GUI controls as ROS 2 rqt plugin

README.md

@@ -5,8 +5,8 @@ Furthermore, this framework provides several interfaces that allow humans to int
 
 # Requirements
 
-* ROS2 Foxy
-* Ubuntu 20.04
+* ROS2 Humble Hawksbill
+* Ubuntu 22.04
 * Python 3
 
 # Cite

ros_pybullet_rqt_plugin/package.xml

@@ -0,0 +1,30 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>ros_pybullet_rqt_plugin</name>
+  <version>1.0.0</version>
+  <description>ROS2-based RQT plugin for ROS-PyBullet Interface.</description>
+  <maintainer email="[email protected]">Jan Kaniuka</maintainer>
+  <license>TODO: License declaration</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <exec_depend version_gte="0.2.19">python_qt_binding</exec_depend>
+  <exec_depend>rqt_gui</exec_depend>
+  <exec_depend>rqt_gui_py</exec_depend>
+  <exec_depend>rqt_py_common</exec_depend>
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+  <depend>ros_pybullet_msgs</depend>
+  <depend>std_srvs</depend>
+
+
+  <export>
+    <build_type>ament_python</build_type>
+    <rqt_gui plugin="${prefix}/plugin.xml"/>
+  </export>
+</package>

ros_pybullet_rqt_plugin/plugin.xml

@@ -0,0 +1,17 @@
+<library path="./">
+  <class name="PyBulletInterfaceControls" type="ros_pybullet_rqt_plugin.ros2_pybullet_interface_controls.Ros2PyBulletInterfaceControls" base_class_type="rqt_gui_py::Plugin">
+    <description>
+      RQT plugin used to perform basic interactions with ROS-PyBullet Interface.
+    </description>
+    <qtgui>
+      <group>
+        <label>Introspection</label>
+        <icon type="theme">folder</icon>
+        <statustip>Plugins related to introspection.</statustip>
+      </group>
+      <label>PyBullet Interface Controls</label>
+      <icon type="theme">input-gaming</icon>
+      <statustip>A Python GUI plugin for ROS-PyBullet Interface.</statustip>
+    </qtgui>
+  </class>
+</library>

ros_pybullet_rqt_plugin/resource/PyBulletInterfaceControls_layout.ui

@@ -0,0 +1,207 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>ROS</class>
+ <widget class="QWidget" name="ROS">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>560</width>
+    <height>320</height>
+   </rect>
+  </property>
+  <property name="minimumSize">
+   <size>
+    <width>560</width>
+    <height>320</height>
+   </size>
+  </property>
+  <property name="windowTitle">
+   <string>ROS</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout_2">
+   <item row="0" column="2">
+    <layout class="QHBoxLayout" name="horizontalLayout">
+     <item>
+      <layout class="QVBoxLayout" name="verticalLayout">
+       <item>
+        <widget class="QLabel" name="PyBulletLogo">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="text">
+          <string/>
+         </property>
+         <property name="pixmap">
+          <pixmap>images/pybullet_logo.svg</pixmap>
+         </property>
+         <property name="scaledContents">
+          <bool>true</bool>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QLabel" name="text_box">
+         <property name="font">
+          <font>
+           <pointsize>16</pointsize>
+          </font>
+         </property>
+         <property name="layoutDirection">
+          <enum>Qt::LeftToRight</enum>
+         </property>
+         <property name="styleSheet">
+          <string notr="true">background-color: rgb(255, 255, 255);</string>
+         </property>
+         <property name="text">
+          <string>Initialization</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+    </layout>
+   </item>
+   <item row="0" column="1">
+    <layout class="QVBoxLayout" name="verticalLayout_2">
+     <item>
+      <layout class="QVBoxLayout" name="verticalLayout_3">
+       <item>
+        <widget class="QPushButton" name="start_button">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="font">
+          <font>
+           <pointsize>16</pointsize>
+          </font>
+         </property>
+         <property name="layoutDirection">
+          <enum>Qt::RightToLeft</enum>
+         </property>
+         <property name="text">
+          <string>Start </string>
+         </property>
+         <property name="icon">
+          <iconset>
+           <normaloff>images/start_icon.png</normaloff>images/start_icon.png</iconset>
+         </property>
+         <property name="iconSize">
+          <size>
+           <width>20</width>
+           <height>20</height>
+          </size>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="send_button">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="font">
+          <font>
+           <pointsize>16</pointsize>
+          </font>
+         </property>
+         <property name="layoutDirection">
+          <enum>Qt::RightToLeft</enum>
+         </property>
+         <property name="text">
+          <string>Send </string>
+         </property>
+         <property name="icon">
+          <iconset>
+           <normaloff>images/send_icon.png</normaloff>images/send_icon.png</iconset>
+         </property>
+         <property name="iconSize">
+          <size>
+           <width>20</width>
+           <height>20</height>
+          </size>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="step_button">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="font">
+          <font>
+           <pointsize>16</pointsize>
+          </font>
+         </property>
+         <property name="layoutDirection">
+          <enum>Qt::RightToLeft</enum>
+         </property>
+         <property name="text">
+          <string>Step </string>
+         </property>
+         <property name="icon">
+          <iconset>
+           <normaloff>images/step_icon.png</normaloff>images/step_icon.png</iconset>
+         </property>
+         <property name="iconSize">
+          <size>
+           <width>24</width>
+           <height>23</height>
+          </size>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="stop_button">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="font">
+          <font>
+           <pointsize>16</pointsize>
+          </font>
+         </property>
+         <property name="layoutDirection">
+          <enum>Qt::RightToLeft</enum>
+         </property>
+         <property name="text">
+          <string>Stop </string>
+         </property>
+         <property name="icon">
+          <iconset>
+           <normaloff>images/stop_icon.png</normaloff>images/stop_icon.png</iconset>
+         </property>
+         <property name="iconSize">
+          <size>
+           <width>20</width>
+           <height>20</height>
+          </size>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+    </layout>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

