├── .gitignore
├── src
    └── rqt_virtual_joy
    │   ├── __init__.py
    │   ├── virtual_joy_module.py
    │   └── joystickView.py
├── screenshot
    └── window.png
├── resource
    ├── input-gaming.png
    └── VirtualJoy.ui
├── CHANGELOG.rst
├── scripts
    └── rqt_virtual_joy
├── setup.py
├── plugin.xml
├── README.md
├── LICENSE
├── package.xml
└── CMakeLists.txt


/.gitignore:
--------------------------------------------------------------------------------
1 | *.pcd
2 | *.pyc


--------------------------------------------------------------------------------
/src/rqt_virtual_joy/__init__.py:
--------------------------------------------------------------------------------
1 | 


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/screenshot/window.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/aquahika/rqt_virtual_joystick/HEAD/screenshot/window.png


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/resource/input-gaming.png:
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https://raw.githubusercontent.com/aquahika/rqt_virtual_joystick/HEAD/resource/input-gaming.png


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/CHANGELOG.rst:
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 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 2 | Changelog for package rqt_virtual_joy
 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 4 | 
 5 | 0.1.2 (2020-05-09)
 6 | ------------------
 7 | 
 8 | * First Release
 9 | * Contributors: Hikaru Sugiura
10 | 


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/scripts/rqt_virtual_joy:
--------------------------------------------------------------------------------
 1 | #!/usr/bin/env python
 2 | 
 3 | import sys
 4 | 
 5 | from rqt_virtual_joy.virtual_joy_module import MyPlugin
 6 | from rqt_gui.main import Main
 7 | 
 8 | plugin = 'rqt_virtual_joy'
 9 | main = Main(filename=plugin)
10 | sys.exit(main.main(standalone=plugin))


--------------------------------------------------------------------------------
/setup.py:
--------------------------------------------------------------------------------
 1 | # -*- coding: utf-8 -*-
 2 | from distutils.core import setup
 3 | from catkin_pkg.python_setup import generate_distutils_setup
 4 | 
 5 | d = generate_distutils_setup(
 6 |     packages=['rqt_virtual_joy'],
 7 |     scripts=['scripts/rqt_virtual_joy'],
 8 |     package_dir={'': 'src'},
 9 | )
10 | 
11 | setup(**d)


--------------------------------------------------------------------------------
/plugin.xml:
--------------------------------------------------------------------------------
 1 | <library path="src">
 2 |   <class name="My Plugin" type="rqt_virtual_joy.virtual_joy_module.MyPlugin" base_class_type="rqt_gui_py::Plugin">
 3 |     <description>
 4 |       An example Python GUI plugin to create a great user interface.
 5 |     </description>
 6 |     <qtgui>
 7 | 
 8 |       <group>
 9 |         <label>Robot Tools</label>
10 |       </group>
11 |       <!-- <group>
12 |         <label>Subgroup</label>
13 |       </group> -->
14 | 
15 |       <label>Virtual Joystick</label>
16 |       <icon type="file">resource/input-gaming.png</icon>
17 |       <statustip>Great user interface to provide real value.</statustip>
18 |     </qtgui>
19 |   </class>
20 | </library>


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
 1 | # rqt_virtual_joystick
 2 | Simple rqt virtual joystick publish `sensor_msgs/Joy` message.
 3 | 
 4 | <img src="https://raw.githubusercontent.com/aquahika/rqt_virtual_joystick/melodic-devel/screenshot/window.png">
 5 | 
 6 | ## Usage
 7 | 
 8 | ```
 9 | rqt_virtual_joystick
10 | ```
11 | 
12 | or
13 | 
14 | ```
15 | rosrun rqt_virtual_joystick rqt_virtual_joystick
16 | ```
17 | 
18 | Check `Publish` box to start publishing.
19 | 
20 | 
21 | ## Options
22 | 
23 | - -t [--topic] topic
24 |     - Specify a initial topic to publish here. default: `/joy` 
25 | - -r [--rate] hz
26 |     - Initial publishing rate. default: `20Hz`
27 | - --type ( circle | square )
28 |     - Select initial joystick type. default: `circle`
29 | 
30 | ## Author
31 | Hikaru Sugiura 
32 | 
33 | ## License
34 | 
35 | `input-gaming.png` icon from Tango Project is licensed under `CC-BY-SA`  
36 | http://tango.freedesktop.org/
37 | 
38 | Any other source codes are licenced under [MIT license](https://en.wikipedia.org/wiki/MIT_License). 


--------------------------------------------------------------------------------
/LICENSE:
--------------------------------------------------------------------------------
 1 | MIT License
 2 | 
 3 | Copyright (c) 2020 Hikaru Sugiura
 4 | 
 5 | Permission is hereby granted, free of charge, to any person obtaining a copy
 6 | of this software and associated documentation files (the "Software"), to deal
 7 | in the Software without restriction, including without limitation the rights
 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 9 | copies of the Software, and to permit persons to whom the Software is
10 | furnished to do so, subject to the following conditions:
11 | 
12 | The above copyright notice and this permission notice shall be included in all
13 | copies or substantial portions of the Software.
14 | 
15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
21 | SOFTWARE.
22 | 


