merge segbot_apps packages into segbot (#46)

segbot/package.xml

@@ -22,6 +22,9 @@
   <run_depend>segbot_bringup</run_depend>
   <run_depend>segbot_description</run_depend>
   <run_depend>segbot_firmware</run_depend>
+  <run_depend>segbot_gui</run_depend>
+  <run_depend>segbot_logical_translator</run_depend>
+  <run_depend>segbot_navigation</run_depend>
   <run_depend>segbot_sensors</run_depend>
 
   <export>

segbot_gui/CHANGELOG.rst

@@ -0,0 +1,48 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package segbot_gui
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.3.1 (2015-03-31)
+------------------
+
+0.3.0 (2015-03-24)
+------------------
+* removed unnecessary script installation which installs in global bin instead of package bin.
+* migrated QuestionDialog srv to bwi_msgs in bwi_common
+* now return preempted option when preempted
+* fixed a timeout issue with the gui where preempted requests were not timing out.
+* enlarge the GUI font
+* Contributors: Piyush Khandelwal, Shiqi Zhang
+
+0.2.1 (2014-04-22)
+------------------
+
+0.2.0 (2014-04-19)
+------------------
+* now catkin_lint approved. found a bug where a plugin file was not
+  being installed
+* increased default font size in the segbot gui
+* added missing run dependencies
+* added ability to ask a text-input question
+* better pep8 conformity
+* rqt simple question plugin is now ready
+* added a new gui package with a question dialog plugin for rqt
+* Contributors: Jack O'Quin, Piyush Khandelwal, piyushk
+
+0.1.5 (2013-09-03)
+------------------
+
+0.1.4 (2013-08-12)
+------------------
+
+0.1.3 (2013-07-16)
+------------------
+
+0.1.2 (2013-07-13)
+------------------
+
+0.1.1 (2013-07-10)
+------------------
+
+0.1.0 (2013-06-28)
+------------------

segbot_gui/CMakeLists.txt

@@ -0,0 +1,12 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(segbot_gui)
+find_package(catkin REQUIRED)
+catkin_package()
+
+install(PROGRAMS scripts/question_dialog_plugin
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(FILES plugin.xml 
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)

segbot_gui/package.xml

@@ -0,0 +1,35 @@
+<?xml version="1.0"?>
+<package>
+  <name>segbot_gui</name>
+  <version>0.3.1</version>
+  <description>
+    Displays a simple GUI to the user. The GUI is capable of displaying a simple
+    message or image to the user, and ask a question. The message and question
+    plugins are also written in this package.
+  </description>
+
+  <maintainer email="piyushk@gmail.com">Piyush Khandelwal</maintainer>
+  <maintainer email="jack.oquin@gmail.com">Jack O'Quin</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://ros.org/wiki/segbot_gui</url>
+  <url type="repository">https://github.com/utexas-bwi/segbot.git</url>
+  <url type="bugtracker">https://github.com/utexas-bwi/segbot/issues</url>
+
+  <author email="piyushk@gmail.com">Piyush Khandelwal</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <run_depend>bwi_msgs</run_depend>
+  <run_depend>python_qt_binding</run_depend>
+  <run_depend>qt_gui</run_depend>
+  <run_depend>rospy</run_depend>
+  <run_depend>rqt_gui</run_depend>
+  <run_depend>rqt_gui_py</run_depend>
+
+  <export>
+    <rqt_gui plugin="${prefix}/plugin.xml"/>
+  </export>
+
+</package>

segbot_gui/plugin.xml

@@ -0,0 +1,15 @@
+<library path="src">
+  <class name="QuestionDialogPlugin"
+    type="segbot_gui.plugins.QuestionDialogPlugin"
+    base_class_type="rqt_gui_py::Plugin">
+    <description>
+      A text widget that allows simple human interaction - displaying
+      text to the user and asking a question with choices.
+    </description>
+    <qtgui>
+      <label>Question Dialog Plugin</label>
+      <icon type="theme">dialog-question</icon>
+      <statustip>Display text or ask a question from the user.</statustip>
+    </qtgui>
+  </class>
+</library>

