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port rqt_joint_trajectory_controller to ros2 (ros-controls#356)
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@Noel215
Noel215 authored Jul 29, 2022
1 parent d8d6616 commit 4504e8d
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35 changes: 35 additions & 0 deletions rqt_joint_trajectory_controller/package.xml
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<?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>rqt_joint_trajectory_controller</name>
<version>2.5.0</version>
<description>Graphical frontend for interacting with joint_trajectory_controller instances.</description>

<maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
<maintainer email="mathias.luedtke@ipa.fraunhofer.de">Mathias Lüdtke</maintainer>
<maintainer email="enrique.fernandez.perdomo@gmail.com">Enrique Fernandez</maintainer>

<license>Apache-2.0</license>

<url type="website">http://wiki.ros.org/rqt_joint_trajectory_controller</url>

<author email="adolfo.rodriguez@pal-robotics.com">Adolfo Rodriguez Tsouroukdissian</author>
<author email="noel.jimenez@pal-robotics.com">Noel Jimenez Garcia</author>

<exec_depend>control_msgs</exec_depend>
<exec_depend>controller_manager_msgs</exec_depend>
<exec_depend>python_qt_binding</exec_depend>
<exec_depend>python3-rospkg</exec_depend>
<exec_depend>trajectory_msgs</exec_depend>
<exec_depend>rclpy</exec_depend>
<exec_depend>rqt_gui</exec_depend>
<exec_depend>rqt_gui_py</exec_depend>
<exec_depend>qt_gui</exec_depend>

<export>
<build_type>ament_python</build_type>
<rqt_gui plugin="${prefix}/plugin.xml"/>
</export>
</package>
21 changes: 21 additions & 0 deletions rqt_joint_trajectory_controller/plugin.xml
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<library path="src">
<class name="JointTrajectoryController"
type="rqt_joint_trajectory_controller.joint_trajectory_controller.JointTrajectoryController"
base_class_type="rqt_gui_py::Plugin">
<description>
Graphical frontend for interacting with joint_trajectory_controller instances.
</description>
<qtgui>
<group>
<label>Robot Tools</label>
<icon type="theme">folder</icon>
<statustip>Plugins related to robot tools.</statustip>
</group>
<label>Joint trajectory controller</label>
<icon>resource/scope.png</icon>
<statustip>
Monitor and send commands to running joint trajectory controllers.
</statustip>
</qtgui>
</class>
</library>
95 changes: 95 additions & 0 deletions rqt_joint_trajectory_controller/resource/double_editor.ui
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<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>double_editor</class>
<widget class="QWidget" name="double_editor">
<property name="enabled">
<bool>true</bool>
</property>
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>249</width>
<height>121</height>
</rect>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Minimum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QHBoxLayout" name="horizontalLayout" stretch="1,0">
<item>
<widget class="QSlider" name="slider">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="baseSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="invertedAppearance">
<bool>false</bool>
</property>
<property name="invertedControls">
<bool>false</bool>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="spin_box">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>60</width>
<height>0</height>
</size>
</property>
<property name="baseSize">
<size>
<width>100</width>
<height>0</height>
</size>
</property>
<property name="buttonSymbols">
<enum>QAbstractSpinBox::UpDownArrows</enum>
</property>
<property name="keyboardTracking">
<bool>false</bool>
</property>
<property name="decimals">
<number>6</number>
</property>
</widget>
</item>
</layout>
</widget>
<resources/>
<connections/>
</ui>
202 changes: 202 additions & 0 deletions rqt_joint_trajectory_controller/resource/joint_trajectory_controller.ui
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<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>joint_trajectory_controller</class>
<widget class="QWidget" name="joint_trajectory_controller">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>336</width>
<height>317</height>
</rect>
</property>
<property name="windowTitle">
<string>Joint trajectory controller</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<widget class="QGroupBox" name="controller_group">
<property name="title">
<string/>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<layout class="QGridLayout" name="gridLayout">
<item row="1" column="1">
<widget class="QComboBox" name="jtc_combo"/>
</item>
<item row="1" column="0">
<widget class="QComboBox" name="cm_combo"/>
</item>
<item row="0" column="0">
<widget class="QLabel" name="cm_list_label">
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;controller manager&lt;/span&gt; namespace. It is assumed that the &lt;span style=&quot; font-weight:600;&quot;&gt;robot_description&lt;/span&gt; parameter also lives in the same namesapce.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string>controller manager ns</string>
</property>
<property name="buddy">
<cstring>cm_combo</cstring>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="controller_list_label">
<property name="text">
<string>controller</string>
</property>
<property name="buddy">
<cstring>jtc_combo</cstring>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QPushButton" name="enable_button">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Minimum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Enable/disable sending commands to the controller.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string/>
</property>
<property name="icon">
<iconset>
<normaloff>off.svg</normaloff>
<normalon>on.svg</normalon>
<activeon>on.svg</activeon>off.svg</iconset>
</property>
<property name="iconSize">
<size>
<width>48</width>
<height>48</height>
</size>
</property>
<property name="checkable">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="joint_group_outer">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="title">
<string>joints</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="flat">
<bool>false</bool>
</property>
<property name="checkable">
<bool>false</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout_3">
<item>
<widget class="QScrollArea" name="joint_group_scroll">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Plain</enum>
</property>
<property name="verticalScrollBarPolicy">
<enum>Qt::ScrollBarAsNeeded</enum>
</property>
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="widgetResizable">
<bool>true</bool>
</property>
<widget class="QWidget" name="joint_group">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>314</width>
<height>109</height>
</rect>
</property>
</widget>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="speed_scaling_group">
<property name="title">
<string>speed scaling</string>
</property>
<layout class="QVBoxLayout" name="speed_scaling_layout"/>
</widget>
</item>
</layout>
</widget>
<tabstops>
<tabstop>cm_combo</tabstop>
<tabstop>jtc_combo</tabstop>
<tabstop>enable_button</tabstop>
</tabstops>
<resources/>
<connections/>
</ui>
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