--------------------------------------------------------------------------------
/package.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <package format="2">
 3 |   <name>rqt_virtual_joy</name>
 4 |   <version>0.1.2</version>
 5 |   <description>The rqt_virtual_joy package</description>
 6 | 
 7 |   <maintainer email="hikaru.sugiura@whill.inc">Hikaru Sugiura</maintainer>
 8 | 
 9 |   <license>MIT</license>
10 | 
11 | 
12 |   <!-- Url tags are optional, but multiple are allowed, one per tag -->
13 |   <!-- Optional attribute type can be: website, bugtracker, or repository -->
14 |   <!-- Example: -->
15 |   <!-- <url type="website">http://wiki.ros.org/rqt_virtual_joy</url> -->
16 | 
17 | 
18 |   <author email="hikaru.sugiura@whill.inc">Hikaru Sugiura</author>
19 | 
20 |   <depend>std_msgs</depend>
21 |   <depend>sensor_msgs</depend>
22 | 
23 |   <buildtool_depend>catkin</buildtool_depend>
24 |   <build_depend>rospy</build_depend>
25 |   <build_depend>rqt_gui</build_depend>
26 |   <build_depend>rqt_gui_py</build_depend>
27 |   <build_export_depend>rospy</build_export_depend>
28 |   <build_export_depend>rqt_gui</build_export_depend>
29 |   <build_export_depend>rqt_gui_py</build_export_depend>
30 |   <exec_depend>rospy</exec_depend>
31 |   <exec_depend>rqt_gui</exec_depend>
32 |   <exec_depend>rqt_gui_py</exec_depend>
33 | 
34 | 
35 |   <!-- The export tag contains other, unspecified, tags -->
36 |   <export>
37 |     <!-- Other tools can request additional information be placed here -->
38 |     <rqt_gui plugin="${prefix}/plugin.xml"/>
39 |   </export>
40 | </package>
41 | 


--------------------------------------------------------------------------------
/src/rqt_virtual_joy/virtual_joy_module.py:
--------------------------------------------------------------------------------
  1 | import os
  2 | import rospy
  3 | import rospkg
  4 | from sensor_msgs.msg import Joy
  5 | 
  6 | from qt_gui.plugin import Plugin
  7 | from python_qt_binding import loadUi
  8 | from python_qt_binding.QtWidgets import QWidget,QGraphicsView
  9 | from python_qt_binding.QtGui import QCursor
 10 | from python_qt_binding import QtCore
 11 | 
 12 | 
 13 | class MyPlugin(Plugin):
 14 | 
 15 |     def __init__(self, context):
 16 | 
 17 |         super(MyPlugin, self).__init__(context)
 18 | 
 19 |         # Give QObjects reasonable names
 20 |         self.setObjectName('MyPlugin')
 21 | 
 22 |         # Process standalone plugin command-line arguments
 23 |         from argparse import ArgumentParser
 24 |         parser = ArgumentParser()
 25 |         # Add argument(s) to the parser.
 26 |         parser.add_argument("-q", "--quiet", action="store_true",
 27 |                       dest="quiet",
 28 |                       help="Put plugin in silent mode")
 29 |         parser.add_argument("-t", "--topic",
 30 |                       dest="topic",
 31 |                       type=str,
 32 |                       help="Set topic to publish [default:/joy]",
 33 |                       default="/joy")
 34 |         parser.add_argument("-r", "--rate",
 35 |                       dest="rate",
 36 |                       type=float,
 37 |                       help="Set publish rate [default:20]",
 38 |                       default=20)
 39 |         parser.add_argument("--type",
 40 |                       dest="type",
 41 |                       type=str,
 42 |                       choices=['circle', 'square'],
 43 |                       default='circle')
 44 | 
 45 | 
 46 |         args, unknowns = parser.parse_known_args(context.argv())
 47 |         if not args.quiet:
 48 |             print 'arguments: ', args
 49 |             print 'unknowns: ', unknowns
 50 | 
 51 |         # Create QWidget
 52 |         self._widget = QWidget()
 53 |         # Get path to UI file which should be in the "resource" folder of this package
 54 |         ui_file = os.path.join(rospkg.RosPack().get_path('rqt_virtual_joy'), 'resource', 'VirtualJoy.ui')
 55 |         # Extend the widget with all attributes and children from UI file
 56 |         loadUi(ui_file, self._widget)
 57 |         # Give QObjects reasonable names
 58 |         self._widget.setObjectName('MyPluginUi')
 59 |         # Show _widget.windowTitle on left-top of each plugin (when 
 60 |         # it's set in _widget). This is useful when you open multiple 
 61 |         # plugins at once. Also if you open multiple instances of your 
 62 |         # plugin at once, these lines add number to make it easy to 
 63 |         # tell from pane to pane.
 64 |         if context.serial_number() > 1:
 65 |             self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number()))
 66 |         # Add widget to the user interface
 67 |         context.add_widget(self._widget)
 68 | 
