├── CMakeLists.txt ├── LICENSE ├── README.md ├── docker ├── Dockerfile └── docker-compose.yml ├── package.xml ├── requirements.txt ├── scripts ├── msg_to_geotiff.py ├── navsatfix_test_pub └── start_qgis_ros ├── setup.cfg ├── setup.py └── src └── qgis_ros ├── __init__.py ├── core ├── __init__.py ├── bagging.py ├── crs.py ├── helpers.py ├── ros_vector_provider.py ├── translator_registry.py └── translators │ ├── __init__.py │ ├── geometry_msgs.py │ ├── json_transport.py │ ├── nav_msgs.py │ ├── sensor_msgs.py │ ├── std_msgs.py │ ├── translator.py │ └── wireless_msgs.py ├── metadata.txt ├── qgis_ros_toolbox.py ├── styles ├── global_state.qml ├── nogo_map.qml ├── pose_arrow.qml ├── pose_heatmap.qml └── slam_map.qml └── ui ├── __init__.py ├── bagfile_dialog.py ├── bagfile_dialog.ui ├── data_loader_widget.py ├── data_loader_widget.ui ├── ros_master_dialog.py └── ros_master_dialog.ui /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(qgis_ros) 3 | 4 | find_package(catkin REQUIRED COMPONENTS 5 | ) 6 | 7 | catkin_package() 8 | 9 | catkin_python_setup() 10 | 11 | include_directories( 12 | ${catkin_INCLUDE_DIRS} 13 | ) 14 | 15 | install( 16 | PROGRAMS 17 | scripts/start_qgis_ros 18 | scripts/navsatfix 19 | DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 20 | ) 21 | 22 | install( 23 | FILES 24 | requirements.txt 25 | DESTINATION 26 | ${CATKIN_PACKAGE_SHARE_DESTINATION} 27 | ) 28 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2018 Locus Robotics 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 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # QGIS-ROS 2 | 3 | **Warning: This package is not currently maintained and may not work without some additional technical care. It looks like a newer version of QGIS has changed a bunch of the Python interfaces. Try using QGIS 3.10 or perhaps a bit older. PRs are welcome!** 4 | 5 | A QGIS plugin for interacting with data from ROS topics and bags. 6 | 7 | The ROSCon 2018 Presentation on QGIS-ROS can be found here: https://vimeo.com/293539252. The presentation PDF can be found here: https://roscon.ros.org/2018/presentations/ROSCon2018_UnleashingGISToolbox.pdf 8 | 9 | ## Requirements 10 | 11 | - Ubuntu >= 16.04 12 | - Python 3.5 13 | - QGIS >= 3.1 14 | - ROS 1 15 | 16 | QGIS can be installed from [the QGIS download page.][1] You need to add a PPA if using Ubuntu 16.04. 17 | 18 | ## Installation (source) 19 | 20 | ```bash 21 | cd ~/my_ros_ws/src/ 22 | git clone git@github.com:locusrobotics/qgis_ros.git 23 | git clone git@github.com:clearpathrobotics/wireless.git 24 | git clone git@github.com:locusrobotics/json_transport.git 25 | catkin build 26 | 27 | cd ~/my_ros_ws/src/qgis_ros 28 | pip3 install -r requirements.txt 29 | ``` 30 | 31 | ## Usage (source) 32 | 33 | ```bash 34 | rosrun qgis_ros start_qgis_ros 35 | ``` 36 | 37 | Once QGIS is loaded, navigate to Plugins -> Installed -> and enable QGIS_ROS with the checkbox. You only need to do this once. 38 | 39 | With custom ROS Message Translators: 40 | 41 | ```bash 42 | export QGIS_ROS_EXTRA_TRANSLATORS='custompythonmodule.translators' 43 | rosrun qgis_ros start_qgis_ros 44 | ``` 45 | 46 | ## Usage (docker) 47 | 48 | It can often be very tricky to comfortably resolve all dependencies in your workspace because of the combination of ROS1, Python3, GDAL 2, and QGIS. 49 | 50 | It uses a lazy/reckless way to expose X server to the container. For alternatives, check out the [ROS Docker GUI Tutorial][2]. 51 | 52 | ``` 53 | cd ~/my_catkin_ws/src/qgis_ros/docker 54 | docker-compose build 55 | xhost +local:root 56 | docker-compose up 57 | xhost -local:root # Remember to remove X server permissions after! 58 | ``` 59 | 60 | To use extra translators, you'll need to mount a volume with them and/or extend the image. 61 | 62 | ## ROS Message Translators 63 | 64 | QGIS is able to read and write data from hundreds of formats and sources by translating these formats into a common in-memory format. In order to represent ROS messages in this format, we target common interchange formats (GeoJSON and GeoTIFF) to make it easy to extend. If you want to make use of a custom ROS message type, all you have to do is: 65 | 66 | 1. subclass `qgis_ros.core.translators.Translator` 67 | 2. implement a `translate` function that accepts a ROS message and returns a GeoJSON-like dict or a path to a GeoTIFF on disk 68 | 3. Add the `VectorTranslatorMixin` or `RasterTranslatorMixin` 69 | 4. Register before launching by setting the envvar `QGIS_ROS_EXTRA_TRANSLATORS` to a python module path to an iterable of translators. 70 | 71 | Check out the source code for more details. 72 | 73 | ## Troubleshooting 74 | 75 | ### My topic does not appear in the list of topics 76 | 77 | Only topics that have ROS Message Translators will appear. Not every message has been implemented. If your message is custom, look above for how to create a custom translator. If it is standard to ROS, create an issue or raise a Pull Request with a new one.TODO: add an example to the ROSCon presentation repository and link here. 78 | 51 79 | 80 | ## Contributions 81 | 82 | Contributions are appreciated. Please open a pull request. 83 | 84 | Developers will notice that `camelCase` is being used in Python. This may seem unusual, but PyQT and QGIS both use `camelCase`.So we follow that standard in accordance with PEP8. 