segbot_gui/scripts/question_dialog_plugin

@@ -0,0 +1,9 @@
+#!/usr/bin/env python
+
+import sys
+
+from rqt_gui.main import Main
+
+plugin = 'segbot_gui.plugins.QuestionDialogPlugin'
+main = Main(filename=plugin)
+sys.exit(main.main(standalone=plugin))

segbot_gui/setup.py

@@ -0,0 +1,11 @@
+#!/usr/bin/env python
+
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+d = generate_distutils_setup(
+    packages=['segbot_gui'],
+    package_dir={'': 'src'},
+)
+
+setup(**d)

segbot_gui/src/segbot_gui/plugins.py

@@ -0,0 +1,132 @@
+import rospy
+import time
+
+from bwi_msgs.srv import QuestionDialog, QuestionDialogResponse, \
+                         QuestionDialogRequest
+from functools import partial
+from qt_gui.plugin import Plugin
+from python_qt_binding.QtGui import QFont, QHBoxLayout, QLabel, QLineEdit, \
+                                    QPushButton, QTextBrowser, QVBoxLayout, \
+                                    QWidget
+from python_qt_binding.QtCore import SIGNAL
+
+class QuestionDialogPlugin(Plugin):
+
+    def __init__(self, context):
+        super(QuestionDialogPlugin, self).__init__(context)
+        # Give QObjects reasonable names
+        self.setObjectName('QuestionDialogPlugin')
+
+        font_size = rospy.get_param("~font_size", 40)
+
+        # Create QWidget
+        self._widget = QWidget()
+        self._widget.setFont(QFont("Times", font_size, QFont.Bold))
+        self._layout = QVBoxLayout(self._widget)
+        self._text_browser = QTextBrowser(self._widget)
+        self._layout.addWidget(self._text_browser)
+        self._button_layout = QHBoxLayout()
+        self._layout.addLayout(self._button_layout)
+
+        # layout = QVBoxLayout(self._widget)
+        # layout.addWidget(self.button)
+        self._widget.setObjectName('QuestionDialogPluginUI')
+        if context.serial_number() > 1:
+            self._widget.setWindowTitle(self._widget.windowTitle() +
+                                        (' (%d)' % context.serial_number()))
+        context.add_widget(self._widget)
+
+        # Setup service provider
+        self.service = rospy.Service('question_dialog', QuestionDialog,
+                                     self.service_callback)
+        self.response_ready = False
+        self.response = None
+        self.buttons = []
+        self.text_label = None
+        self.text_input = None
+
+        self.connect(self._widget, SIGNAL("update"), self.update)
+        self.connect(self._widget, SIGNAL("timeout"), self.timeout)
+
+    def shutdown_plugin(self):
+        self.service.shutdown()
+
+    def service_callback(self, req):
+        self.response_ready = False
+        self.request = req
+        self._widget.emit(SIGNAL("update"))
+        # Start timer against wall clock here instead of the ros clock.
+        start_time = time.time()
+        while not self.response_ready:
+            if self.request != req:
+                # The request got preempted by a new request.
+                return QuestionDialogResponse(QuestionDialogRequest.PREEMPTED, "")
+            if req.timeout != QuestionDialogRequest.NO_TIMEOUT:
+                current_time = time.time()
+                if current_time - start_time > req.timeout:
+                    self._widget.emit(SIGNAL("timeout"))
+                    return QuestionDialogResponse(
+                            QuestionDialogRequest.TIMED_OUT, "")
+            time.sleep(0.2)
+        return self.response
+
+    def update(self):
+        self.clean()
+        req = self.request
+        self._text_browser.setText(req.message)
+        if req.type == QuestionDialogRequest.DISPLAY:
+            # All done, nothing more too see here.
+            self.response = QuestionDialogResponse(
+                    QuestionDialogRequest.NO_RESPONSE, "")
+            self.response_ready = True
+        elif req.type == QuestionDialogRequest.CHOICE_QUESTION:
+            for index, options in enumerate(req.options):
+                button = QPushButton(options, self._widget)
+                button.clicked.connect(partial(self.handle_button, index))
+                self._button_layout.addWidget(button)
+                self.buttons.append(button)
+        elif req.type == QuestionDialogRequest.TEXT_QUESTION:
+            self.text_label = QLabel("Enter here: ", self._widget)
+            self._button_layout.addWidget(self.text_label)
+            self.text_input = QLineEdit(self._widget)
+            self.text_input.editingFinished.connect(self.handle_text)
+            self._button_layout.addWidget(self.text_input)
+
+    def timeout(self):
+        self._text_browser.setText("Oh no! The request timed out.")
+        self.clean()
+
+    def clean(self):
+        while self._button_layout.count():
+            item = self._button_layout.takeAt(0)
+            item.widget().deleteLater()
+        self.buttons = []
+        self.text_input = None
+        self.text_label = None
+
+    def handle_button(self, index):
+        self.response = QuestionDialogResponse(index, "")
+        self.clean()
+        self.response_ready = True
+
+    def handle_text(self):
+        self.response = QuestionDialogResponse(
+            QuestionDialogRequest.TEXT_RESPONSE,
+            self.text_input.text())
+        self.clean()
+        self.response_ready = True
+
+    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
+        # This will enable a setting button (gear icon) in each dock widget title bar
+        # Usually used to open a modal configuration dialog

