Added first stab at rviz_python_tutorial

Author: hershwg

rviz_python_tutorial/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+rosbuild_init()

rviz_python_tutorial/Makefile

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

rviz_python_tutorial/config.myviz

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+Panels:
+  []
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.03
+        Value: Billboards
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        Value: 0; 0; 0
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: /map
+  Name: root
+  Tools:
+    - Class: rviz/MoveCamera
+    - Class: rviz/Interact
+    - Class: rviz/Select
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 23.7169
+      Focal Point:
+        Value: 2.265e-06; 3.8147e-06; -3.8147e-06
+        X: 2.26498e-06
+        Y: 3.8147e-06
+        Z: -3.8147e-06
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 0.349797
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 2.6004
+    Saved:
+      - Class: rviz/Orbit
+        Distance: 23.7169
+        Focal Point:
+          Value: 2.265e-06; 3.8147e-06; -3.8147e-06
+          X: 2.26498e-06
+          Y: 3.8147e-06
+          Z: -3.8147e-06
+        Name: Top View
+        Near Clip Distance: 0.01
+        Pitch: 1.5698
+        Target Frame: <Fixed Frame>
+        Value: Orbit (rviz)
+        Yaw: 1.5654
+      - Class: rviz/Orbit
+        Distance: 23.7169
+        Focal Point:
+          Value: 2.265e-06; 3.8147e-06; -3.8147e-06
+          X: 2.26498e-06
+          Y: 3.8147e-06
+          Z: -3.8147e-06
+        Name: Side View
+        Near Clip Distance: 0.01
+        Pitch: 0.0347963
+        Target Frame: <Fixed Frame>
+        Value: Orbit (rviz)
+        Yaw: 1.5854
+Window Geometry:
+  Height: 1406
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000013c00000487fc0200000007fb000000100044006900730070006c0061007900730100000041000002930000000000000000fb0000001200530065006c0065006300740069006f006e01000000410000013a0000000000000000fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000000c00540065006c0065006f00700100000041000004870000000000000000fb0000000c0042007500740074006f006e01000003de000001320000000000000000000000010000010f00000487fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000041000004870000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b2000000000000000000000002000004b0000000ddfc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005ce0000006afc0100000003fb0000000800540069006d00650000000000000004b00000000000000000fb0000000800540069006d00650100000000000004500000000000000000fb0000001c0045007800740072006100200043006f006e00740072006f006c00730000000000000005ce000000c200ffffff000005ce0000051f00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
+  Width: 1508
+  X: 134
+  Y: 52

rviz_python_tutorial/manifest.xml

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+<package>
+  <description brief="rviz_python_tutorial">
+
+     Tutorial demonstrating the embedding of rviz visualization in a python program.
+
+  </description>
+  <author>Dave Hershberger</author>
+  <license>BSD</license>
+  <review status="unreviewed" notes=""/>
+  <url>http://ros.org/wiki/rviz_python_tutorial</url>
+  <depend package="rviz"/>
+  <export>
+    <rosdoc config="${prefix}/rosdoc.yaml"/>
+  </export>
+</package>

rviz_python_tutorial/myviz

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+#!/usr/bin/env python
+
+import roslib; roslib.load_manifest('rviz_python_tutorial')
+import sys
+
+from python_qt_binding.QtGui import *
+from python_qt_binding.QtCore import *
+
+import rviz
+
+class MyViz( QWidget ):
+    def __init__(self):
+        QWidget.__init__(self)
+
+        self.frame = rviz.VisualizationFrame()
+        self.frame.setSplashPath( "" )
+        self.frame.initialize()
+
+        reader = rviz.YamlConfigReader()
+        config = rviz.Config()
+        reader.readFile( config, "config.myviz" )
+        self.frame.load( config )
+        self.frame.setMenuBar( None )
+        self.frame.setStatusBar( None )
+        self.frame.setHideButtonVisibility( False )
+        self.frame.show()
+
+        self.manager = self.frame.getManager()
+        self.grid_display = self.manager.getRootDisplayGroup().getDisplayAt( 0 )
+        
+        layout = QVBoxLayout()
+        layout.addWidget( self.frame )
+        
+        thickness_slider = QSlider( Qt.Horizontal )
+        thickness_slider.setTracking( True )
+        thickness_slider.setMinimum( 1 )
+        thickness_slider.setMaximum( 1000 )
+        thickness_slider.valueChanged.connect( self.onThicknessSliderChanged )
+        layout.addWidget( thickness_slider )
+        
+        h_layout = QHBoxLayout()
+        
+        top_button = QPushButton( "Top View" )
+        top_button.clicked.connect( self.onTopButtonClick )
+        h_layout.addWidget( top_button )
+        
+        side_button = QPushButton( "Side View" )
+        side_button.clicked.connect( self.onSideButtonClick )
+        h_layout.addWidget( side_button )
+        
+        layout.addLayout( h_layout )
+        
+        self.setLayout( layout )
+
+    def onThicknessSliderChanged( self, new_value ):
+        if self.grid_display != None:
+            self.grid_display.subProp( "Line Style" ).subProp( "Line Width" ).setValue( new_value / 1000.0 )
+
+    def onTopButtonClick( self ):
+        self.switchToView( "Top View" );
+        
+    def onSideButtonClick( self ):
+        self.switchToView( "Side View" );
+        
+    def switchToView( self, view_name ):
+        view_man = self.manager.getViewManager()
+        for i in range( view_man.getNumViews() ):
+            if view_man.getViewAt( i ).getName() == view_name:
+                view_man.setCurrentFrom( view_man.getViewAt( i ))
+                return
+        print( "Did not find view named %s." % view_name )
+
+if __name__ == '__main__':
+    app = QApplication( sys.argv )
+
+    myviz = MyViz()
+    myviz.resize( 500, 500 )
+    myviz.show()
+
+    app.exec_()

rviz_python_tutorial/rosdoc.yaml

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+- builder: sphinx
+  sphinx_root_dir: doc-src