 69 |         self._widget.topicLineEdit.returnPressed.connect(self.topicNameUpdated)
 70 |         self._widget.topicLineEdit.setText(args.topic)  # Default Topic
 71 |         self.updatePublisher()
 72 | 
 73 |         self._widget.publishCheckBox.stateChanged.connect(self.publishCheckboxChanged)
 74 |         self._widget.rateSpinBox.valueChanged.connect(self.publishRateSpinBoxChanged)
 75 |         self._widget.rateSpinBox.setValue(args.rate)
 76 | 
 77 |         self._widget.joy.xMoved.connect(self.receiveX)
 78 |         self._widget.joy.yMoved.connect(self.receiveY)
 79 | 
 80 |         self._widget.shapeSelectBox.addItem("square")
 81 |         self._widget.shapeSelectBox.addItem("circle")
 82 | 
 83 |         self._widget.shapeSelectBox.activated.connect(self.indexChanged)
 84 |         self._widget.shapeSelectBox.setCurrentText(args.type) # circle
 85 |         self._widget.joy.setMode(args.type)
 86 | 
 87 | 
 88 |     def topicNameUpdated(self):
 89 |         self.updatePublisher()
 90 | 
 91 | 
 92 |     def updatePublisher(self):
 93 |         topic = str(self._widget.topicLineEdit.text())
 94 |         try:
 95 |             if self.pub != None:
 96 |                 self.pub.unregister()
 97 |         except:
 98 |             pass
 99 |         self.pub = None
100 |         self.pub = rospy.Publisher(topic, Joy,queue_size=10)
101 | 
102 |     def startIntervalTimer(self,msec):
103 | 
104 |         try:
105 |             self._timer.stop()
106 |         except:
107 |             self._timer = QtCore.QTimer(self)
108 |             self._timer.timeout.connect(self.processTimerShot)
109 |         
110 |         if msec > 0:
111 |             self._timer.setInterval(msec)
112 |             self._timer.start()
113 | 
114 | 
115 |     def publishCheckboxChanged(self,status):
116 |         self.updateROSPublishState()
117 | 
118 |     def publishRateSpinBoxChanged(self,status):
119 |         self.updateROSPublishState()
120 |         
121 |     def updateROSPublishState(self):
122 | 
123 |         if self._widget.publishCheckBox.checkState() == QtCore.Qt.Checked:
124 |             rate = self._widget.rateSpinBox.value()
125 |             self.startIntervalTimer(float(1000.0/rate))
126 |         else:
127 |             self.startIntervalTimer(-1)  # Stop Timer (Stop Publish)
128 | 
129 |     
130 |     def indexChanged(self,index):
131 |         text = str(self._widget.shapeSelectBox.currentText())
132 |         self._widget.joy.setMode(str(text))
133 | 
134 |     def receiveX(self,val):
135 |         self.updateJoyPosLabel()
136 | 
137 |     def receiveY(self,val):
138 |         self.updateJoyPosLabel()
139 | 
140 |     def updateJoyPosLabel(self):
141 |         pos = self.getROSJoyValue()
142 |         text = "({:1.2f},{:1.2f})".format(pos['x'],pos['y'])
143 |         self._widget.joyPosLabel.setText(text)
144 | 
145 |     def processTimerShot(self):
146 |         joy = self.getROSJoyValue()
147 |         msg = Joy()
148 |         msg.header.stamp = rospy.Time.now()
149 |         msg.axes.append(float(joy['x']))
150 |         msg.axes.append(float(joy['y']))
151 | 
152 |         button_num = 1
153 |         while True:
154 |             try:
155 |                 msg.buttons.append(eval("self._widget.button"+str(button_num)).isDown())
156 |                 button_num+=1
157 |             except:
158 |                 break
159 | 
160 |         try:
161 |             self.pub.publish(msg)
162 |         except:
163 |             rospy.logwarn("publisher not initialized")
164 |             pass
165 | 
166 |     def getROSJoyValue(self):
167 |         return self._widget.joy.getJoyValue()
168 |         #return self.convertREPCoordinate(self._widget.joy.getJoyValue())
169 | 
170 |     def convertREPCoordinate(self,input):
171 |         output = {}
172 |         output['x'] = input['y']
173 |         output['y'] = input['x']
174 |         return output
175 | 
176 |     def shutdown_plugin(self):
177 |         # TODO unregister all publishers here
178 |         self.pub.unregister()
179 |         pass
180 | 
181 |     def save_settings(self, plugin_settings, instance_settings):
182 |         # TODO save intrinsic configuration, usually using:
183 |         # instance_settings.set_value(k, v)
184 |         pass
185 | 
186 |     def restore_settings(self, plugin_settings, instance_settings):
187 |         # TODO restore intrinsic configuration, usually using:
188 |         # v = instance_settings.value(k)
189 |         pass
190 | 
191 |     #def trigger_configuration(self):
192 |         # Comment in to signal that the plugin has a way to configure
193 |         # This will enable a setting button (gear icon) in each dock widget title bar
194 |         # Usually used to open a modal configuration dialog


