joint_state_publisher_gui

joint_state_publisher_gui

joint_state_publisher_gui
This package contains a GUI tool for setting and publishing joint state values for a given URDF.
git

joint_state_publisher_gui

import signal
import sys
import threading

import rospy

from python_qt_binding.QtWidgets import QApplication

import joint_state_publisher
import joint_state_publisher_gui

if __name__ == '__main__':
    try:
        rospy.init_node('joint_state_publisher_gui')
        app = QApplication(sys.argv)
        app.setApplicationDisplayName("Joint State Publisher")
        num_rows = joint_state_publisher.get_param('num_rows', 0)
        jsp_gui = joint_state_publisher_gui.JointStatePublisherGui("Node: " + rospy.get_name(),
                                                                   joint_state_publisher.JointStatePublisher(),
                                                                   num_rows)
        jsp_gui.show()
        jsp_gui.sliderUpdateTrigger.emit()

        threading.Thread(target=jsp_gui.jsp.loop).start()
        signal.signal(signal.SIGINT, signal.SIG_DFL)
        sys.exit(app.exec_())

    except rospy.ROSInterruptException:
        pass

Joint State Publisher

This contains a package for publishing sensor_msgs/JointState messages for a robot described with URDF. Given a URDF in the robot_description parameter on the parameter server, this node will continually publish default values for all of the movable joints in the URDF to the /joint_states topic.

Published Topics

• /joint_states (sensor_msgs/JointState) - The state of all of the movable joints in the system.

Subscribed Topics

• (optional) /any_topic (sensor_msgs/JointState) - If the sources_list parameter is not empty (see Parameters below), then every named topic in this parameter will be subscribed to for joint state updates. Do not add the default /joint_states topic to this list, as it will end up in an endless loop!

Parameters

• robot_description (string, required) - A URDF or DAE file describing the robot.
• rate (int) - The rate at which to publish updates to the /joint_states topic. Defaults to 10.
• publish_default_positions (bool) - Whether to publish a default position for each movable joint to the /joint_states topic. Defaults to True.
• publish_default_velocities (bool) - Whether to publish a default velocity for each movable joint to the /joint_states topic. Defaults to False.
• publish_default_efforts (bool) - Whether to publish a default effort for each movable joint to the /joint_states topic. Defaults to False.
• use_mimic_tags (bool) - Whether to honor tags in the URDF. Defaults to True.
• use_smallest_joint_limits (bool) - Whether to honor <safety_controller> tags in the URDF. Defaults to True.
• source_list (array of strings) - Each string in this array represents a topic name. For each string, create a subscription to the named topic of type sensor_msgs/JointStates. Publication to that topic will update the joints named in the message. Defaults to an empty array.
• zeros (dictionary of string -> float) - A dictionary of joint_names to initial starting values for the joint. Defaults to an empty dictionary, in which case 0.0 is assumed as the zero for all joints.
• dependent_joints (dictionary of string -> dictionary of ‘parent’, ‘factor’, ‘offset’) - A dictionary of joint_names to the joints that they mimic; compare to the tag in URDF. A joint listed here will mimic the movements of the ‘parent’ joint, subject to the ‘factor’ and ‘offset’ provided. The ‘parent’ name must be provided, while the ‘factor’ and ‘offset’ parameters are optional (they default to 1.0 and 0.0, respectively). Defaults to the empty dictionary, in which case only joints that are marked as in the URDF are mimiced.