85 | 86 | ## Contact 87 | 88 | Queries that don't fit well as GitHub issues can be directed to Andrew Blakey at ablakey@locusrobotics.com 89 | 90 | Being a robogeographer is a lonely life. If there are any others out there, don't hesitate to say hi! 91 | 92 | [1]: https://qgis.org/en/site/forusers/download.html 93 | [2]: http://wiki.ros.org/docker/Tutorials/GUI 94 | -------------------------------------------------------------------------------- /docker/Dockerfile: -------------------------------------------------------------------------------- 1 | FROM osrf/ros:lunar-desktop-full-xenial 2 | 3 | ### Installing system packages (system owner's responsibility) 4 | RUN apt update && \ 5 | apt install -y wget software-properties-common python3-pip python-catkin-tools 6 | 7 | ### Installing QGIS (QGIS docs responsibility: https://qgis.org/en/site/forusers/alldownloads.html#debian-ubuntu) 8 | RUN sh -c 'echo "deb http://qgis.org/ubuntugis xenial main" >> /etc/apt/sources.list' 9 | RUN wget -O - http://qgis.org/downloads/qgis-2017.gpg.key | gpg --import; exit 0 10 | RUN gpg --export --armor CAEB3DC3BDF7FB45 | apt-key add - 11 | RUN add-apt-repository -y ppa:ubuntugis/ubuntugis-unstable && \ 12 | apt update && \ 13 | apt install -y gdal-bin python-gdal python3-gdal qgis 14 | 15 | RUN pip3 install rospkg 16 | 17 | ### Installing QGIS_ROS (QGIS_ROS docs responsibility: https://github.com/locusrobotics/qgis_ros) 18 | RUN mkdir -p ~/catkin_ws/src 19 | RUN /bin/bash -c " \ 20 | source /opt/ros/lunar/setup.bash && \ 21 | cd ~/catkin_ws/ && \ 22 | catkin init && \ 23 | git clone http://github.com/locusrobotics/qgis_ros.git src/qgis_ros && \ 24 | git clone http://github.com/clearpathrobotics/wireless.git src/wireless && \ 25 | rosdep install --from-paths src --ignore-src -yi && \ 26 | pip3 install msgpack && \ 27 | catkin build" 28 | -------------------------------------------------------------------------------- /docker/docker-compose.yml: -------------------------------------------------------------------------------- 1 | version: '3' 2 | services: 3 | qgis_ros_test: 4 | build: . 5 | environment: 6 | - DISPLAY 7 | - QT_X11_NO_MITSHM=1 8 | volumes: 9 | - "/tmp/.X11-unix:/tmp/.X11-unix:rw" 10 | command: /bin/bash -c "source ~/catkin_ws/devel/setup.bash && rosrun qgis_ros start_qgis_ros" 11 | -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | qgis_ros 4 | 0.0.1 5 | QGIS plugin for accessing real-time and bagged ROS data 6 | 7 | Andrew Blakey 8 | Proprietary 9 | 10 | catkin 11 | 12 | geometry_msgs 13 | json_transport 14 | nav_msgs 15 | rospack 16 | 17 | 18 | -------------------------------------------------------------------------------- /requirements.txt: -------------------------------------------------------------------------------- 1 | msgpack 2 | rospkg 3 | -------------------------------------------------------------------------------- /scripts/msg_to_geotiff.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3.5 2 | import argparse 3 | from pathlib import Path 4 | import numpy 5 | import gdal 6 | import osr 7 | import json 8 | 9 | 10 | PROJ4_SIMPLE = '+proj=tmerc \ 11 | +lat_0=0 \ 12 | +lon_0=0 \ 13 | +k=1 \ 14 | +x_0=0 \ 15 | +y_0=0 \ 16 | +ellps=WGS84 \ 17 | +towgs84=0,0,0,0,0,0,0 \ 18 | +units=m \ 19 | +no_defs' 20 | 21 | 22 | if __name__ == '__main__': 23 | parser = argparse.ArgumentParser(description='Get message from an OccupancyGrid topic and save it as a geotiff.') 24 | parser.add_argument('input', type=Path) 25 | parser.add_argument('output', type=Path) 26 | 27 | args = parser.parse_args() 28 | 29 | with args.input.open('r') as f: 30 | data = json.load(f) 31 | 32 | rows = data['height'] 33 | cols = data['width'] 34 | resolution = data['resolution'] 35 | bands = 1 36 | originX = data['origin_x'] 37 | originY = data['origin_y'] 38 | 39 | npData = numpy.reshape(data['data'], (rows, cols)) 40 | driver = gdal.GetDriverByName('GTiff') 41 | outRaster = driver.Create(str(args.output), cols, rows, bands, gdal.GDT_Byte) 42 | outRaster.SetGeoTransform((originX, resolution, 0, originY, 0, resolution)) # TODO Explain magic numbers. 43 | outBand = outRaster.GetRasterBand(1) 44 | outBand.WriteArray(npData) 45 | outRasterSRS = osr.SpatialReference() 46 | outRasterSRS.ImportFromProj4(PROJ4_SIMPLE) 47 | outRaster.SetProjection(outRasterSRS.ExportToWkt()) 48 | outBand.FlushCache() 49 | outRaster = None # Free up underlying C++ memory. 50 | -------------------------------------------------------------------------------- /scripts/navsatfix_test_pub: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | """ 3 | An example publisher of basic NavSatFix data, mostly for testing. 4 | """ 5 | from random import random 6 | 7 | import rospy 8 | from sensor_msgs.msg import NavSatFix 9 | 10 | 11 | def navsatfix_test_pub(): 12 | pub = rospy.Publisher("navsat", NavSatFix, queue_size=1) 13 | rospy.init_node("navsatfix_test_pub") 14 | 15 | rate = rospy.Rate(1) 16 | 17 | longitude = 0 18 | 19 | while not rospy.is_shutdown(): 20 | pub.publish(latitude=0, longitude=longitude) 21 | longitude += random() 22 | rate.sleep() 23 | 24 | 25 | if __name__ == "__main__": 26 | try: 27 | navsatfix_test_pub() 28 | except rospy.ROSInterruptException: 29 | pass 30 | -------------------------------------------------------------------------------- /scripts/start_qgis_ros: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | export QGIS_PLUGINPATH=$(catkin_find --first-only qgis_ros src) 3 | # Point to the directory that contains the QGIS plugin (python package). 4 | # TODO: Therefore this will not work when installed. 5 | qgis 6 | -------------------------------------------------------------------------------- /setup.cfg: -------------------------------------------------------------------------------- 1 | [pep8] 2 | max-line-length = 120 3 | 4 | [flake8] 5 | max-line-length = 120 6 | -------------------------------------------------------------------------------- /setup.