Initial setup for user GUI ready

safety_user_plugin/launch/user_plugin.launch

@@ -0,0 +1,35 @@
+<launch>
+  <arg name="port" />
+  <arg name="vis"  default="true"/>
+
+
+
+  <group if="$(arg vis)">
+    <!--<param name="robot_description" command="$(find xacro)/xacro &#45;&#45;inorder '$(find tracz_ground_station)/urdf/tracz.xacro'" />-->
+
+    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
+      <param name="publish_frequency" type="double" value="50.0" />
+    </node>
+
+
+    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+      <param name="use_gui" value="FALSE"/>
+    </node>
+
+     <node pkg="rqt_gui"
+          type="rqt_gui"
+          name="rqt_gui"
+          />
+  </group>
+
+  <node pkg="tracz_ground_station"
+        type="tracz_core.py"
+        name="tracz_core"
+        output="screen"
+        required="true"
+  >
+    <param name="port" type="string" value="$(arg port)" />
+  </node>
+
+
+</launch>

safety_user_plugin/scripts/qt_wrapper.py

@@ -0,0 +1,16 @@
+#!/usr/bin/env python
+import os
+import rospy
+import rospkg
+
+# from python_qt_binding.QtWidgets import QWidget, QDialog
+
+class QtWrapper:
+
+	def __init__(self,widget):
+
+		self.widget = widget
+
+		self.widget.textBrowser.setText('Sukces')
+
+

safety_user_plugin/scripts/ros_wrapper.py

@@ -0,0 +1,6 @@
+
+
+class ROSWrapper:
+
+	def __init__(self):
+		pass

safety_user_plugin/scripts/user_plugin.py

@@ -1,4 +1,21 @@
-class UserPlugin:
+#!/usr/bin/env python
 
-	def __init__(self):
+import os
-		pass
+import rospy
+import rospkg
+
+from qt_gui.plugin import Plugin
+
+from qt_wrapper import QtWrapper
+from ros_wrapper import ROSWrapper
+from user_widget import UserWidget
+
+class UserPlugin(Plugin):
+
+    def __init__(self,context):
+        super(UserPlugin, self).__init__(context)
+        self.setObjectName('User Plugin - L1.5 safety system')
+
+        self.widget = UserWidget(context)
+        self.qt_wrapper = QtWrapper(self.widget)
+        self.ros_wrapper = ROSWrapper()

safety_user_plugin/scripts/user_widget.py

@@ -0,0 +1,18 @@
+#!/usr/bin/env python
+import os
+import rospkg
+
+from python_qt_binding.QtWidgets import QWidget
+from python_qt_binding import loadUi
+
+class UserWidget(QWidget):
+
+    def __init__(self,context):
+        super(UserWidget, self).__init__()
+        ui_file = os.path.join(rospkg.RosPack().get_path('safety_user_plugin'), 'ui', 'user_view.ui')
+        loadUi(ui_file, self)
+        self.setObjectName('User Plugin - L1.5 safety system')
+
+        if context.serial_number() > 1:
+            self.setWindowTitle(self.windowTitle() + (' (%d)' % context.serial_number()))
+        context.add_widget(self)

safety_user_plugin/ui/user_view.ui

@@ -0,0 +1,39 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>Form</class>
+ <widget class="QWidget" name="Form">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>950</width>
+    <height>798</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <widget class="QComboBox" name="comboBox">
+   <property name="geometry">
+    <rect>
+     <x>90</x>
+     <y>50</y>
+     <width>161</width>
+     <height>31</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QTextBrowser" name="textBrowser">
+   <property name="geometry">
+    <rect>
+     <x>50</x>
+     <y>150</y>
+     <width>256</width>
+     <height>192</height>
+    </rect>
+   </property>
+  </widget>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>