segbot_logical_translator/CHANGELOG.rst

@@ -0,0 +1,62 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package segbot_logical_translator
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.3.1 (2015-03-31)
+------------------
+* Closes `#29 <https://github.com/utexas-bwi/segbot_apps/issues/29>`_
+  - Get latest version of move_base to get fix introduced in https://github.com/ros-planning/navigation/pull/295
+  This allows setting tolerance to 0 when calling make_plan from segbot_logical_translator.
+  - Don't use any tolerance when testing whether a door was open or not.
+  - Don't clear costmap around robot when testing for an open door.
+* fixed issue where the logical translator was returning beside and facing for two different doors. closes `#30 <https://github.com/utexas-bwi/segbot_apps/issues/30>`_.
+* segbot_logical_navigator now checks for costmap updates to test whether the map has changed between door/no-door versions. closes `#28 <https://github.com/utexas-bwi/segbot_apps/issues/28>`_
+* removed segbot_gazebo dependency. closes `#27 <https://github.com/utexas-bwi/segbot_apps/issues/27>`_.
+* Contributors: Piyush Khandelwal
+
+0.3.0 (2015-03-24)
+------------------
+* completed migration of LogicalNavigationAction to bwi_msgs in bwi_common repository.
+* fixed bug in segbot_logical_translator where it would try and analyze facing/beside for doors not connected to the current location.
+* modified the segbot_logical_navigator to use action service instead of services.
+* read map file and data directory using multimap
+* some navigation changes for more robust navigation.
+* use correct approachable area for objects and doors.
+* added multimap support.
+* making the logical navigator advertise execute_logical_goal after the first pose has been received (github issue `#18 <https://github.com/utexas-bwi/segbot_apps/issues/18>`_)
+* turning annoying prints into ROS_INFOs and removing more annoying ones.
+* Made the door checker test for the door to be open 3 times before going through. Works much better. Removed recovery behavior.
+* Contributors: Matteo Leonetti, Piyush Khandelwal
+
+0.2.1 (2014-04-22)
+------------------
+
+0.2.0 (2014-04-19)
+------------------
+* now actually read in object approach file
+* added the ability to approach an object, as well as added the
+  ability to approach a door from any accessible location
+* now catkin_lint approved
+* better error checking, shared global nodehandle, added ability to
+  sense whether a door is open or not
+* moved the cost estimator to the bwi_planning package
+* moved gazebo stuff to separate simulated app
+* Contributors: Jack O'Quin, Piyush Khandelwal, piyushk
+
+0.1.5 (2013-09-03)
+------------------
+
+0.1.4 (2013-08-12)
+------------------
+
+0.1.3 (2013-07-16)
+------------------
+
+0.1.2 (2013-07-13)
+------------------
+
+0.1.1 (2013-07-10)
+------------------
+
+0.1.0 (2013-06-28)
+------------------