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | 3 | from distutils.core import setup 4 | from catkin_pkg.python_setup import generate_distutils_setup 5 | 6 | setup_args = generate_distutils_setup( 7 | packages=[ 8 | 'qgis_ros', 9 | 'qgis_ros.core', 10 | 'qgis_ros.core.translators', 11 | 'qgis_ros.ui' 12 | ], 13 | package_dir={'': 'src'}) 14 | 15 | setup(**setup_args) 16 | -------------------------------------------------------------------------------- /src/qgis_ros/__init__.py: -------------------------------------------------------------------------------- 1 | # TODO: monkeypatch function. 2 | import sys 3 | sys.argv = [] 4 | 5 | 6 | def classFactory(iface): 7 | from .qgis_ros_toolbox import QgisRos 8 | return QgisRos(iface) 9 | -------------------------------------------------------------------------------- /src/qgis_ros/core/__init__.py: -------------------------------------------------------------------------------- 1 | from .ros_vector_provider import ROSVectorProvider 2 | from .translator_registry import TranslatorRegistry 3 | 4 | __all__ = [ 5 | 'ROSVectorProvider', 6 | 'TranslatorRegistry' 7 | ] 8 | -------------------------------------------------------------------------------- /src/qgis_ros/core/bagging.py: -------------------------------------------------------------------------------- 1 | import rosbag 2 | 3 | from . import TranslatorRegistry 4 | 5 | 6 | def getTopicsFromBag(filePath): 7 | '''Returns a tuple of tuples (name, type, count) from all topics found in bag.''' 8 | with rosbag.Bag(filePath, 'r') as bag: 9 | topicTuples = bag.get_type_and_topic_info()[1] # Tuple entry 1 is a dict of metadata. 10 | 11 | t = [(k, v.msg_type, v.message_count) for k, v in topicTuples.items()] 12 | t.sort(key=lambda k: k[0]) 13 | return t 14 | 15 | 16 | def getBagDataAsLayer(filePath, topicName, topicType, sampleInterval=1, takeLast=False, progressCallback=None): 17 | '''Returns a collection of messages from a bag. 18 | Invokes a progress callback every 1000 elements as this can be long running. 19 | ''' 20 | count = 0 21 | messages = [] 22 | extraProperties = [] 23 | 24 | with rosbag.Bag(filePath, 'r') as bag: 25 | for topic, message, time in bag.read_messages(topics=topicName): 26 | count += 1 27 | if count % sampleInterval == 0: # Append every sampleInterval message. 28 | messages.append(message) 29 | extraProperties.append({'bagTimestamp': time.to_sec()}) 30 | 31 | # Invoke progress callback every 1000 messages. 32 | if count % 1000 == 0 and progressCallback: 33 | progressCallback(count) 34 | 35 | if takeLast: 36 | messages = [messages[-1]] 37 | extraProperties = [extraProperties[-1]] 38 | 39 | translator = TranslatorRegistry.instance().get(topicType) 40 | return translator.createLayer(topicName, rosMessages=messages, extraProperties=extraProperties) 41 | -------------------------------------------------------------------------------- /src/qgis_ros/core/crs.py: -------------------------------------------------------------------------------- 1 | from qgis.core import QgsCoordinateReferenceSystem 2 | 3 | 4 | PROJ4_SIMPLE = '+proj=tmerc \ 5 | +lat_0=0 \ 6 | +lon_0=0 \ 7 | +k=1 \ 8 | +x_0=0 \ 9 | +y_0=0 \ 10 | +ellps=WGS84 \ 11 | +towgs84=0,0,0,0,0,0,0 \ 12 | +units=m \ 13 | +no_defs' 14 | 15 | PROJ4_WGS84 = '+proj=longlat +datum=WGS84 +no_defs' 16 | 17 | simpleCrs = QgsCoordinateReferenceSystem('PROJ4:' + PROJ4_SIMPLE) 18 | wgs84Crs = QgsCoordinateReferenceSystem('PROJ4:' + PROJ4_WGS84) 19 | 20 | proj4CrsDict = {'simple': PROJ4_SIMPLE, 'wgs84': PROJ4_WGS84} 21 | crsDict = {'simple': simpleCrs, 'wgs84': wgs84Crs} 22 | -------------------------------------------------------------------------------- /src/qgis_ros/core/helpers.py: -------------------------------------------------------------------------------- 1 | import json 2 | import math 3 | 4 | from qgis.PyQt.QtCore import QTextCodec 5 | from qgis.core import QgsJsonUtils 6 | 7 | 8 | def featuresToQgs(features): 9 | '''Accepts a list of geojson Features and returns a tuple of (features, fields)''' 10 | fc = {'type': 'FeatureCollection', 'features': features} 11 | fcString = json.dumps(fc) 12 | codec = QTextCodec.codecForName("UTF-8") 13 | fields = QgsJsonUtils.stringToFields(fcString, codec) 14 | features = QgsJsonUtils.stringToFeatureList(fcString, fields, codec) 15 | 16 | return (features, fields) 17 | 18 | 19 | def parseUrlArgs(argString): 20 | args = argString.split('&') # list of arg strings. 21 | args = dict([a.split('=') for a in args]) # dict of args. 22 | 23 | # Convert string booleans. 24 | for k, v in args.items(): 25 | if v.lower() in ('yes', 'true'): 26 | args[k] = True 27 | elif v.lower() in ('no', 'false'): 28 | args[k] = False 29 | 30 | return args 31 | 32 | 33 | def quaternionToYaw(q): 34 | '''Returns the yaw in radians of a quaternion. 35 | Reimplements part of euler_from_quaternion from the tf package because tf doesn't play well in Python 3. 36 | ''' 37 | t0 = 2.0 * (q.w * q.z + q.x * q.y) 38 | t1 = 1.0 - 2.0 * (q.y**2 + q.z**2) 39 | return math.atan2(t0, t1) 40 | -------------------------------------------------------------------------------- /src/qgis_ros/core/ros_vector_provider.py: -------------------------------------------------------------------------------- 1 | # Developed based on: https://github.com/qgis/QGIS/blob/master/tests/src/python/provider_python.py 2 | from threading import RLock 3 | import rospy 4 | from qgis.core import ( 5 | QgsFields, 6 | QgsVectorLayer, 7 | QgsFeatureRequest, 8 | QgsFeature, 9 | QgsGeometry, 10 | QgsProject, 11 | QgsExpression, 12 | QgsExpressionContext, 13 | QgsExpressionContextUtils, 14 | QgsCoordinateTransform, 15 | QgsRectangle, 16 | QgsVectorDataProvider, 17 | QgsAbstractFeatureSource, 18 | QgsAbstractFeatureIterator, 19 | QgsFeatureIterator, 20 | QgsSpatialIndex, 21 | QgsDataProvider 22 | ) 23 | 24 | from PyQt5.QtCore import pyqtSignal 25 | 26 | from .crs import crsDict 27 | from .translator_registry import TranslatorRegistry 28 | from .helpers import featuresToQgs, parseUrlArgs 29 | 30 | # TODO: Make a non-global version. 