--------------------------------------------------------------------------------
/CMakeLists.txt:
--------------------------------------------------------------------------------
  1 | cmake_minimum_required(VERSION 2.8.3)
  2 | project(rqt_virtual_joy)
  3 | 
  4 | ## Compile as C++11, supported in ROS Kinetic and newer
  5 | # add_compile_options(-std=c++11)
  6 | 
  7 | ## Find catkin macros and libraries
  8 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
  9 | ## is used, also find other catkin packages
 10 | find_package(catkin REQUIRED COMPONENTS
 11 |   rospy
 12 |   rqt_gui
 13 |   rqt_gui_py
 14 | )
 15 | 
 16 | ## System dependencies are found with CMake's conventions
 17 | # find_package(Boost REQUIRED COMPONENTS system)
 18 | 
 19 | 
 20 | ## Uncomment this if the package has a setup.py. This macro ensures
 21 | ## modules and global scripts declared therein get installed
 22 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
 23 | catkin_python_setup()
 24 | 
 25 | ################################################
 26 | ## Declare ROS messages, services and actions ##
 27 | ################################################
 28 | 
 29 | ## To declare and build messages, services or actions from within this
 30 | ## package, follow these steps:
 31 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in
 32 | ##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
 33 | ## * In the file package.xml:
 34 | ##   * add a build_depend tag for "message_generation"
 35 | ##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
 36 | ##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
 37 | ##     but can be declared for certainty nonetheless:
 38 | ##     * add a exec_depend tag for "message_runtime"
 39 | ## * In this file (CMakeLists.txt):
 40 | ##   * add "message_generation" and every package in MSG_DEP_SET to
 41 | ##     find_package(catkin REQUIRED COMPONENTS ...)
 42 | ##   * add "message_runtime" and every package in MSG_DEP_SET to
 43 | ##     catkin_package(CATKIN_DEPENDS ...)
 44 | ##   * uncomment the add_*_files sections below as needed
 45 | ##     and list every .msg/.srv/.action file to be processed
 46 | ##   * uncomment the generate_messages entry below
 47 | ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 48 | 
 49 | ## Generate messages in the 'msg' folder
 50 | # add_message_files(
 51 | #   FILES
 52 | #   Message1.msg
 53 | #   Message2.msg
 54 | # )
 55 | 
 56 | ## Generate services in the 'srv' folder
 57 | # add_service_files(
 58 | #   FILES
 59 | #   Service1.srv
 60 | #   Service2.srv
 61 | # )
 62 | 
 63 | ## Generate actions in the 'action' folder
 64 | # add_action_files(
 65 | #   FILES
 66 | #   Action1.action
 67 | #   Action2.action
 68 | # )
 69 | 
 70 | ## Generate added messages and services with any dependencies listed here
 71 | # generate_messages(
 72 | #   DEPENDENCIES
 73 | #   std_msgs  # Or other packages containing msgs
 74 | # )
 75 | 
 76 | ################################################
 77 | ## Declare ROS dynamic reconfigure parameters ##
 78 | ################################################
 79 | 
 80 | ## To declare and build dynamic reconfigure parameters within this
 81 | ## package, follow these steps:
 82 | ## * In the file package.xml:
 83 | ##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
 84 | ## * In this file (CMakeLists.txt):
 85 | ##   * add "dynamic_reconfigure" to
 86 | ##     find_package(catkin REQUIRED COMPONENTS ...)
 87 | ##   * uncomment the "generate_dynamic_reconfigure_options" section below
 88 | ##     and list every .cfg file to be processed
 89 | 
 90 | ## Generate dynamic reconfigure parameters in the 'cfg' folder
 91 | # generate_dynamic_reconfigure_options(
 92 | #   cfg/DynReconf1.cfg
 93 | #   cfg/DynReconf2.cfg
 94 | # )
 95 | 
 96 | ###################################
 97 | ## catkin specific configuration ##
 98 | ###################################
 99 | ## The catkin_package macro generates cmake config files for your package
100 | ## Declare things to be passed to dependent projects
101 | ## INCLUDE_DIRS: uncomment this if your package contains header files
102 | ## LIBRARIES: libraries you create in this project that dependent projects also need
103 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need
104 | ## DEPENDS: system dependencies of this project that dependent projects also need
105 | catkin_package(
106 | #  INCLUDE_DIRS include
107 | #  LIBRARIES rqt_virtual_joy
108 | #  CATKIN_DEPENDS rospy rqt_gui rqt_gui_py
109 | #  DEPENDS system_lib
110 | )
111 | 
112 | ###########
113 | ## Build ##
114 | ###########
115 | 
116 | ## Specify additional locations of header files
117 | ## Your package locations should be listed before other locations
118 | include_directories(
119 | # include
120 |   ${catkin_INCLUDE_DIRS}
121 | )
122 | 
123 | ## Declare a C++ library
124 | # add_library(${PROJECT_NAME}
125 | #   src/${PROJECT_NAME}/rqt_virtual_joy.cpp
126 | # )
127 | 
128 | ## Add cmake target dependencies of the library
129 | ## as an example, code may need to be generated before libraries
130 | ## either from message generation or dynamic reconfigure
131 | # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
132 | 
133 | ## Declare a C++ executable
134 | ## With catkin_make all packages are built within a single CMake context
135 | ## The recommended prefix ensures that target names across packages don't collide
136 | # add_executable(${PROJECT_NAME}_node src/rqt_virtual_joy_node.cpp)
137 | 
138 | ## Rename C++ executable without prefix
139 | ## The above recommended prefix causes long target names, the following renames the
140 | ## target back to the shorter version for ease of user use
141 | ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
142 | # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
143 | 
144 | ## Add cmake target dependencies of the executable
145 | ## same as for the library above
146 | # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
147 | 
148 | ## Specify libraries to link a library or executable target against
149 | # target_link_libraries(${PROJECT_NAME}_node
150 | #   ${catkin_LIBRARIES}
151 | # )
152 | 
153 | #############
154 | ## Install ##
155 | #############
156 | 
157 | # all install targets should use catkin DESTINATION variables
158 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
159 | 
160 | ## Mark executable scripts (Python etc.) for installation
161 | ## in contrast to setup.py, you can choose the destination
162 | # install(PROGRAMS
163 | #   scripts/my_python_script
164 | #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
165 | # )
166 | 
167 | ## Mark executables for installation
168 | ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
169 | # install(TARGETS ${PROJECT_NAME}_node
170 | #   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
171 | # )
172 | 
173 | ## Mark libraries for installation
174 | ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
175 | # install(TARGETS ${PROJECT_NAME}
176 | #   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
177 | #   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
178 | #   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
179 | # )
180 | 
181 | ## Mark cpp header files for installation
182 | # install(DIRECTORY include/${PROJECT_NAME}/
183 | #   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
184 | #   FILES_MATCHING PATTERN "*.h"
185 | #   PATTERN ".svn" EXCLUDE
186 | # )
187 | 
188 | ## Mark other files for installation (e.g. launch and bag files, etc.)
189 | # install(FILES
190 | #   # myfile1
191 | #   # myfile2
192 | #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
193 | # )
194 | 
195 | #############
196 | ## Testing ##
197 | #############
198 | 
199 | ## Add gtest based cpp test target and link libraries
200 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_rqt_virtual_joy.cpp)
201 | # if(TARGET ${PROJECT_NAME}-test)
202 | #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
203 | # endif()
204 | 
205 | ## Add folders to be run by python nosetests
206 | # catkin_add_nosetests(test)
207 | 


