtGui.QFont()
font.setPointSize(12)
self.centralwidget = QtWidgets.QWidget(MainWindow)
self.centralwidget.setObjectName("centralwidget")
self.layoutWidget = QtWidgets.QWidget(self.centralwidget)
self.layoutWidget.setGeometry(QtCore.QRect(30, 20, 501, 451))
self.layoutWidget.setObjectName("layoutWidget")
self.gridLayout = QtWidgets.QGridLayout(self.layoutWidget)
self.gridLayout.setContentsMargins(0, 0, 0, 0)
self.gridLayout.setObjectName("gridLayout")
self.pedsimSceneLabel = QtWidgets.QLabel(self.layoutWidget)
self.pedsimSceneLabel.setObjectName("pedsimSceneLabel")
self.pedsimSceneLabel.setFont(font)
self.gridLayout.addWidget(self.pedsimSceneLabel, 11, 0, 1, 1)
self.actorHeightLabel = QtWidgets.QLabel(self.layoutWidget)
self.actorHeightLabel.setEnabled(True)
font = QtGui.QFont()
font.setPointSize(12)
self.actorHeightLabel.setFont(font)
self.actorHeightLabel.setObjectName("actorHeightLabel")
self.gridLayout.addWidget(self.actorHeightLabel, 9, 0, 1, 1)
self.label = QtWidgets.QLabel(self.layoutWidget)
font = QtGui.QFont()
font.setPointSize(12)
self.label.setFont(font)
self.label.setObjectName("label")
self.gridLayout.addWidget(self.label, 1, 0, 1, 1)
self.pedvisCheckBox = QtWidgets.QCheckBox(self.layoutWidget)
self.pedvisCheckBox.setText("")
self.pedvisCheckBox.setChecked(True)
self.pedvisCheckBox.setObjectName("pedvisCheckBox")
self.gridLayout.addWidget(self.pedvisCheckBox, 12, 2, 1, 1)
self.plannerLabel = QtWidgets.QLabel(self.layoutWidget)
palette = QtGui.QPalette()
brush = QtGui.QBrush(QtGui.QColor(255, 255, 255))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Active,
QtGui.QPalette.WindowText, brush)
brush = QtGui.QBrush(QtGui.QColor(36, 41, 51))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Active, QtGui.QPalette.Button, brush)
brush = QtGui.QBrush(QtGui.QColor(54, 61, 76))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Active, QtGui.QPalette.Light, brush)
brush = QtGui.QBrush(QtGui.QColor(45, 51, 63))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Active, QtGui.QPalette.Midlight, brush)
brush = QtGui.QBrush(QtGui.QColor(18, 20, 25))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Active, QtGui.QPalette.Dark, brush)
brush = QtGui.QBrush(QtGui.QColor(24, 27, 34))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Active, QtGui.QPalette.Mid, brush)
brush = QtGui.QBrush(QtGui.QColor(255, 255, 255))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Active, QtGui.QPalette.Text, brush)
brush = QtGui.QBrush(QtGui.QColor(255, 255, 255))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Active,
QtGui.QPalette.BrightText, brush)
brush = QtGui.QBrush(QtGui.QColor(255, 255, 255))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Active,
QtGui.QPalette.ButtonText, brush)
brush = QtGui.QBrush(QtGui.QColor(0, 0, 0))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Active, QtGui.QPalette.Base, brush)
brush = QtGui.QBrush(QtGui.QColor(36, 41, 51))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Active, QtGui.QPalette.Window, brush)
brush = QtGui.QBrush(QtGui.QColor(0, 0, 0))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Active, QtGui.QPalette.Shadow, brush)
brush = QtGui.QBrush(QtGui.QColor(18, 20, 25))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Active,
QtGui.QPalette.AlternateBase, brush)
brush = QtGui.QBrush(QtGui.QColor(255, 255, 220))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Active,
QtGui.QPalette.ToolTipBase, brush)
brush = QtGui.QBrush(QtGui.QColor(0, 0, 0))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Active,
QtGui.QPalette.ToolTipText, brush)