31 | # This limits all ROSVectorProvider classes from updating the canvas more than once per second. 32 | DATA_UPDATE_THROTTLE = 2.0 # float seconds 33 | global last_global_refresh 34 | last_global_refresh = 0 35 | 36 | 37 | class ROSVectorProvider(QgsVectorDataProvider): 38 | 39 | fieldsUpdated = pyqtSignal() 40 | 41 | @classmethod 42 | def providerKey(cls): 43 | return 'rosvectorprovider' 44 | 45 | @classmethod 46 | def description(cls): 47 | return 'ROS Vector Provider' 48 | 49 | @classmethod 50 | def createProvider(cls, uri, providerOptions): 51 | return ROSVectorProvider(uri, providerOptions) 52 | 53 | def __init__(self, uri='', providerOptions=QgsDataProvider.ProviderOptions()): 54 | '''Set up the Data Provider. 55 | 56 | uri contains the topic name, topic type. 57 | Example uri: 'foo/my_pose?type=geometry_msgs/PoseStamped' 58 | ''' 59 | try: 60 | self._topic, argString = uri.split('?') 61 | except IndexError: 62 | raise ValueError('uri Cannot be parsed. Is it valid? uri: {}'.format(uri)) 63 | 64 | # Parse string of arguments into dict of python types. 65 | args = parseUrlArgs(argString) 66 | super().__init__(uri) 67 | 68 | self._translator = TranslatorRegistry.instance().get(args['type']) 69 | 70 | # There's no source for a reasonable collection of native types so we just steal from another provider. 71 | mlayer = QgsVectorLayer('Polygon?crs=epsg:4326', 'ml', 'memory') # Wrong url but doesn't matter. 72 | nativeTypes = mlayer.dataProvider().nativeTypes() 73 | self.setNativeTypes(nativeTypes) 74 | 75 | self._uri = uri 76 | self._fields = QgsFields() 77 | self._wkbType = self._translator.geomType # TODO: if unknown, infer it. 78 | self._features = {} 79 | self._extent = QgsRectangle() 80 | self._extent.setMinimal() 81 | self._subset_string = '' 82 | self._spatialindex = None 83 | self._provider_options = providerOptions 84 | self.next_feature_id = 0 # TODO: Consider a generator for a better numbering approach. 85 | self._lock = RLock() 86 | self._subscriber = None 87 | 88 | self.keepOlderMessages = args.get('keepOlderMessages', False) 89 | self._handledMessageCount = 0 90 | self.sampleInterval = int(args.get('sampleInterval', 1)) 91 | self.crsName = args.get('crsName') 92 | 93 | if args.get('index'): 94 | self.createSpatialIndex() 95 | 96 | if args.get('subscribe'): 97 | self._subscriber = rospy.Subscriber(self._topic, self._translator.messageType, self._handleMessage) 98 | else: 99 | msg = rospy.wait_for_message(self._topic, self._translator.messageType, timeout=5) 100 | self._handleMessage(msg) 101 | 102 | def _handleMessage(self, msg): 103 | self._handledMessageCount += 1 104 | # Skip message if not on interval. 105 | if (self._handledMessageCount - 1) % self.sampleInterval: # -1 so that first message is handled. 106 | return 107 | 108 | features = self._translator.translate(msg) 109 | qgsFeatures, fields = featuresToQgs(features) 110 | 111 | # TODO: check if fields changed and emit a signal only then. 112 | self._fields = fields 113 | self.fieldsUpdated.emit() 114 | 115 | # If we're not accumulating history, clear features first. 116 | if not self.keepOlderMessages: 117 | self.next_feature_id = 0 118 | self._features = {} # Clear features. 119 | 120 | try: 121 | self._setFeatures(qgsFeatures) 122 | except RuntimeError: 123 | self._cleanup() 124 | 125 | # Throttle data update to avoid over-stressing QGIS runtime. Consider alleviating this. 126 | global last_global_refresh 127 | now = rospy.get_time() 128 | if now - last_global_refresh > DATA_UPDATE_THROTTLE: 129 | last_global_refresh = now 130 | self.dataChanged.emit() # TODO: remove occasional flicker when this happens. 131 | 132 | def _cleanup(self): 133 | ''' Clean up ROS subscriber connection. 134 | The provider is owned by the QgsVectorLayer, which is owned by QGIS internals (layer registry) 135 | When a layer is removed, it gets deleted and cleaned up. However, there's no clean way to perform 136 | cleanup activities on the Python side before the underlying C++ object is deleted, thus making this 137 | object unstable. A RuntimeError is raised when this is detected. We'll perform cleanup at that point. 138 | ''' 139 | if self._subscriber: 140 | self._subscriber.unregister() 141 | self._subscriber = None 142 | 143 | def featureSource(self): 144 | with self._lock: 145 | return ROSVectorFeatureSource(self) 146 | 147 | def dataSourceUri(self, expandAuthConfig=True): 148 | return self._uri 149 | 150 | def storageType(self): 151 | return "ROS Topic" 152 | 153 | def getFeatures(self, request=QgsFeatureRequest()): 154 | with self._lock: 155 | return QgsFeatureIterator(ROSVectorFeatureIterator(ROSVectorFeatureSource(self), request)) 156 | 157 | def uniqueValues(self, fieldIndex, limit=1): 158 | with self._lock: 159 | results = set() 160 | if fieldIndex >= 0 and fieldIndex < self._fields.count(): 161 | req = QgsFeatureRequest() 162 | req.setFlags(QgsFeatureRequest.NoGeometry) 163 | req.setSubsetOfAttributes([fieldIndex]) 164 | for f in self.getFeatures(req): 165 | results.add(f.attributes()[fieldIndex]) 166 | return results 167 | 168 | def wkbType(self): 169 | return self._wkbType 170 | 171 | def featureCount(self): 172 | with self._lock: 173 | if not self.subsetString(): 174 | return len(self._features) 175 | else: 176 | req = QgsFeatureRequest() 177 | req.setFlags(QgsFeatureRequest.NoGeometry) 178 | req.setSubsetOfAttributes([]) 179 | return len([f for f in self.getFeatures(req)]) 180 | 181 | def fields(self): 182 | with self._lock: 183 | return self._fields 184 | 185 | def _setFeatures(self, flist, flags=None): 186 | with self._lock: 187 | added = False 188 | f_added = [] 189 | 190 | if self._spatialindex is not None: 191 | for f in self._features.values(): 192 | self._spatialindex.deleteFeature(f) 193 | 194 | for _f in flist: 195 | self._features[self.next_feature_id] = _f 196 | _f.setId(self.next_feature_id) 197 | self.next_feature_id += 1 198 | added = True 199 | f_added.append(_f) 200 | 201 | if self._spatialindex is not None: 202 | self._spatialindex.insertFeature(_f) 203 | 204 | if f_added: 205 | self.clearMinMaxCache() 206 | self.updateExtents() 207 | 208 | return added, f_added 209 | 210 | def allFeatureIds(self): 211 | with self._lock: 212 | return list(self._features.keys()) 213 | 214 | def subsetString(self): 215 | return self._subset_string 216 | 217 | def setSubsetString(self, subsetString): 218 | if subsetString == self._subset_string: 219 | return True 220 | self._subset_string = subsetString 221 | self.updateExtents() 222 | self.clearMinMaxCache() 223 | self.dataChanged.emit() 224 | return True 225 | 226 | def supportsSubsetString(self): 227 | return True 228 | 229 | def createSpatialIndex(self): 230 | if self._spatialindex is None: 231 | self._spatialindex = QgsSpatialIndex() 232 | for f in self._features.values(): 233 | self._spatialindex.insertFeature(f) 234 | return True 235 | 236 | def capabilities(self): 237 | return QgsVectorDataProvider.SelectAtId | QgsVectorDataProvider.CreateSpatialIndex 238 | 239 | def name(self): 240 | return self.providerKey() 241 | 242 | def extent(self): 243 | if self._extent.isEmpty() and self._features: 244 | self._extent.setMinimal() 245 | if not self._subset_string: 246 | # fast way - iterate through all features 247 | for feat in self._features.values(): 248 | if feat.hasGeometry(): 249 | self._extent.combineExtentWith(feat.geometry().boundingBox()) 250 | else: 251 | for f in self.getFeatures(QgsFeatureRequest().setSubsetOfAttributes([])): 252 | if f.hasGeometry(): 253 | self._extent.combineExtentWith(f.geometry().boundingBox()) 254 | 255 | elif not self._features: 256 | self._extent.setMinimal() 257 | return QgsRectangle(self._extent) 258 | 259 | def updateExtents(self): 260 | self._extent.setMinimal() 261 | 262 | def isValid(self): 263 | return True 264 | 265 | def crs(self): 266 | return crsDict[self.crsName] 267 | 268 | 269 | class ROSVectorFeatureIterator(QgsAbstractFeatureIterator): 270 | 271 | def __init__(self, source, request): 272 | super().__init__(request) 273 | self._request = request if request is not None else QgsFeatureRequest() 274 | self._source = source 275 | self._index = 0 276 | self._transform = QgsCoordinateTransform() 277 | if self._request.destinationCrs().isValid() and self._request.destinationCrs() != self._source._provider.crs(): 278 | self._transform = QgsCoordinateTransform( 279 | self._source._provider.crs(), 280 | self._request.destinationCrs(), 281 | self._request.transformContext() 282 | ) 283 | try: 284 | self._filter_rect = self.filterRectToSourceCrs(self._transform) 285 | except Exception as e: 286 | self.close() 287 | return 288 | self._filter_rect = self.filterRectToSourceCrs(self._transform) 289 | if not self._filter_rect.isNull(): 290 | self._select_rect_geom = QgsGeometry.fromRect(self._filter_rect) 291 | self._select_rect_engine = QgsGeometry.createGeometryEngine(self._select_rect_geom.constGet()) 292 | self._select_rect_engine.prepareGeometry() 293 | else: 294 | self._select_rect_engine = None 295 | self._select_rect_geom = None 296 | self._feature_id_list = None 297 | if self._filter_rect is not None and self._source._provider._spatialindex is not None: 298 | self._feature_id_list = self._source._provider._spatialindex.intersects(self._filter_rect) 299 | 300 | def fetchFeature(self, f): 301 | """fetch next feature, return true on success""" 302 | # virtual bool nextFeature( QgsFeature &f ); 303 | if self._index < 0: 304 | f.setValid(False) 305 | return False 306 | try: 307 | found = False 308 | while not found: 309 | _f = self._source._features[list(self._source._features.keys())[self._index]] 310 | self._index += 1 311 | 312 | if self._feature_id_list is not None and _f.id() not in self._feature_id_list: 313 | continue 314 | 315 | if not self._filter_rect.isNull(): 316 | if not _f.hasGeometry(): 317 | continue 318 | if self._request.flags() & QgsFeatureRequest.ExactIntersect: 319 | # do exact check in case we're doing intersection 320 | if not self._select_rect_engine.intersects(_f.geometry().constGet()): 321 | continue 322 | else: 323 | if not _f.geometry().boundingBox().intersects(self._filter_rect): 324 | continue 325 | 326 | self._source._expression_context.setFeature(_f) 327 | if self._request.filterType() == QgsFeatureRequest.FilterExpression: 328 | if not self._request.filterExpression().evaluate(self._source._expression_context): 329 | continue 330 | if self._source._subset_expression: 331 | if not self._source._subset_expression.evaluate(self._source._expression_context): 332 | continue 333 | elif self._request.filterType() == QgsFeatureRequest.FilterFids: 334 | if not _f.id() in self._request.filterFids(): 335 | continue 336 | elif self._request.filterType() == QgsFeatureRequest.FilterFid: 337 | if _f.id() != self._request.filterFid(): 338 | continue 339 | f.setGeometry(_f.geometry()) 340 | self.geometryToDestinationCrs(f, self._transform) 341 | f.setFields(_f.fields()) 342 | f.setAttributes(_f.attributes()) 343 | f.setValid(_f.isValid()) 344 | f.setId(_f.id()) 345 | return True 346 | except IndexError as e: 347 | f.setValid(False) 348 | return False 349 | 350 | def __iter__(self): 351 | """Returns self as an iterator object""" 352 | self._index = 0 353 | return self 354 | 355 | def __next__(self): 356 | """Returns the next value till current is lower than high""" 357 | f = QgsFeature() 358 | if not self.nextFeature(f): 359 | raise StopIteration 360 | else: 361 | return f 362 | 363 | def rewind(self): 364 | """reset the iterator to the starting position""" 365 | # virtual bool rewind() = 0; 366 | if self._index < 0: 367 | return False 368 | self._index = 0 369 | return True 370 | 371 | def close(self): 372 | """end of iterating: free the resources / lock""" 373 | # virtual bool close() = 0; 374 | self._index = -1 375 | return True 376 | 377 | 378 | class ROSVectorFeatureSource(QgsAbstractFeatureSource): 379 | 380 | def __init__(self, provider): 381 | super(ROSVectorFeatureSource, self).