--------------------------------------------------------------------------------
/src/rqt_virtual_joy/joystickView.py:
--------------------------------------------------------------------------------
  1 | from python_qt_binding import QtCore
  2 | from python_qt_binding.QtGui import QPainter, QColor, QFont, QPen, QBrush
  3 | from python_qt_binding.QtWidgets import QWidget,QGridLayout,QSizePolicy
  4 | import math
  5 | 
  6 | 
  7 | 
  8 | class JoystickView(QWidget):
  9 | 
 10 |     xMoved = QtCore.Signal(float)
 11 |     yMoved = QtCore.Signal(float)
 12 | 
 13 |     def __init__(self, parent = None): 
 14 |         super(JoystickView, self).__init__(parent) 
 15 |         self._initialized = False
 16 |         self._stickSize = 30    
 17 |         
 18 |         self._stickView = JoystickPointView(self)
 19 |         self._stickView.xMoved.connect(self.receiveXMoved)
 20 |         self._stickView.yMoved.connect(self.receiveYMoved)
 21 |         self.setMode("square")
 22 |         
 23 | 
 24 |     def receiveXMoved(self,val):
 25 |         self.xMoved.emit(val)
 26 | 
 27 |     def receiveYMoved(self,val):
 28 |         self.yMoved.emit(val)
 29 |                
 30 | 
 31 |     def setMode(self,mode):
 32 |         self._mode = mode
 33 |         self._stickView.setMode(mode)
 34 |         self.repaint()
 35 |         
 36 | 
 37 |     def paintEvent(self,event):
 38 |         if not self._initialized:
 39 |             self.placeStickAtCenter()
 40 |             self._initialized = True
 41 | 
 42 |         borderWidth = 1
 43 |         joyRange = 80
 44 |         center = QtCore.QPoint(self.height()/2,self.width()/2)
 45 |         
 46 |         qp = QPainter()
 47 |         qp.begin(self)
 48 |         qp.setRenderHint(QPainter.Antialiasing, True)
 49 |         qp.setPen(QPen(QtCore.Qt.lightGray, borderWidth, QtCore.Qt.SolidLine, QtCore.Qt.RoundCap,QtCore.Qt.RoundJoin))
 50 | 
 51 |         if self._mode == "circle":
 52 | 
 53 |             qp.drawEllipse(center,joyRange,joyRange)
 54 | 
 55 |         if self._mode == "square":
 56 |             x = center.x() - joyRange
 57 |             y = center.y() - joyRange
 58 |             width = joyRange * 2
 59 |             height = joyRange * 2
 60 |             qp.drawRect(x,y,width,height)
 61 |        
 62 |         qp.end()
 63 | 
 64 |         super(JoystickView,self).paintEvent(event)
 65 | 
 66 |     def placeStickAtCenter(self):
 67 |         stickInitPosH = self.height()/2 - self._stickSize /2 
 68 |         stickInitPosW = self.width()/2  - self._stickSize /2
 69 |         self._stickView.setGeometry(stickInitPosH,stickInitPosW,self._stickSize,self._stickSize)
 70 | 
 71 |     def getJoyValue(self):
 72 |         return self._stickView.getJoyValue()
 73 | 
 74 | 
 75 | 
 76 | class JoystickPointView(QWidget):
 77 | 
 78 |     xMoved = QtCore.Signal(float)
 79 |     yMoved = QtCore.Signal(float)
 80 | 
 81 |     def __init__(self,parent = None):
 82 |         super(JoystickPointView,self).__init__(parent)
 83 |         self._range = 80
 84 |         self._mode = "circle"
 85 | 
 86 | 
 87 |     def paintEvent(self,event):
 88 |         super(JoystickPointView,self).paintEvent(event)
 89 | 
 90 |         try:
 91 |             if self._initialized:
 92 |                 pass
 93 |         except: 
 94 |             self._origPos = self.pos()
 95 |             self._initialized = True
 96 | 
 97 |         qp = QPainter()
 98 |         qp.begin(self)
 99 |         
100 |         borderWidth = 2
101 |         radius = self.height()/2
102 |         center = QtCore.QPoint(self.height()/2,self.width()/2) 
103 |         
104 |         # Outer Circle
105 |         qp.setRenderHint(QPainter.Antialiasing, True)
106 |         qp.setPen(QPen(QtCore.Qt.darkGray, borderWidth, QtCore.Qt.SolidLine, QtCore.Qt.RoundCap,QtCore.Qt.RoundJoin))
107 |         qp.setBrush(QBrush(QtCore.Qt.white, QtCore.Qt.SolidPattern))
108 |         qp.drawEllipse(center,radius-borderWidth,radius-borderWidth)
109 | 
110 |         # Inner Circle
111 |         qp.setPen(QPen(QtCore.Qt.lightGray, borderWidth, QtCore.Qt.SolidLine, QtCore.Qt.RoundCap,QtCore.Qt.RoundJoin))
112 |         qp.setBrush(QBrush(QtCore.Qt.white, QtCore.Qt.SolidPattern))
113 |         qp.drawEllipse(center,radius-borderWidth-1,radius-borderWidth-1)
114 | 
115 |         qp.end()
116 | 
117 | 
118 |     def mousePressEvent(self, event):
