Adding initial (empty) rqt_smach plugin

rqt_smach/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Set the build type.  Options are:
+#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
+#  Debug          : w/ debug symbols, w/o optimization
+#  Release        : w/o debug symbols, w/ optimization
+#  RelWithDebInfo : w/ debug symbols, w/ optimization
+#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
+#set(ROS_BUILD_TYPE RelWithDebInfo)
+
+rosbuild_init()
+
+#set the default path for built executables to the "bin" directory
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set the default path for built libraries to the "lib" directory
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+#uncomment if you have defined messages
+#rosbuild_genmsg()
+#uncomment if you have defined services
+#rosbuild_gensrv()
+
+#common commands for building c++ executables and libraries
+#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
+#target_link_libraries(${PROJECT_NAME} another_library)
+#rosbuild_add_boost_directories()
+#rosbuild_link_boost(${PROJECT_NAME} thread)
+#rosbuild_add_executable(example examples/example.cpp)
+#target_link_libraries(example ${PROJECT_NAME})

rqt_smach/Makefile

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+include $(shell rospack find mk)/cmake.mk

rqt_smach/mainpage.dox

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+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b rqt_smach 
+
+<!-- 
+Provide an overview of your package.
+-->
+
+-->
+
+
+*/

rqt_smach/manifest.xml

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+<package>
+  <description brief="rqt_smach">
+
+     rqt_smach
+
+  </description>
+  <author>Jonathan Bohren</author>
+  <license>BSD</license>
+  <review status="unreviewed" notes=""/>
+  <url>http://ros.org/wiki/rqt_smach</url>
+  <depend package="rospy"/>
+  <depend package="rqt_gui"/>
+  <depend package="rqt_gui_py"/>
+
+  <export>
+    <rqt_gui plugin="${prefix}/plugin.xml"/>
+  </export>
+
+</package>
+
+

rqt_smach/plugin.xml

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+<library path="src">
+  <class name="SMACH Visualization" type="rqt_smach.rqt_smach.SMACHVisualization" base_class_type="rqt_gui_py::Plugin">
+    <description>
+      An RQT plugin to visualize SMACH plans.
+    </description>
+    <qtgui>
+      <!-- optional grouping...
+      <group>
+        <label>Group</label>
+      </group>
+      <group>
+        <label>Subgroup</label>
+      </group>
+      -->
+      <label>SMACH</label>
+      <icon type="theme">system-help</icon>
+      <statustip>SMACH Visualization</statustip>
+    </qtgui>
+  </class>
+</library>

rqt_smach/src/rqt_smach/rqt_smach.py

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+import os
+import roslib
+roslib.load_manifest('rqt_smach')
+import rospy
+
+from qt_gui.plugin import Plugin
+from python_qt_binding import loadUi
+from python_qt_binding.QtGui import QWidget
+
+class SMACHVisualization(Plugin):
+
+    def __init__(self, context):
+        super(SMACHVisualization, self).__init__(context)
+        # Give QObjects reasonable names
+        self.setObjectName('SMACHVisualization')
+
+        # Process standalone plugin command-line arguments
+        from argparse import ArgumentParser
+        parser = ArgumentParser()
+        # Add argument(s) to the parser.
+        parser.add_argument("-q", "--quiet", action="store_true",
+                      dest="quiet",
+                      help="Put plugin in silent mode")
+        args, unknowns = parser.parse_known_args(context.argv())
+        if not args.quiet:
+            print 'arguments: ', args
+            print 'unknowns: ', unknowns
+
+        # Create QWidget
+        self._widget = QWidget()
+        # Get path to UI file which is a sibling of this file
+        # in this example the .ui and .py file are in the same folder
+        ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'SMACHVisualization.ui')
+        # Extend the widget with all attributes and children from UI file
+        loadUi(ui_file, self._widget)
+        # Give QObjects reasonable names
+        self._widget.setObjectName('SMACHVisualizationUi')
+        # Add widget to the user interface
+        context.add_widget(self._widget)
+
+    def shutdown_plugin(self):
+        # TODO unregister all publishers here
+        pass
+
+    def save_settings(self, plugin_settings, instance_settings):
+        # TODO save intrinsic configuration, usually using:
+        # instance_settings.set_value(k, v)
+        pass
+
+    def restore_settings(self, plugin_settings, instance_settings):
+        # TODO restore intrinsic configuration, usually using:
+        # v = instance_settings.value(k)
+        pass
+
+    #def trigger_configuration(self):
+        # Comment in to signal that the plugin has a way to configure it
+        # Usually used to open a configuration dialog