brush = QtGui.QBrush(QtGui.QColor(255, 255, 255))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Inactive,
QtGui.QPalette.WindowText, brush)
brush = QtGui.QBrush(QtGui.QColor(36, 41, 51))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Inactive, QtGui.QPalette.Button, brush)
brush = QtGui.QBrush(QtGui.QColor(54, 61, 76))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Inactive, QtGui.QPalette.Light, brush)
brush = QtGui.QBrush(QtGui.QColor(45, 51, 63))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Inactive,
QtGui.QPalette.Midlight, brush)
brush = QtGui.QBrush(QtGui.QColor(18, 20, 25))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Inactive, QtGui.QPalette.Dark, brush)
brush = QtGui.QBrush(QtGui.QColor(24, 27, 34))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Inactive, QtGui.QPalette.Mid, brush)
brush = QtGui.QBrush(QtGui.QColor(255, 255, 255))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Inactive, QtGui.QPalette.Text, brush)
brush = QtGui.QBrush(QtGui.QColor(255, 255, 255))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Inactive,
QtGui.QPalette.BrightText, brush)
brush = QtGui.QBrush(QtGui.QColor(255, 255, 255))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Inactive,
QtGui.QPalette.ButtonText, brush)
brush = QtGui.QBrush(QtGui.QColor(0, 0, 0))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Inactive, QtGui.QPalette.Base, brush)
brush = QtGui.QBrush(QtGui.QColor(36, 41, 51))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Inactive, QtGui.QPalette.Window, brush)
brush = QtGui.QBrush(QtGui.QColor(0, 0, 0))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Inactive, QtGui.QPalette.Shadow, brush)
brush = QtGui.QBrush(QtGui.QColor(18, 20, 25))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Inactive,
QtGui.QPalette.AlternateBase, brush)
brush = QtGui.QBrush(QtGui.QColor(255, 255, 220))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Inactive,
QtGui.QPalette.ToolTipBase, brush)
brush = QtGui.QBrush(QtGui.QColor(0, 0, 0))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Inactive,
QtGui.QPalette.ToolTipText, brush)
brush = QtGui.QBrush(QtGui.QColor(18, 20, 25))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Disabled,
QtGui.QPalette.WindowText, brush)
brush = QtGui.QBrush(QtGui.QColor(36, 41, 51))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Disabled, QtGui.QPalette.Button, brush)
brush = QtGui.QBrush(QtGui.QColor(54, 61, 76))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Disabled, QtGui.QPalette.Light, brush)
brush = QtGui.QBrush(QtGui.QColor(45, 51, 63))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Disabled,
QtGui.QPalette.Midlight, brush)
brush = QtGui.QBrush(QtGui.QColor(18, 20, 25))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Disabled, QtGui.QPalette.Dark, brush)
brush = QtGui.QBrush(QtGui.QColor(24, 27, 34))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Disabled, QtGui.QPalette.Mid, brush)
brush = QtGui.QBrush(QtGui.QColor(18, 20, 25))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Disabled, QtGui.QPalette.Text, brush)
brush = QtGui.QBrush(QtGui.QColor(255, 255, 255))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Disabled,
QtGui.QPalette.BrightText, brush)
brush = QtGui.QBrush(QtGui.QColor(18, 20, 25))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Disabled,
QtGui.QPalette.ButtonText, brush)
brush = QtGui.QBrush(QtGui.QColor(36, 41, 51))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Disabled, QtGui.QPalette.Base, brush)
brush = QtGui.QBrush(QtGui.QColor(36, 41, 51))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Disabled, QtGui.QPalette.Window, brush)