119 |         self.__mousePressPos = None
120 |         self.__mouseMovePos = None
121 |         if event.button() == QtCore.Qt.LeftButton:
122 |             self.setFocus()
123 |             self.__mousePressPos = event.globalPos()
124 |             self.__mouseMovePos = event.globalPos()
125 | 
126 |         super(JoystickPointView, self).mousePressEvent(event)
127 | 
128 |     def mouseMoveEvent(self, event):
129 |         if event.buttons() == QtCore.Qt.LeftButton:
130 |             if(self.__mouseMovePos == None):
131 |                 return
132 | 
133 |             currPos = self.mapToGlobal(self.pos())
134 |             globalPos = event.globalPos()
135 |             diff = globalPos - self.__mouseMovePos
136 |             newPos = self.mapFromGlobal(currPos + diff)
137 | 
138 | 
139 |             center = self.centerPos(newPos)
140 |             origCenter = self.centerPos(self._origPos)
141 |             relative = origCenter - center
142 | 
143 |             limited = self.limitStickMove(relative, self._mode)
144 | 
145 |             self._moveJoy(limited)
146 |             self.__mouseMovePos = globalPos
147 | 
148 |         super(JoystickPointView, self).mouseMoveEvent(event)
149 | 
150 |     def mouseReleaseEvent(self, event):
151 |         
152 |         self._moveJoy(QtCore.QPoint(0,0))
153 |         
154 |         if self.__mousePressPos is not None:
155 |             moved = event.globalPos() - self.__mousePressPos 
156 |             if moved.manhattanLength() > 3:
157 |                 event.ignore()
158 |                 return
159 | 
160 |         super(JoystickPointView, self).mouseReleaseEvent(event)
161 | 
162 | 
163 |     def centerPos(self,pos = None):
164 |         if pos is None:
165 |             pos = self.pos()
166 |         x = pos.x() + (self.width() / 2)
167 |         y = pos.y() + (self.height() / 2)
168 |         return QtCore.QPoint(x,y)
169 |     
170 |     def revertCenterPos(self, pos = None):
171 |         if pos is None:
172 |             pos = self.pos()
173 |         x = pos.x() - (self.width() / 2)
174 |         y = pos.y() - (self.height() / 2)
175 |         return QtCore.QPoint(x,y)    
176 | 
177 |     def limitStickMove(self,pos,mode = "square"):
178 |         # Give joystick position from (0,0)
179 |         x = 0
180 |         y = 0
181 | 
182 |         if mode == "circle":
183 | 
184 |             norm = math.sqrt(pos.x() ** 2 + pos.y() ** 2)
185 |    
186 |             if  norm > self._range:
187 |                 ratio = self._range / norm
188 |             else:
189 |                 ratio = 1.0
190 |             
191 |             x = pos.x() * ratio
192 |             y = pos.y() * ratio
193 | 
194 | 
195 |         if mode == "square":
196 |         
197 |             if abs(pos.x()) > self._range:
198 |                 sign = pos.x() / abs(pos.x())
199 |                 x = sign * self._range
200 |             else:
201 |                 x = pos.x()
202 | 
203 |             if abs(pos.y()) > self._range:
204 |                 sign = pos.y() / abs(pos.y())
205 |                 y = sign * self._range
206 |             else:
207 |                 y = pos.y()
208 | 
209 |         return QtCore.QPoint(x,y)
210 | 
211 |     def setMode(self,mode):
212 |         self._mode = mode
213 | 
214 |     def setRange(self,value):
215 |         self._range = value
216 | 
217 |     def getJoyValue(self):
218 |         try:
219 |             center = self.centerPos(self.pos())
220 |             origCenter = self.centerPos(self._origPos)
221 |             relative = origCenter - center
222 | 
223 |             x = float(relative.x()) / self._range
224 |             y = float(relative.y()) / self._range
225 | 
226 |         except:
227 |             x = float(0.0)
228 |             y = float(0.0)
229 | 
230 |         return {'x': x, 'y': y}
231 |     
232 |     def _moveJoy(self,relative):
233 | 
234 |         pastJoyPos = self.getJoyValue()
235 | 
236 |         origCenter = self.centerPos(self._origPos)
237 |         newCenter = origCenter - relative
238 |         self.move(self.revertCenterPos(newCenter))
239 | 
240 |         newJoyPos = self.getJoyValue()
241 | 
242 |         if(pastJoyPos['x'] != newJoyPos['x']):
243 |             self.xMoved.emit(newJoyPos['x'])
244 |         if(pastJoyPos['y'] != newJoyPos['y']):
245 |             self.yMoved.emit(newJoyPos['y'])
246 |     
247 | 
248 | 
249 | 
250 | 
251 | 