__init__() 382 | self._provider = provider 383 | self._features = provider._features 384 | 385 | self._expression_context = QgsExpressionContext() 386 | self._expression_context.appendScope(QgsExpressionContextUtils.globalScope()) 387 | self._expression_context.appendScope(QgsExpressionContextUtils.projectScope(QgsProject.instance())) 388 | self._expression_context.setFields(self._provider.fields()) 389 | if self._provider.subsetString(): 390 | self._subset_expression = QgsExpression(self._provider.subsetString()) 391 | self._subset_expression.prepare(self._expression_context) 392 | else: 393 | self._subset_expression = None 394 | 395 | def getFeatures(self, request): 396 | return QgsFeatureIterator(ROSVectorFeatureIterator(self, request)) 397 | -------------------------------------------------------------------------------- /src/qgis_ros/core/translator_registry.py: -------------------------------------------------------------------------------- 1 | import importlib 2 | import os 3 | 4 | from qgis.core import QgsMessageLog 5 | 6 | from .translators import builtinTranslators 7 | 8 | 9 | class TranslatorRegistry(object): 10 | '''A registry of all installed ROS data translators. 11 | 12 | Implemented as singleton to remain consistent with how QGIS handles these kinds of components. 13 | ''' 14 | 15 | _instance = None 16 | 17 | @staticmethod 18 | def instance(): 19 | if TranslatorRegistry._instance is None: 20 | TranslatorRegistry() 21 | return TranslatorRegistry._instance 22 | 23 | def __init__(self): 24 | if TranslatorRegistry._instance is None: 25 | TranslatorRegistry._instance = self 26 | else: 27 | raise Exception('Cannot re-instantiate singleton.') # TODO: better exception type. 28 | 29 | self._translators = {} 30 | 31 | # Register all built-in translators. 32 | for t in builtinTranslators: 33 | self.register(t) 34 | 35 | # Register extra translators found in QGIS_ROS_EXTRA_TRANSLATORS. 36 | translatorPaths = os.environ.get('QGIS_ROS_EXTRA_TRANSLATORS', '').split(',') 37 | for p in translatorPaths: 38 | # Skip empty strings. 39 | if p == '': 40 | continue 41 | 42 | try: 43 | m = importlib.import_module(p) 44 | except ModuleNotFoundError: 45 | QgsMessageLog.logMessage('Could not find QGIS_ROS_EXTRA_TRANSLATORS module: {}. Skipping.'.format(p)) 46 | continue 47 | 48 | try: 49 | translators = getattr(m, 'translators') 50 | except AttributeError: 51 | QgsMessageLog.logMessage( 52 | 'Could not find translator for QGIS_ROS_EXTRA_TRANSLATORS module: {}. Skipping.'.format(p)) 53 | continue 54 | 55 | # Register found translators. 56 | for t in translators: 57 | self.register(t) 58 | 59 | def register(self, translator): 60 | # TODO: log every registration. 61 | if translator.messageType._type in self._translators: 62 | raise ValueError('Type {} already registered.'.format(translator.messageType._type)) 63 | self._translators[translator.messageType._type] = translator 64 | 65 | @property 66 | def translatableTypeNames(self): 67 | return self._translators.keys() 68 | 69 | def get(self, name): 70 | try: 71 | return self._translators[name] 72 | except KeyError: 73 | raise KeyError('{} not available in list of registered translators.'.format(name)) 74 | -------------------------------------------------------------------------------- /src/qgis_ros/core/translators/__init__.py: -------------------------------------------------------------------------------- 1 | from .translator import Translator, VectorTranslatorMixin, RasterTranslatorMixin 2 | 3 | from .geometry_msgs import Pose2DTranslator, PoseStampedTranslator 4 | from .json_transport import JSONTransportTranslator 5 | from .nav_msgs import OccupancyGridTranslator, OdometryTranslator 6 | from .sensor_msgs import NavSatFixTranslator 7 | from .std_msgs import StringTranslator 8 | from .wireless_msgs import ConnectionTranslator 9 | 10 | 11 | __all__ = [ 12 | 'Translator', 13 | 'VectorTranslatorMixin', 14 | 'RasterTranslatorMixin', 15 | 'TableTranslatorMixin', 16 | 'builtinTranslators' 17 | ] 18 | 19 | 20 | builtinTranslators = ( 21 | ConnectionTranslator, 22 | JSONTransportTranslator, 23 | NavSatFixTranslator, 24 | OccupancyGridTranslator, 25 | OdometryTranslator, 26 | Pose2DTranslator, 27 | PoseStampedTranslator, 28 | StringTranslator 29 | ) 30 | -------------------------------------------------------------------------------- /src/qgis_ros/core/translators/geometry_msgs.py: -------------------------------------------------------------------------------- 1 | from geometry_msgs.msg import Pose2D, PoseStamped 2 | from .translator import Translator, VectorTranslatorMixin 3 | from ..helpers import quaternionToYaw 4 | 5 | 6 | class Pose2DTranslator(Translator, VectorTranslatorMixin): 7 | 8 | messageType = Pose2D 9 | geomType = Translator.GeomTypes.Point 10 | 11 | @staticmethod 12 | def translate(msg): 13 | return [{ 14 | 'type': 'Feature', 15 | 'geometry': { 16 | 'type': 'Point', 17 | 'coordinates': [msg.x, msg.y] 18 | }, 19 | 'properties': { 20 | 'theta': msg.theta 21 | } 22 | }] 23 | 24 | 25 | class PoseStampedTranslator(Translator, VectorTranslatorMixin): 26 | 27 | messageType = PoseStamped 28 | geomType = Translator.GeomTypes.Point 29 | 30 | @staticmethod 31 | def translate(msg): 32 | return [{ 33 | 'type': 'Feature', 34 | 'geometry': { 35 | 'type': 'Point', 36 | 'coordinates': [msg.pose.position.x, msg.pose.position.y] 37 | }, 38 | 'properties': { 39 | 'yaw': quaternionToYaw(msg.pose.orientation), 40 | 'stamp': msg.header.stamp.to_sec(), 41 | } 42 | }] 43 | -------------------------------------------------------------------------------- /src/qgis_ros/core/translators/json_transport.py: -------------------------------------------------------------------------------- 1 | import json_transport 2 | from .translator import Translator, VectorTranslatorMixin 3 | 4 | 5 | class JSONTransportTranslator(Translator, VectorTranslatorMixin): 6 | 7 | messageType = json_transport.PackedJson 8 | 9 | # geomType = Translator.GeomTypes.Unknown # Need to detect this from the first message. 