Remastered Interface v0.4

Updated Interface Based on PyQt5 library

Usage

git init
git clone https://github.com/OSUrobotics/RemasteredInterface.git master

Interface uses ROS messages and ROS bags so do not forget to

source devel/setup.bash

To start interface

roslaunch RemasteredInterface main_page.launch

Dependencies

• Python packages

  • numpy-stl
  • matplotlib
  • PyQt5
  • multiprocessing

• ROS packages

  • rosbag
  • rospy
  • rviz
  • xacro
  • kinova_description
  • robot_state_publisher
  • std_msgs
  • sensor_msgs
  • infrastructure_msgs https://github.com/OSUrobotics/infrastructure_msgs/tree/main

Purpose and Design

The main purpose of the interface is to hide all scary ROS and Linux commands under a more user-friendly environment

Initial Design concepts

First Page

Main Page

Design By Sergiy Greblov Josh Campbell Ryan Roberts

Based on Earlier Iteration of the Interface: https://github.com/OSUrobotics/infrastructure-packages/tree/development/new_gui

Custom Elements

GraphDistance

graphs distance vs time

Arguments

• p - parent
• index - location slot
• num - number of slots [1, 2, 4]

Items

item selection choice for testbed

Arguments

• p - parent
• statusArray - current Item selection
• index - location slot
• num - number of slots [1, 2, 4]

GraphFSR

Graphs FSR sensors data vs time

Arguments

• p - parent
• statusArray - active FSR sensors
• index - location slot
• num - number of slots [1, 2, 4]

GraphImage

Graphs a 3d Model using pyplot and displays active sensors

Arguments

• p - parent
• statusArray - list of currently active FSR sensors
• index - location slot
• num - number of slots [1, 2, 4]

Menu

Selection between various apparatus, arms, modes and sensors

Arguments

• ap - active apparatus

  1. Drawer
  2. Door
  3. Test Bed

• arm - active arm

  1. Kinova Jaco2
  2. Arm: Thor Arm

• mode - operational mode

  1. Live
  2. Recorded

Add

Selection between dynamic interface elements using + button

Arguments

• p - parent
• index - location slot
• num - number of slots [1, 2, 4]

Window

Wrapper class for all other elements in this page maintains dynamic layout maintains consistency between various inner elements

Arguments

• ap - active apparatus

  1. Drawer
  2. Door
  3. Test Bed

• arm - active arm

  1. Kinova Jaco2
  2. Arm: Thor Arm

• mode - operational mode

  1. Live
  2. Recorded

• num - number of slots [1, 2, 4]