ros_pybullet_rqt_plugin/ros_pybullet_rqt_plugin/main.py

@@ -0,0 +1,9 @@
+import sys
+from rqt_gui.main import Main
+
+def main():
+    main = Main()
+    sys.exit(main.main(sys.argv, standalone='ros_pybullet_rqt_plugin.ros2_pybullet_interface_controls.Ros2PyBulletInterfaceControls'))
+
+if __name__ == '__main__':
+    main()

ros_pybullet_rqt_plugin/ros_pybullet_rqt_plugin/pybullet_interface_controls_widget.py

@@ -0,0 +1,63 @@
+import os
+from ament_index_python import get_resource
+from python_qt_binding import loadUi
+from python_qt_binding.QtCore import QProcess
+from python_qt_binding.QtWidgets import QWidget
+from PyQt5.QtGui import *
+from PyQt5.QtCore import *
+from std_msgs.msg import Int64
+from std_srvs.srv import Trigger
+
+class PyBulletInterfaceControls(QWidget):
+
+    def __init__(self, node, plugin=None):
+
+        super(PyBulletInterfaceControls, self).__init__()
+
+        self._node = node
+        self.process  = QProcess(self)
+        self._plugin = plugin
+
+        _, package_path = get_resource('packages', 'ros_pybullet_rqt_plugin')
+        ui_file = os.path.join(package_path, 'share', 'ros_pybullet_rqt_plugin', 'resource', 'PyBulletInterfaceControls_layout.ui')
+        loadUi(ui_file, self)
+
+        self.start_button.pressed.connect(self.start_button_handler)
+        self.send_button.pressed.connect(self.send_button_handler)
+        self.step_button.pressed.connect(self.step_button_handler)
+        self.stop_button.pressed.connect(self.stop_button_handler)
+
+        self.subscription = self._node.create_subscription(
+            Int64,
+            'rpbi/status',
+            self.status_callback,
+            10)
+
+
+    def start_button_handler(self):
+        self.get_srv_handler('rpbi/start', Trigger)
+
+    def step_button_handler(self):
+        self.get_srv_handler('rpbi/step', Trigger)
+
+    def stop_button_handler(self):
+        self.get_srv_handler('rpbi/stop', Trigger)
+
+    def send_button_handler(self):
+        pass
+
+    def status_callback(self, msg):
+        self.text_box.setText("Status: " + str(msg.data)) 
+
+    def get_srv_handler(self, srv_name: str, srv_type: type):
+        handler = None
+        handler = self._node.create_client(srv_type, srv_name)
+        handler.wait_for_service(timeout_sec = 2.0) # wait 2 seconds
+        self._node.get_logger().info('Service ' + srv_name + ' not available.')
+        return handler
+
+    def start(self):
+        pass
+
+    def shutdown_plugin(self):
+        pass

ros_pybullet_rqt_plugin/ros_pybullet_rqt_plugin/ros2_pybullet_interface_controls.py

@@ -0,0 +1,20 @@
+from rqt_gui_py.plugin import Plugin
+from .pybullet_interface_controls_widget import PyBulletInterfaceControls
+
+class Ros2PyBulletInterfaceControls(Plugin):
+
+    def __init__(self, context):
+        super(Ros2PyBulletInterfaceControls, self).__init__(context)
+        self._node = context.node
+        self._logger = self._node.get_logger().get_child('ros_pybullet_rqt_plugin.ros2_pybullet_interface_controls.Ros2PyBulletInterfaceControls')
+
+        super(Ros2PyBulletInterfaceControls, self).__init__(context)
+        self.setObjectName('Ros2PyBulletInterfaceControls')
+
+        self._widget = PyBulletInterfaceControls(context.node, self)
+
+        self._widget.start()
+        if context.serial_number() > 1:
+            self._widget.setWindowTitle(
+                self._widget.windowTitle() + (' (%d)' % context.serial_number()))
+        context.add_widget(self._widget)

ros_pybullet_rqt_plugin/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/ros_pybullet_rqt_plugin
+[install]
+install_scripts=$base/lib/ros_pybullet_rqt_plugin