10 | geomType = Translator.GeomTypes.Polygon # TODO: revert this. 11 | 12 | @staticmethod 13 | def translate(msg): 14 | # Attempt to detect GeoJSON in a JSON message. 15 | msg = msg.data 16 | 17 | if isinstance(msg, list): 18 | geojson_msg = msg 19 | elif isinstance(msg, dict) and msg.get('type') == 'FeatureCollection': 20 | geojson_msg = msg.get('features') 21 | else: 22 | raise ValueError('JSON message is not valid GeoJSON.') 23 | 24 | return geojson_msg 25 | -------------------------------------------------------------------------------- /src/qgis_ros/core/translators/nav_msgs.py: -------------------------------------------------------------------------------- 1 | import uuid 2 | import json 3 | from pathlib import Path 4 | import subprocess 5 | 6 | from catkin.find_in_workspaces import find_in_workspaces as catkin_find 7 | from nav_msgs.msg import OccupancyGrid, Odometry 8 | 9 | from .translator import Translator, RasterTranslatorMixin, VectorTranslatorMixin 10 | from ..helpers import quaternionToYaw 11 | 12 | 13 | class OdometryTranslator(Translator, VectorTranslatorMixin): 14 | 15 | messageType = Odometry 16 | geomType = Translator.GeomTypes.Point 17 | 18 | @staticmethod 19 | def translate(msg): 20 | return [{ 21 | 'type': 'Feature', 22 | 'geometry': { 23 | 'type': 'Point', 24 | 'coordinates': [msg.pose.pose.position.x, msg.pose.pose.position.y] 25 | }, 26 | 'properties': { 27 | 'yaw': quaternionToYaw(msg.pose.pose.orientation), 28 | 'stamp': msg.header.stamp.to_sec(), 29 | } 30 | }] 31 | 32 | 33 | class OccupancyGridTranslator(Translator, RasterTranslatorMixin): 34 | '''A really terrible implementation to generate rasters from ROS topics. 35 | 36 | This is because of an unresolved issue where GDAL's underlying C++ implementation crashes unexplainably 37 | when used in this context. As its own process it works fine. 38 | https://issues.qgis.org/issues/19252 39 | ''' 40 | 41 | messageType = OccupancyGrid 42 | 43 | @staticmethod 44 | def translate(msg): 45 | datafile = '/tmp/{}.json'.format(uuid.uuid4()) 46 | 47 | data = { 48 | 'height': msg.info.height, 49 | 'width': msg.info.width, 50 | 'resolution': msg.info.resolution, 51 | 'origin_x': msg.info.origin.position.x, 52 | 'origin_y': msg.info.origin.position.y, 53 | 'data': msg.data 54 | } 55 | 56 | # Save the message data to be read by external translator. 57 | with open(datafile, 'w') as f: 58 | json.dump(data, f) 59 | 60 | # Run external translator. 61 | geotiffFilename = '/tmp/{}.tif'.format(uuid.uuid4()) 62 | 63 | script_dir = catkin_find(project='qgis_ros', path='scripts', first_match_only=True)[0] 64 | rasterize_script = Path(script_dir) / 'msg_to_geotiff.py' 65 | 66 | subprocess.check_call([str(rasterize_script), datafile, geotiffFilename]) 67 | 68 | # Return filename. 69 | return geotiffFilename 70 | -------------------------------------------------------------------------------- /src/qgis_ros/core/translators/sensor_msgs.py: -------------------------------------------------------------------------------- 1 | from sensor_msgs.msg import NavSatFix 2 | from .translator import Translator, VectorTranslatorMixin 3 | 4 | 5 | class NavSatFixTranslator(Translator, VectorTranslatorMixin): 6 | 7 | messageType = NavSatFix 8 | geomType = Translator.GeomTypes.Point 9 | crsName = 'wgs84' 10 | 11 | @staticmethod 12 | def translate(msg): 13 | return [{ 14 | 'type': 'Feature', 15 | 'geometry': { 16 | 'type': 'Point', 17 | 'coordinates': [msg.longitude, msg.latitude] 18 | }, 19 | 'properties': { 20 | 'stamp': msg.header.stamp.to_sec(), 21 | } 22 | }] 23 | -------------------------------------------------------------------------------- /src/qgis_ros/core/translators/std_msgs.py: -------------------------------------------------------------------------------- 1 | from std_msgs.msg import String 2 | from .translator import Translator, TableTranslatorMixin 3 | 4 | 5 | class StringTranslator(Translator, TableTranslatorMixin): 6 | 7 | messageType = String 8 | geomType = Translator.GeomTypes.NoGeometry 9 | 10 | @staticmethod 11 | def translate(msg): 12 | return [{ 13 | 'type': 'Feature', 14 | 'properties': { 15 | 'data': msg.data 16 | } 17 | }] 18 | -------------------------------------------------------------------------------- /src/qgis_ros/core/translators/translator.py: -------------------------------------------------------------------------------- 1 | from qgis.core import QgsVectorLayer, QgsRasterLayer, QgsWkbTypes 2 | import rospy 3 | from ..crs import proj4CrsDict 4 | from ..helpers import featuresToQgs 5 | 6 | 7 | class Translator(object): 8 | '''A base class for all translators. 9 | Reimplement `createLayer` to return a new QgsVectorLayer or QgsRasterLayer with the desired data provider. 10 | Or use one of the existing mixins: VectorTranslatorMixin or RasterTranslatorMixin. 11 | 12 | Reimplement `translate` to accept a ROS message and return a GeoJSON object or filename of GeoTiff. 13 | ''' 14 | 15 | GeomTypes = QgsWkbTypes 16 | messageType = None 17 | geomType = GeomTypes.Unknown 18 | crsName = 'simple' 19 | 20 | 21 | class RasterTranslatorMixin(object): 22 | '''Translate input raster data to a GeoTIFF format. 