bkinnightskytw
/
kdl_parser
mirror of https://github.com/existedinnettw/kdl_parser.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Merge pull request #100 from ablasdel/indigo-devel 

randomize button for jsp gui
This commit is contained in:
Ioan A Sucan 2015-03-26 11:23:40 -07:00
parent 77e60e67d7 67743b0e25
commit 15ac3e07ff
1 changed files with 36 additions and 21 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

21
joint_state_publisher/joint_state_publisher/joint_state_publisher
View File

@ -1,6 +1,7 @@
#!/usr/bin/env python
import rospy
import random
import wx
import wx.lib.newevent
import xml.dom.minidom
@ -267,12 +268,15 @@ class JointStatePublisherGui(wx.Frame):
self.Bind(self.EVT_UPDATESLIDERS, self.updateSliders)
### Buttons ###
self.ctrbutton = wx.Button(panel, 1, 'Center')
self.randbutton = wx.Button(panel, 1, 'Randomize')
self.ctrbutton = wx.Button(panel, 2, 'Center')
self.Bind(wx.EVT_SLIDER, self.sliderUpdate)
wx.EVT_BUTTON(self, 1, self.center_event)
wx.EVT_BUTTON(self, 1, self.randomize_event)
wx.EVT_BUTTON(self, 2, self.center_event)
box.Add(self.ctrbutton, 0, wx.EXPAND)
box.Add(self.randbutton, 0, wx.EXPAND)
box.Add(self.ctrbutton, 1, wx.EXPAND)
panel.SetSizer(box)
self.center()
@ -309,6 +313,17 @@ class JointStatePublisherGui(wx.Frame):
joint_info['slidervalue'] = self.valueToSlider(joint['zero'], joint)
self.update_values()
def randomize_event(self, event):
self.randomize()
def randomize(self):
rospy.loginfo("Randomizing")
for (name,joint_info) in self.joint_map.items():
joint = joint_info['joint']
joint_info['slidervalue'] = self.valueToSlider(random.uniform(joint['min'], joint['max']), joint)
self.update_values()
def sliderUpdate(self, event):
for (name,joint_info) in self.joint_map.items():
joint_info['slidervalue'] = joint_info['slider'].GetValue()