--------------------------------------------------------------------------------
/resource/VirtualJoy.ui:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" encoding="UTF-8"?>
  2 | <ui version="4.0">
  3 |  <class>Form</class>
  4 |  <widget class="QWidget" name="Form">
  5 |   <property name="geometry">
  6 |    <rect>
  7 |     <x>0</x>
  8 |     <y>0</y>
  9 |     <width>510</width>
 10 |     <height>433</height>
 11 |    </rect>
 12 |   </property>
 13 |   <property name="windowTitle">
 14 |    <string>Virtual Joystick</string>
 15 |   </property>
 16 |   <layout class="QVBoxLayout" name="verticalLayout">
 17 |    <item>
 18 |     <widget class="QWidget" name="topicWidget" native="true">
 19 |      <property name="sizePolicy">
 20 |       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
 21 |        <horstretch>0</horstretch>
 22 |        <verstretch>0</verstretch>
 23 |       </sizepolicy>
 24 |      </property>
 25 |      <layout class="QHBoxLayout" name="horizontalLayout">
 26 |       <property name="spacing">
 27 |        <number>0</number>
 28 |       </property>
 29 |       <property name="topMargin">
 30 |        <number>2</number>
 31 |       </property>
 32 |       <property name="bottomMargin">
 33 |        <number>2</number>
 34 |       </property>
 35 |       <item>
 36 |        <widget class="QLabel" name="label_2">
 37 |         <property name="sizePolicy">
 38 |          <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
 39 |           <horstretch>0</horstretch>
 40 |           <verstretch>0</verstretch>
 41 |          </sizepolicy>
 42 |         </property>
 43 |         <property name="minimumSize">
 44 |          <size>
 45 |           <width>50</width>
 46 |           <height>0</height>
 47 |          </size>
 48 |         </property>
 49 |         <property name="text">
 50 |          <string>Topic:</string>
 51 |         </property>
 52 |         <property name="alignment">
 53 |          <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
 54 |         </property>
 55 |        </widget>
 56 |       </item>
 57 |       <item>
 58 |        <widget class="QLineEdit" name="topicLineEdit">
 59 |         <property name="sizePolicy">
 60 |          <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
 61 |           <horstretch>0</horstretch>
 62 |           <verstretch>0</verstretch>
 63 |          </sizepolicy>
 64 |         </property>
 65 |         <property name="minimumSize">
 66 |          <size>
 67 |           <width>160</width>
 68 |           <height>0</height>
 69 |          </size>
 70 |         </property>
 71 |         <property name="placeholderText">
 72 |          <string/>
 73 |         </property>
 74 |         <property name="clearButtonEnabled">
 75 |          <bool>false</bool>
 76 |         </property>
 77 |        </widget>
 78 |       </item>
 79 |      </layout>
 80 |     </widget>
 81 |    </item>
 82 |    <item>
 83 |     <widget class="QWidget" name="publishWidget" native="true">
 84 |      <property name="sizePolicy">
 85 |       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
 86 |        <horstretch>0</horstretch>
 87 |        <verstretch>0</verstretch>
 88 |       </sizepolicy>
 89 |      </property>
 90 |      <property name="minimumSize">
 91 |       <size>
 92 |        <width>0</width>
 93 |        <height>0</height>
 94 |       </size>
 95 |      </property>
 96 |      <layout class="QHBoxLayout" name="horizontalLayout_2">
 97 |       <property name="topMargin">
 98 |        <number>2</number>
 99 |       </property>
100 |       <property name="bottomMargin">
101 |        <number>2</number>
102 |       </property>
103 |       <item>
104 |        <widget class="QCheckBox" name="publishCheckBox">
105 |         <property name="sizePolicy">
106 |          <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
107 |           <horstretch>0</horstretch>
108 |           <verstretch>0</verstretch>
109 |          </sizepolicy>
110 |         </property>
111 |         <property name="minimumSize">
112 |          <size>
113 |           <width>40</width>
114 |           <height>20</height>
115 |          </size>
116 |         </property>
117 |         <property name="text">
118 |          <string>Publish</string>
119 |         </property>
120 |        </widget>
121 |       </item>
122 |       <item>
123 |        <widget class="QSpinBox" name="rateSpinBox">
124 |         <property name="sizePolicy">
125 |          <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
126 |           <horstretch>0</horstretch>
127 |           <verstretch>0</verstretch>
128 |          </sizepolicy>
129 |         </property>
130 |         <property name="minimum">
131 |          <number>1</number>
132 |         </property>
133 |         <property name="maximum">
134 |          <number>1000</number>
135 |         </property>
136 |         <property name="value">
137 |          <number>10</number>
138 |         </property>
139 |        </widget>
140 |       </item>
141 |       <item>
142 |        <widget class="QLabel" name="label">
143 |         <property name="sizePolicy">
144 |          <sizepolicy hsizetype="Fixed" vsizetype="Minimum">
145 |           <horstretch>0</horstretch>
146 |           <verstretch>0</verstretch>
147 |          </sizepolicy>
148 |         </property>
149 |         <property name="minimumSize">
150 |          <size>
151 |           <width>10</width>
152 |           <height>0</height>
153 |          </size>
154 |         </property>
155 |         <property name="text">
156 |          <string>Hz</string>
157 |         </property>
158 |         <property name="alignment">
159 |          <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
160 |         </property>
161 |        </widget>
162 |       </item>
163 |       <item>
164 |        <spacer name="horizontalSpacer_3">
165 |         <property name="orientation">
166 |          <enum>Qt::Horizontal</enum>
167 |         </property>
168 |         <property name="sizeHint" stdset="0">
169 |          <size>
170 |           <width>40</width>
171 |           <height>5</height>
172 |          </size>
173 |         </property>
174 |        </spacer>
175 |       </item>
176 |      </layout>
177 |     </widget>
178 |    </item>
179 |    <item>
180 |     <widget class="QWidget" name="controlWidget" native="true">
181 |      <layout class="QHBoxLayout" name="horizontalLayout_3">
182 |       <property name="topMargin">
183 |        <number>2</number>
184 |       </property>
185 |       <property name="bottomMargin">
186 |        <number>2</number>
187 |       </property>
188 |       <item>
189 |        <spacer name="horizontalSpacer">
190 |         <property name="orientation">
191 |          <enum>Qt::Horizontal</enum>
192 |         </property>
193 |         <property name="sizeHint" stdset="0">
194 |          <size>
195 |           <width>40</width>
196 |           <height>20</height>
197 |          </size>
198 |         </property>
199 |        </spacer>
200 |       </item>
201 |       <item>
202 |        <widget class="QGroupBox" name="Test">
203 |         <property name="sizePolicy">
204 |          <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
205 |           <horstretch>0</horstretch>
206 |           <verstretch>0</verstretch>
207 |          </sizepolicy>
208 |         </property>
209 |         <property name="minimumSize">
210 |          <size>
211 |           <width>200</width>
212 |           <height>340</height>
213 |          </size>
214 |         </property>
215 |         <property name="title">
216 |          <string/>
217 |         </property>
218 |         <property name="flat">
219 |          <bool>false</bool>
220 |         </property>
221 |         <property name="checkable">
222 |          <bool>false</bool>
223 |         </property>
224 |         <widget class="QLabel" name="joyPosLabel">
225 |          <property name="geometry">
226 |           <rect>
227 |            <x>110</x>
228 |            <y>220</y>
229 |            <width>81</width>
230 |            <height>21</height>
231 |           </rect>
232 |          </property>
233 |          <property name="text">
234 |           <string>(0,0)</string>
235 |          </property>
236 |          <property name="textFormat">
