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kdl_parser
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randomize button for jsp gui

This commit is contained in:
Aaron Blasdel 2015-03-26 11:17:41 -07:00
parent 77e60e67d7
commit 67743b0e25
1 changed files with 36 additions and 21 deletions
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21
joint_state_publisher/joint_state_publisher/joint_state_publisher
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@ -1,6 +1,7 @@
#!/usr/bin/env python #!/usr/bin/env python
import rospy import rospy
import random
import wx import wx
import wx.lib.newevent import wx.lib.newevent
import xml.dom.minidom import xml.dom.minidom
@ -267,12 +268,15 @@ class JointStatePublisherGui(wx.Frame):
self.Bind(self.EVT_UPDATESLIDERS, self.updateSliders) self.Bind(self.EVT_UPDATESLIDERS, self.updateSliders)
### Buttons ### ### 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) 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) panel.SetSizer(box)
self.center() self.center()
@ -309,6 +313,17 @@ class JointStatePublisherGui(wx.Frame):
joint_info['slidervalue'] = self.valueToSlider(joint['zero'], joint) joint_info['slidervalue'] = self.valueToSlider(joint['zero'], joint)
self.update_values() 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): def sliderUpdate(self, event):
for (name,joint_info) in self.joint_map.items(): for (name,joint_info) in self.joint_map.items():
joint_info['slidervalue'] = joint_info['slider'].GetValue() joint_info['slidervalue'] = joint_info['slider'].GetValue()