brush = QtGui.QBrush(QtGui.QColor(0, 0, 0))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Disabled, QtGui.QPalette.Shadow, brush)
brush = QtGui.QBrush(QtGui.QColor(36, 41, 51))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Disabled,
QtGui.QPalette.AlternateBase, brush)
brush = QtGui.QBrush(QtGui.QColor(255, 255, 220))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Disabled,
QtGui.QPalette.ToolTipBase, brush)
brush = QtGui.QBrush(QtGui.QColor(0, 0, 0))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Disabled,
QtGui.QPalette.ToolTipText, brush)
self.plannerLabel.setPalette(palette)
font = QtGui.QFont()
font.setPointSize(12)
self.plannerLabel.setFont(font)
self.plannerLabel.setObjectName("plannerLabel")
self.gridLayout.addWidget(self.plannerLabel, 3, 0, 1, 1)
self.mapLabel = QtWidgets.QLabel(self.layoutWidget)
font = QtGui.QFont()
font.setPointSize(12)
self.mapLabel.setFont(font)
self.mapLabel.setObjectName("mapLabel")
self.gridLayout.addWidget(self.mapLabel, 7, 0, 1, 1)
self.actorsBox = QtWidgets.QSpinBox(self.layoutWidget)
self.actorsBox.setProperty("value", 3)
self.actorsBox.setObjectName("actorsBox")
self.gridLayout.addWidget(self.actorsBox, 6, 2, 1, 1)
self.WorldLabel = QtWidgets.QLabel(self.layoutWidget)
font = QtGui.QFont()
font.setPointSize(12)
self.WorldLabel.setFont(font)
self.WorldLabel.setObjectName("WorldLabel")
self.gridLayout.addWidget(self.WorldLabel, 0, 0, 1, 1)
self.TaskBox = QtWidgets.QComboBox(self.layoutWidget)
self.TaskBox.setEnabled(True)
self.TaskBox.setStatusTip("")
self.TaskBox.setFrame(True)
self.TaskBox.setObjectName("TaskBox")
self.TaskBox.addItem("")
self.TaskBox.addItem("")
self.TaskBox.addItem("")
self.TaskBox.currentIndexChanged.connect(self.taskChanged)
self.gridLayout.addWidget(self.TaskBox, 1, 2, 1, 1)
self.actorHeightBox = QtWidgets.QDoubleSpinBox(self.layoutWidget)
self.actorHeightBox.setMinimum(1.1)
self.actorHeightBox.setSingleStep(0.1)
self.actorHeightBox.setProperty("value", 1.1)
self.actorHeightBox.setObjectName("actorHeightBox")
self.gridLayout.addWidget(self.actorHeightBox, 9, 2, 1, 1)
self.label_2 = QtWidgets.QLabel(self.layoutWidget)
font = QtGui.QFont()
font.setPointSize(12)
self.label_2.setFont(font)
self.label_2.setObjectName("label_2")
self.gridLayout.addWidget(self.label_2, 5, 0, 1, 1)
self.actorsLabel = QtWidgets.QLabel(self.layoutWidget)
font = QtGui.QFont()
font.setPointSize(12)
self.actorsLabel.setFont(font)
self.actorsLabel.setObjectName("actorsLabel")
self.gridLayout.addWidget(self.actorsLabel, 6, 0, 1, 1)
self.pedsimLabel = QtWidgets.QLabel(self.layoutWidget)
font = QtGui.QFont()
font.setPointSize(12)
self.pedsimLabel.setFont(font)
self.pedsimLabel.setObjectName("pedsimLabel")
self.gridLayout.addWidget(self.pedsimLabel, 10, 0, 1, 1)
self.plannerBox = QtWidgets.QComboBox(self.layoutWidget)
self.plannerBox.setObjectName("plannerBox")
self.plannerBox.addItem("")
self.plannerBox.addItem("")
self.plannerBox.addItem("")
self.plannerBox.addItem("")
self.plannerBox.addItem("")
self.gridLayout.addWidget(self.plannerBox, 3, 2, 1, 1)
self.mapLine = QtWidgets.QLineEdit(self.layoutWidget)
self.mapLine.setToolTipDuration(1)
self.mapLine.setAutoFillBackground(False)
self.mapLine.setObjectName("mapLine")
self.gridLayout.addWidget(self.mapLine, 7, 2, 1, 1)
self.label_3 = QtWidgets.QLabel(self.layoutWidget)
font = QtGui.QFont()
font.setPointSize(12)
self.label_3.setFont(font)
self.label_3.setObjectName("label_3")
self.gridLayout.addWidget(self.label_3, 12, 0, 1, 1)
self.worldBox = QtWidgets.QComboBox(self.layoutWidget)