237 |           <enum>Qt::PlainText</enum>
238 |          </property>
239 |          <property name="alignment">
240 |           <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
241 |          </property>
242 |         </widget>
243 |         <widget class="Line" name="line">
244 |          <property name="geometry">
245 |           <rect>
246 |            <x>20</x>
247 |            <y>110</y>
248 |            <width>161</width>
249 |            <height>21</height>
250 |           </rect>
251 |          </property>
252 |          <property name="orientation">
253 |           <enum>Qt::Horizontal</enum>
254 |          </property>
255 |         </widget>
256 |         <widget class="QComboBox" name="shapeSelectBox">
257 |          <property name="geometry">
258 |           <rect>
259 |            <x>10</x>
260 |            <y>220</y>
261 |            <width>81</width>
262 |            <height>25</height>
263 |           </rect>
264 |          </property>
265 |          <property name="currentText">
266 |           <string/>
267 |          </property>
268 |         </widget>
269 |         <widget class="Line" name="line_2">
270 |          <property name="geometry">
271 |           <rect>
272 |            <x>90</x>
273 |            <y>40</y>
274 |            <width>21</width>
275 |            <height>161</height>
276 |           </rect>
277 |          </property>
278 |          <property name="orientation">
279 |           <enum>Qt::Vertical</enum>
280 |          </property>
281 |         </widget>
282 |         <widget class="JoystickView" name="joy" native="true">
283 |          <property name="geometry">
284 |           <rect>
285 |            <x>-1</x>
286 |            <y>19</y>
287 |            <width>201</width>
288 |            <height>201</height>
289 |           </rect>
290 |          </property>
291 |         </widget>
292 |         <widget class="QWidget" name="gridLayoutWidget">
293 |          <property name="geometry">
294 |           <rect>
295 |            <x>10</x>
296 |            <y>250</y>
297 |            <width>181</width>
298 |            <height>81</height>
299 |           </rect>
300 |          </property>
301 |          <layout class="QGridLayout" name="gridLayout">
302 |           <item row="0" column="5">
303 |            <widget class="QPushButton" name="button6">
304 |             <property name="text">
305 |              <string>6</string>
306 |             </property>
307 |            </widget>
308 |           </item>
309 |           <item row="1" column="1">
310 |            <widget class="QPushButton" name="button8">
311 |             <property name="text">
312 |              <string>8</string>
313 |             </property>
314 |            </widget>
315 |           </item>
316 |           <item row="0" column="0">
317 |            <widget class="QPushButton" name="button1">
318 |             <property name="sizePolicy">
319 |              <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
320 |               <horstretch>0</horstretch>
321 |               <verstretch>0</verstretch>
322 |              </sizepolicy>
323 |             </property>
324 |             <property name="text">
325 |              <string>1</string>
326 |             </property>
327 |            </widget>
328 |           </item>
329 |           <item row="0" column="4">
330 |            <widget class="QPushButton" name="button5">
331 |             <property name="text">
332 |              <string>5</string>
333 |             </property>
334 |            </widget>
335 |           </item>
336 |           <item row="1" column="3">
337 |            <widget class="QPushButton" name="button10">
338 |             <property name="text">
339 |              <string>10</string>
340 |             </property>
341 |            </widget>
342 |           </item>
343 |           <item row="1" column="5">
344 |            <widget class="QPushButton" name="button12">
345 |             <property name="text">
346 |              <string>12</string>
347 |             </property>
348 |            </widget>
349 |           </item>
350 |           <item row="1" column="2">
351 |            <widget class="QPushButton" name="button9">
352 |             <property name="text">
353 |              <string>9</string>
354 |             </property>
355 |            </widget>
356 |           </item>
357 |           <item row="0" column="1">
358 |            <widget class="QPushButton" name="button2">
359 |             <property name="text">
360 |              <string>2</string>
361 |             </property>
362 |            </widget>
363 |           </item>
364 |           <item row="0" column="3">
365 |            <widget class="QPushButton" name="button4">
366 |             <property name="text">
367 |              <string>4</string>
368 |             </property>
369 |            </widget>
370 |           </item>
371 |           <item row="1" column="4">
372 |            <widget class="QPushButton" name="button11">
373 |             <property name="text">
374 |              <string>11</string>
375 |             </property>
376 |            </widget>
377 |           </item>
378 |           <item row="1" column="0">
379 |            <widget class="QPushButton" name="button7">
380 |             <property name="text">
381 |              <string>7</string>
382 |             </property>
383 |            </widget>
384 |           </item>
385 |           <item row="0" column="2">
386 |            <widget class="QPushButton" name="button3">
387 |             <property name="text">
388 |              <string>3</string>
389 |             </property>
390 |            </widget>
391 |           </item>
392 |           <item row="2" column="0">
393 |            <widget class="QPushButton" name="button13">
394 |             <property name="text">
395 |              <string>13</string>
396 |             </property>
397 |            </widget>
398 |           </item>
399 |           <item row="2" column="1">
400 |            <widget class="QPushButton" name="button14">
401 |             <property name="text">
402 |              <string>14</string>
403 |             </property>
404 |            </widget>
405 |           </item>
406 |           <item row="2" column="2">
407 |            <widget class="QPushButton" name="button15">
408 |             <property name="text">
409 |              <string>15</string>
410 |             </property>
411 |            </widget>
412 |           </item>
413 |           <item row="2" column="3">
414 |            <widget class="QPushButton" name="button16">
415 |             <property name="text">
416 |              <string>16</string>
417 |             </property>
418 |            </widget>
419 |           </item>
420 |           <item row="2" column="4">
421 |            <widget class="QPushButton" name="button17">
422 |             <property name="text">
423 |              <string>17</string>
424 |             </property>
425 |            </widget>
426 |           </item>
427 |           <item row="2" column="5">
428 |            <widget class="QPushButton" name="button18">
429 |             <property name="text">
430 |              <string>18</string>
431 |             </property>
432 |            </widget>
433 |           </item>
434 |          </layout>
435 |         </widget>
436 |        </widget>
437 |       </item>
438 |       <item>
439 |        <spacer name="horizontalSpacer_2">
440 |         <property name="orientation">
441 |          <enum>Qt::Horizontal</enum>
442 |         </property>
443 |         <property name="sizeHint" stdset="0">
444 |          <size>
445 |           <width>40</width>
446 |           <height>20</height>
447 |          </size>
448 |         </property>
449 |        </spacer>
450 |       </item>
451 |      </layout>
452 |     </widget>
453 |    </item>
454 |   </layout>
455 |  </widget>
456 |  <customwidgets>
457 |   <customwidget>
458 |    <class>JoystickView</class>
459 |    <extends>QWidget</extends>
460 |    <header>rqt_virtual_joy.joystickView</header>
461 |    <container>1</container>
462 |   </customwidget>
463 |  </customwidgets>
464 |  <resources/>
465 |  <connections/>
466 | </ui>
467 | 


--------------------------------------------------------------------------------