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Simple rviz panel for interaction with spot
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Can use the panel to claim and release the lease, power on and off, sit down and stand up, and set the body pose.

To add, go to panels>add new panel and select SpotControlPanel in spot_viz
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@heuristicus
heuristicus committed Jun 23, 2021
1 parent caacc5d commit c3a4f12
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Showing 7 changed files with 575 additions and 198 deletions.
29 changes: 28 additions & 1 deletion spot_viz/CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(spot_viz)

find_package(catkin REQUIRED COMPONENTS)
find_package(catkin REQUIRED COMPONENTS rviz)

catkin_package()

set(CMAKE_AUTOMOC ON)

if(rviz_QT_VERSION VERSION_LESS "5")
message(STATUS "Using Qt4 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
find_package(Qt4 ${rviz_QT_VERSION} EXACT REQUIRED QtCore QtGui)
include(${QT_USE_FILE})
else()
message(STATUS "Using Qt5 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets UiTools)
set(QT_LIBRARIES Qt5::Widgets Qt5::UiTools)
endif()

include_directories(
${catkin_INCLUDE_DIRS}
)

set(SRC_FILES
src/spot_panel.cpp
)

add_library(${PROJECT_NAME} ${SRC_FILES})
target_link_libraries(${PROJECT_NAME} ${QT_LIBRARIES} ${catkin_LIBRARIES})

install(TARGETS
${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

install(DIRECTORY rviz DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
install(FILES plugin_description.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
9 changes: 8 additions & 1 deletion spot_viz/package.xml
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<buildtool_depend>catkin</buildtool_depend>

<build_depend>qtbase5-dev</build_depend>
<build_depend>rviz</build_depend>

<exec_depend>libqt5-core</exec_depend>
<exec_depend>libqt5-gui</exec_depend>
<exec_depend>libqt5-widgets</exec_depend>
<exec_depend>joint_state_publisher</exec_depend>
<exec_depend>joint_state_publisher_gui</exec_depend>
<exec_depend>rviz</exec_depend>

<export>
<rviz plugin="${prefix}/plugin_description.xml"/>
</export>
</package>
</package>
9 changes: 9 additions & 0 deletions spot_viz/plugin_description.xml
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<library path="lib/libspot_viz">
<class name="spot_viz/SpotControlPanel"
type="spot_viz::ControlPanel"
base_class_type="rviz::Panel">
<description>
A panel for controlling the Boston Dynamics Spot robot with the Clearpath driver
</description>
</class>
</library>
231 changes: 231 additions & 0 deletions spot_viz/resource/spot_control.ui
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<?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>456</width>
<height>618</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<layout class="QHBoxLayout" name="claimLayout">
<item>
<widget class="QPushButton" name="claimLeaseButton">
<property name="text">
<string>Claim Lease</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="releaseLeaseButton">
<property name="enabled">
<bool>false</bool>
</property>
<property name="text">
<string>Release Lease</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item>
<layout class="QHBoxLayout" name="powerLayout">
<item>
<widget class="QPushButton" name="powerOnButton">
<property name="enabled">
<bool>false</bool>
</property>
<property name="text">
<string>Power On</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="powerOffButton">
<property name="enabled">
<bool>false</bool>
</property>
<property name="text">
<string>Power Off</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item>
<layout class="QHBoxLayout" name="sitStandLayout">
<item>
<widget class="QPushButton" name="sitButton">
<property name="enabled">
<bool>false</bool>
</property>
<property name="text">
<string>Sit</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="standButton">
<property name="enabled">
<bool>false</bool>
</property>
<property name="text">
<string>Stand</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QGridLayout" name="bodyPoseGridLayout">
<item row="1" column="0" colspan="2">
<widget class="QLabel" name="bodyPoseLabel">
<property name="text">
<string>Body Pose Control</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="rollLabel">
<property name="text">
<string>Roll</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="yawLabel">
<property name="text">
<string>Yaw</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="6" column="0" colspan="2">
<widget class="QPushButton" name="setBodyPoseButton">
<property name="enabled">
<bool>false</bool>
</property>
<property name="text">
<string>Set Body Pose</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="pitchLabel">
<property name="text">
<string>Pitch</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="bodyHeightLabel">
<property name="text">
<string>Body height</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QDoubleSpinBox" name="bodyHeightSpin">
<property name="buttonSymbols">
<enum>QAbstractSpinBox::NoButtons</enum>
</property>
<property name="decimals">
<number>2</number>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QDoubleSpinBox" name="rollSpin">
<property name="buttonSymbols">
<enum>QAbstractSpinBox::NoButtons</enum>
</property>
<property name="decimals">
<number>1</number>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QDoubleSpinBox" name="pitchSpin">
<property name="buttonSymbols">
<enum>QAbstractSpinBox::NoButtons</enum>
</property>
<property name="decimals">
<number>1</number>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QDoubleSpinBox" name="yawSpin">
<property name="buttonSymbols">
<enum>QAbstractSpinBox::NoButtons</enum>
</property>
<property name="decimals">
<number>1</number>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QLabel" name="statusLabel">
<property name="text">
<string/>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
<resources/>
<connections/>
</ui>
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