self.worldBox.setObjectName("worldBox")
self.worldBox.currentTextChanged.connect(self.worldChanged)
self.gridLayout.addWidget(self.worldBox, 0, 2, 1, 1)
self.pedsimCheckBox = QtWidgets.QCheckBox(self.layoutWidget)
self.pedsimCheckBox.setText("")
self.pedsimCheckBox.setChecked(True)
self.pedsimCheckBox.setObjectName("pedsimCheckBox")
self.gridLayout.addWidget(self.pedsimCheckBox, 10, 2, 1, 1)
self.comboBox = QtWidgets.QComboBox(self.layoutWidget)
self.comboBox.setObjectName("comboBox")
self.comboBox.addItem("")
self.comboBox.addItem("")
self.comboBox.addItem("")
self.gridLayout.addWidget(self.comboBox, 5, 2, 1, 1)
self.mapBrowseButton = QtWidgets.QPushButton(self.layoutWidget)
self.mapBrowseButton.setEnabled(True)
self.mapBrowseButton.setObjectName("mapBrowseButton")
self.mapBrowseButton.clicked.connect(self.onMapBrowseClicked)
self.gridLayout.addWidget(self.mapBrowseButton, 7, 3, 1, 1)
self.pedsimSceneLine = QtWidgets.QLineEdit(self.layoutWidget)
self.pedsimSceneLine.setObjectName("pedsimSceneLine")
self.gridLayout.addWidget(self.pedsimSceneLine, 11, 2, 1, 1)
self.pedsimSceneButton = QtWidgets.QPushButton(self.layoutWidget)
self.pedsimSceneButton.setObjectName("pedsimSceneButton")
self.pedsimSceneButton.clicked.connect(self.onSceneBrowseClicked)
self.gridLayout.addWidget(self.pedsimSceneButton, 11, 3, 1, 1)
self.scenarioLabel = QtWidgets.QLabel(self.layoutWidget)
self.scenarioLabel.setEnabled(True)
font = QtGui.QFont()
font.setPointSize(12)
self.scenarioLabel.setFont(font)
self.scenarioLabel.setObjectName("scenarioLabel")
self.gridLayout.addWidget(self.scenarioLabel, 2, 0, 1, 1)
self.scenarioLine = QtWidgets.QLineEdit(self.layoutWidget)
self.scenarioLine.setEnabled(True)
self.scenarioLine.setObjectName("scenarioLine")
self.gridLayout.addWidget(self.scenarioLine, 2, 2, 1, 1)
self.scenarioButton = QtWidgets.QPushButton(self.layoutWidget)
self.scenarioButton.setEnabled(True)
self.scenarioButton.setObjectName("scenarioButton")
self.scenarioButton.clicked.connect(self.onScenarioBrowseClicked)
self.gridLayout.addWidget(self.scenarioButton, 2, 3, 1, 1)
self.widget = QtWidgets.QWidget(self.centralwidget)
self.widget.setGeometry(QtCore.QRect(140, 480, 301, 41))
self.widget.setObjectName("widget")
self.horizontalLayout = QtWidgets.QHBoxLayout(self.widget)
self.horizontalLayout.setContentsMargins(0, 0, 0, 0)
self.horizontalLayout.setObjectName("horizontalLayout")
self.startButton = QtWidgets.QPushButton(self.widget)
self.startButton.setObjectName("startButton")
self.startButton.clicked.connect(self.onStartClicked)
self.horizontalLayout.addWidget(self.startButton)
self.stopButton = QtWidgets.QPushButton(self.widget)
self.stopButton.setObjectName("stopButton")
self.stopButton.clicked.connect(self.onStopClicked)
self.horizontalLayout.addWidget(self.stopButton)
MainWindow.setCentralWidget(self.centralwidget)
self.statusbar = QtWidgets.QStatusBar(MainWindow)
self.statusbar.setObjectName("statusbar")
MainWindow.setStatusBar(self.statusbar)
self.empty_scene = get_ros_package_path(
"simulator_setup") + "/scenarios/ped_scenarios/empty.xml"
self.retranslateUi(MainWindow)
QtCore.QMetaObject.connectSlotsByName(MainWindow)
def retranslateUi(self, MainWindow):
_translate = QtCore.QCoreApplication.translate
self.pedsimSceneLabel.setStatusTip(_translate(
"MainWindow", "Specify path to a ped scene file in xml format. Used only for obstacles"))
self.pedsimSceneLabel.setText(_translate("MainWindow", "Pedsim scene"))
self.actorHeightLabel.setStatusTip(_translate(
"MainWindow", "Specify fixed actor height/Z-position."))
