airbus_cobot_gui

This repository holds a graphical user interface tool

Contents

1. Execution
2. Configuration

1. Execution:

roslaunch airbus_cobot_gui default.launch config_path:='${PKG_NAME}/folder' file_name:='file.conf'

By default:

roslaunch airbus_cobot_gui default.launch config_path:='${airbus_cobot_gui}/config' file_name:='default.conf'

2. Configuration:

Example of configuration file:

<?xml version="1.0"?>

<app mode="debug">
    <translate type="en"/>
    <window display-mode="-d">
        <default-size>
            <width>1280</width>
            <height>720</height>
        </default-size>
        <header>
            <dashboards src="${airbus_cobot_gui}/config/default_dashboards_register.xml">
               <dashboard name="ExampleDashboard"/>
            </dashboards>
        </header>
        <launcher default-view="Rviz" default-mode="manu">
            <plugins src="${airbus_cobot_gui}/config/default_plugins_register.xml">
                <plugin name="Rviz"/>
                <plugin name="Rqt"/>
                <group name="Monitoring" icon="${airbus_cobot_gui}/resources/images/icon_monitoring.png">
                    <plugin name="NodeManager"/>
                    <plugin name="LogManager"/>
                </group>
           </plugins>
        </launcher>
    </window>
</app>

Line by line explanation :

<app mode="debug">
   ...
</app>

Set the mode to ‘debug’ or ‘release’. This may be usefull when you want to get some informations only in debug mode.

<translate type="en"/>

The default language of you GUI. It can be set to ‘en’, ‘fr’, ‘de’ or ‘es’. The function “onTranslate” of every plugins is called when you change the language in the GUI. You may create a xml file like this one :

<resources>
    <strings default-lng="en">
        <string id="hello">
            <en>Hello world !</en>
            <fr>Bonjour le monde !</fr>
            <de>Hallo Welt !</de>
            <es>Hola Mundo !</es>
        </string>
    </strings>
</resources>

Ane call the QLabel “setText” function with the language in parameter in the “onTranslate”

<window display-mode="-d">
    <default-size>
       <width>1280</width>
       <height>720</height>
    </default-size>
    ...
</window>

The display mode can be set to either ‘-d’ wihch is default size then you have to specified the size, or ‘-f’ which is full size.

<header>
   <dashboards src="${airbus_cobot_gui}/config/default_dashboards_register.xml">
      <dashboard name="ExampleDashboard"/>
   </dashboards>
</header>

This is used to set dashboard on the header of the gui. In the ‘src’ you specified the path to the dashboards register xml file. Then you can pick which dashboard(s) you want to use by calling it(them).

<launcher default-view="Rviz" default-mode="manu">
     <plugins src="${airbus_cobot_gui}/config/default_plugins_register.xml">
        <plugin name="Rviz"/>
        <plugin name="Rqt"/>
        <group name="Monitoring" icon="${airbus_cobot_gui}/resources/images/icon_monitoring.png">
           <plugin name="NodeManager"/>
           <plugin name="LogManager"/>
        </group>
     </plugins>
</launcher>

In the launcher, you choose which plugins you want to launch. You can set in ‘default-view’ the plugin name you want to start on and in ‘default-mode’ if you want to start in manual(‘manu’) or automatic(‘auto’). Some buttons can be hidden / not work in some mode depending on the plugin. In the ‘src’ you enter the path to the plugins register xml file then you list the plugins you want to use. The order matter ! . It will be in this order that your plugins are gonna be displayed. If you want to group multiple plugins under one button, you can use “group” and set a path to an icon.

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\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package airbus_cobot_gui \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

0.0.4 (2017-09-13)

• Merge pull request #36 from ipa-led/master Added dotgraph viewer to ssm_plugin
• removed a debug print
• Merge pull request #35 from ipa-led/master Improvements on the ssm_core packages
• removed templates from the config file
• fixed default view set to rviz
• Contributors: Nadia Hammoudeh García, ipa-led

0.0.3 (2017-09-06)

• Merge pull request #34 from ipa-nhg/SeparateTemplates Separate templates
• make airbus_cobot_gui independet to the templates
• Merge pull request #33 from ipa-nhg/Rename Rename packages
• test cobot_gui renames
• renamed packages
• rename plugin_rviz to airbus_plugin_rviz
• rename plugin_rqt to airbus_plugin_rqt
• rename plugin_node_manager to airbus_plugin_node_manager
• renamed plugin_log_manager to airbus_plugin_log_manager
• rename pyqt_agi_extend to airbus_pyqt_extend
• rename cobot_gui to airbus_cobot_gui
• Contributors: Nadia Hammoudeh García, ipa-nhg

0.0.2 (2017-09-05)

• Diagnostics tool integrated
• update the diagnostic plugin adding signals
• minor fixes
• implement the diagnostics subscriber
• update the diagnostics.ui
• add the topics names as input parameters
• add diagnoctics popup class
• added tiptool
• add standard diagnostics to the airbus_cobot_gui
• setup signal so the closing is working with rosnode kill command
• Add Error print when creating / destroying object
• changed the code to solve launching / killing problem
• ctrl+c should now stop the gui and close every windows
• fixed encoding in resources files
• Changed the default config and the register to show the template dashboard and plugin
• Added license files
• Changed order in the the licensing header
• added Airbus to the licensing header
• added licensing apache2.0 header
• update and anify package.xml files
• update readme for airbus_cobot_gui
• Changed explanation on group again
• Change the explanation on group
• changes some words and fixed the content Signed-off-by: ipa-led <<ludovic.delval@ipa.fraunhofer.de>>
• added explanation on the config file
• fixed the launch file
• added readme for airbus_cobot_gui
• add arguments to launch file
• Fixing deskop-launch with the working launcher
• Removed the old main script from the CMakeLists.txt
• Removed the very old version of the gui launcher and the ui
• Fixing airbus_cobot_gui_node by changing the path to the GUI configuration file
• Removed all hardware specific plugins and dashboard, cleaning up all the hardware specifics launchs / configs files
• Review CMakelists and package files
• test install version
• fix setup.py files
• update install tags
• removed hardware especific packages
• added needed dependencies packages
• Contributors: ipa-led, ipa-nhg