self.actorHeightLabel.setText(_translate("MainWindow", "Actor height"))
self.label.setText(_translate("MainWindow", "Task mode"))
self.plannerLabel.setText(_translate("MainWindow", "Local planner"))
self.mapLabel.setStatusTip(_translate(
"MainWindow", "Specify extra map to use for obstacle management. Leave empty to use robot\'s map"))
self.mapLabel.setText(_translate("MainWindow", "Additional map"))
self.WorldLabel.setText(_translate("MainWindow", "World"))
self.TaskBox.setItemText(1, _translate("MainWindow", "random"))
self.TaskBox.setItemText(0, _translate("MainWindow", "scenario"))
self.TaskBox.setItemText(2, _translate("MainWindow", "manual"))
self.actorHeightBox.setStatusTip(_translate(
"MainWindow", "Specify fixed actor height/Z-position."))
self.label_2.setText(_translate("MainWindow", "Robot model"))
self.actorsLabel.setStatusTip(_translate(
"MainWindow", "Set the amount of pedsim actors"))
self.actorsLabel.setText(_translate("MainWindow", "Actors"))
self.pedsimLabel.setText(_translate("MainWindow", "Enable pedsim"))
self.plannerBox.setItemText(0, _translate("MainWindow", "teb"))
self.plannerBox.setItemText(1, _translate("MainWindow", "dwa"))
self.plannerBox.setItemText(2, _translate("MainWindow", "mpc"))
self.plannerBox.setItemText(3, _translate("MainWindow", "rlca"))
self.plannerBox.setItemText(4, _translate("MainWindow", "cadrl"))
self.mapLine.setToolTip(_translate(
"MainWindow", "Specify extra map to use for obstacle management"))
self.mapLine.setStatusTip(_translate(
"MainWindow", "Specify extra map to use for obstacle management. Leave empty to use robot\'s map"))
self.mapLine.setPlaceholderText(_translate(
"MainWindow", "Path to map.yaml file"))
self.label_3.setText(_translate("MainWindow", "Enable pedvis"))
self.comboBox.setItemText(0, _translate("MainWindow", "burger"))
self.comboBox.setItemText(1, _translate("MainWindow", "waffle_pi"))
self.comboBox.setItemText(2, _translate("MainWindow", "waffle"))
self.mapBrowseButton.setText(_translate("MainWindow", "Browse"))
self.pedsimSceneLine.setStatusTip(_translate(
"MainWindow", "Specify path to a ped scene file in xml format. Used only for obstacles"))
self.pedsimSceneButton.setText(_translate("MainWindow", "Browse"))
self.scenarioLabel.setStatusTip(_translate(
"MainWindow", "Path to a scenario in json format"))
self.scenarioLabel.setText(_translate("MainWindow", "Scenario file"))
self.scenarioLine.setStatusTip(_translate(
"MainWindow", "Path to a scenario in json format"))
self.scenarioButton.setText(_translate("MainWindow", "Browse"))
self.startButton.setText(_translate("MainWindow", "Start arena"))
self.stopButton.setText(_translate("MainWindow", "Stop simulation"))
rospack = rospkg.RosPack()
folder = pathlib.Path(rospack.get_path("simulator_setup") + "/worlds")
map_folders = [p for p in folder.iterdir() if p.is_dir()]
names = [p.parts[-1] for p in map_folders]
for i, name in enumerate(names):
self.worldBox.addItem(name)
self.worldBox.setCurrentText("small_warehouse")
def onMapBrowseClicked(self):
f = QtWidgets.QFileDialog.getOpenFileName(
MainWindow, "Select Map yaml", get_ros_package_path("simulator_setup") + "/maps", filter="yaml(*.yaml)")
if os.path.isfile(f[0]):
self.mapLine.setText(f[0])
def onScenarioBrowseClicked(self):
f = QtWidgets.QFileDialog.getOpenFileName(
MainWindow, "Select Scenario json", get_ros_package_path("simulator_setup") + "/scenarios", filter="json(*.json)")
if os.path.isfile(f[0]):
self.scenarioLine.setText(f[0])
def onSceneBrowseClicked(self):
f = QtWidgets.QFileDialog.getOpenFileName(
MainWindow, "Select Pedsim scene", get_ros_package_path("simulator_setup") + "/scenarios/ped_scenarios", filter="xml(*.xml)")
if os.path.isfile(f[0]):
self.pedsimSceneLine.setText(f[0])
def onStartClicked(self):
import subprocess
import shlex
import os
world = f"world:={self.worldBox.currentText()}"
model = f"model:={self.comboBox.currentText()}"
planner = f"local_planner:={self.plannerBox.currentText()}"
task_mode = f"task_mode:={self.TaskBox.currentText()}"
actor_height = f"actor_height:={str(self.actorHeightBox.value())}"
actors = f"actors:={self.actorsBox.textFromValue(self.actorsBox.value())}"
pedsim = f"enable_pedsim:={str(self.pedsimCheckBox.isChecked()).lower()}"
pedvis = f"enable_pedvis:={str(self.pedvisCheckBox.isChecked()).lower()}"
if self.pedsimSceneLine.text() != "":
scene = f"scene_file:={self.pedsimSceneLine.text()}"
else:
scene = f"scene_file:={self.empty_scene}"
scenario_file = self.scenarioLine.text()
if scenario_file != "":
scenario_file = f"scenario_file:={os.path.basename(self.scenarioLine.text())}"
else:
if self.TaskBox.currentText() == "scenario": # no scenario file selected
msg = QMessageBox()
msg.setWindowTitle("Error")
msg.setText(
"No scenario file specified, can not start the simulation.")
x = msg.exec()
return
obs_map = self.mapLine.text()
if obs_map != "":
obs_map = f"additional_map:=true add_map_path:={self.mapLine.text()}"
command = f"interminal --script 'workon rosnav; roslaunch arena_bringup start_arena_gazebo.launch {world} {model} {planner} {task_mode} {actor_height} {actors} {pedsim} {pedvis} {obs_map} {scenario_file} {scene}'"
self.p = subprocess.Popen(shlex.split(command))
def onStopClicked(self):
import subprocess
if self.p != None:
subprocess.Popen(
"killall -9 gazebo & killall -9 gzserver & killall -9 gzclient", shell=True)
subprocess.Popen("rosnode kill --all", shell=True)
self.p.kill()
msg = QMessageBox()
msg.setWindowTitle("Warning")
msg.setText(
"Please wait a bit before starting new simulation, as it may take some time for the sim to gracefully terminate.")
x = msg.exec()
def taskChanged(self, index):
if index == 0:
self.scenarioLabel.setVisible(True)
self.scenarioLine.setVisible(True)
self.scenarioButton.setVisible(True)
else:
self.scenarioLabel.setVisible(False)
self.scenarioLine.setVisible(False)
self.scenarioButton.setVisible(False)
def worldChanged(self, world):
import os.path
# Setting default scenario for this world if it exists
sim_path = get_ros_package_path("simulator_setup")
scenario_file = sim_path + f"/scenarios/{world}.json"
if os.path.isfile(scenario_file):
self.scenarioLine.setText(sim_path + f"/scenarios/{world}.json")
else:
self.scenarioLine.setText("")
# Setting default scene for this world if it exists
scene_file = sim_path + f"/scenarios/ped_scenarios/{world}.xml"
if os.path.isfile(scene_file):
self.pedsimSceneLine.setText(scene_file)
else:
self.pedsimSceneLine.setText("")
if __name__ == "__main__":
import sys
app = QtWidgets.QApplication(sys.argv)
MainWindow = QtWidgets.QMainWindow()
ui = Ui_MainWindow()
ui.setupUi(MainWindow)
MainWindow.show()
sys.exit(app.exec_())