23 | 24 | Does not support subscription because we have not implemented a rosrasterprovider. 25 | ''' 26 | 27 | dataModelType = 'Raster' 28 | 29 | @classmethod 30 | def createLayer(cls, topicName, rosMessages=None, **kwargs): 31 | '''Creates a raster layer from a ROS message. 32 | Unlike vector data, raster layers cannot currently be subscribed to. 33 | ''' 34 | if rosMessages: 35 | msg = rosMessages[0] 36 | else: 37 | msg = rospy.wait_for_message(topicName, cls.messageType, 10) 38 | 39 | geotiffFilename = cls.translate(msg) 40 | layer = QgsRasterLayer(geotiffFilename, topicName) 41 | return layer 42 | 43 | 44 | class VectorTranslatorMixin(object): 45 | '''handles vector topic data. 46 | 47 | Creates and returns a layer using the rosvectorprovider, which knows how to 48 | subscribe to or capture the latest message from a vector topic. 49 | ''' 50 | 51 | dataModelType = 'Vector' 52 | 53 | @classmethod 54 | def createLayer(cls, topicName, rosMessages=None, extraProperties=None, subscribe=False, keepOlderMessages=False, 55 | sampleInterval=1): 56 | if rosMessages: 57 | # Features were passed in, so it's a static data layer. 58 | geomType = QgsWkbTypes.displayString(cls.geomType) # Get string version of geomtype enum. 59 | uri = '{}?crs=PROJ4:{}'.format(geomType, proj4CrsDict[cls.crsName]) 60 | layer = QgsVectorLayer(uri, topicName, 'memory') 61 | 62 | # Convert from ROS messages to GeoJSON Features to QgsFeatures. 63 | features = [] 64 | for n, m in enumerate(rosMessages): 65 | translatedFeatures = cls.translate(m) # Append one or more features. 66 | 67 | # Optionally merge extra properties like bag timestamps in to features created by this message. 68 | if extraProperties is not None: 69 | for f in translatedFeatures: 70 | f['properties'].update(extraProperties[n]) 71 | 72 | features += translatedFeatures 73 | 74 | qgsFeatures, fields = featuresToQgs(features) 75 | layer.dataProvider().addAttributes(fields) 76 | layer.dataProvider().addFeatures(qgsFeatures) 77 | layer.updateFields() # Required, otherwise the layer will not re-read field metadata. 78 | return layer 79 | else: 80 | # No features, it must be a ROS topic to get data from. 81 | uri = '{}?type={}&index=no&subscribe={}&keepOlderMessages={}&sampleInterval={}&crsName={}'.format( 82 | topicName, 83 | cls.messageType._type, 84 | subscribe, 85 | keepOlderMessages, 86 | sampleInterval, 87 | cls.crsName, 88 | ) 89 | layer = QgsVectorLayer(uri, topicName, 'rosvectorprovider') 90 | 91 | # Need to monitor when data is changed and call updateFields in order to capture the new fields 92 | # that are discovered on the first and possibly future messages. Without this, the layer will never 93 | # expose any of the field data available. 94 | # TODO: Find a cleaner way to signal this update and only call it when actual field changes occur. 95 | layer.dataChanged.connect(layer.updateFields) 96 | return layer 97 | 98 | 99 | class TableTranslatorMixin(VectorTranslatorMixin): 100 | '''Handles non-spatial attribute data. 101 | 102 | Behaves the same as a VectorTranslatorMixin because we use the same provider to handle 103 | subscribing and all that ROS stuff. It just naturally supports GeoJSON Feature data without 104 | geometry. 105 | ''' 106 | 107 | dataModelType = 'Table' 108 | -------------------------------------------------------------------------------- /src/qgis_ros/core/translators/wireless_msgs.py: -------------------------------------------------------------------------------- 1 | from wireless_msgs.msg import Connection 2 | from .translator import Translator, TableTranslatorMixin 3 | 4 | 5 | class ConnectionTranslator(Translator, TableTranslatorMixin): 6 | 7 | messageType = Connection 8 | geomType = Translator.GeomTypes.NoGeometry 9 | 10 | @staticmethod 11 | def translate(msg): 12 | 13 | # Some forks of wireless_msgs/Connection have a header. 14 | try: 15 | seq = msg.header.seq 16 | stamp = msg.header.stamp.to_sec() 17 | except AttributeError: 18 | seq = None 19 | stamp = None 20 | 21 | return [{ 22 | 'type': 'Feature', 23 | 'properties': { 24 | 'bitrate': msg.bitrate, 25 | 'txpower': msg.txpower, 26 | 'link_quality_raw': msg.link_quality_raw, 27 | 'link_quality': msg.link_quality, 28 | 'signal_level': msg.signal_level, 29 | 'noise_level': msg.noise_level, 30 | 'essid': msg.essid, 31 | 'bssid': msg.bssid, 32 | 'frequency': msg.frequency, 33 | 'seq': seq, 34 | 'stamp': stamp 35 | } 36 | }] 37 | -------------------------------------------------------------------------------- /src/qgis_ros/metadata.txt: -------------------------------------------------------------------------------- 1 | # This file contains metadata for your plugin. Since 2 | # version 2.0 of QGIS this is the proper way to supply 3 | # information about a plugin. The old method of 4 | # embedding metadata in __init__.py will 5 | # is no longer supported since version 2.0. 6 | 7 | # This file should be included when you package your plugin.# Mandatory items: 8 | 9 | [general] 10 | name=QGIS ROS 11 | qgisMinimumVersion=3.0 12 | description=Tools for interacting with ROS environments. 13 | version=0.1 14 | author=Andrew Blakey 15 | email=ablakey@gmail.com 16 | 17 | about=No description for now. 18 | 19 | tracker=http://bugs 20 | repository=http://repo 21 | # End of mandatory metadata 22 | 23 | # Recommended items: 24 | 25 | # Uncomment the following line and add your changelog: 26 | # changelog= 27 | 28 | # Tags are comma separated with spaces allowed 29 | tags=python 30 | 31 | homepage=http://homepage 32 | category=Plugins 33 | icon=icon.png 34 | # experimental flag 35 | experimental=True 36 | 37 | # deprecated flag (applies to the whole plugin, not just a single version) 38 | deprecated=False 39 | 40 | -------------------------------------------------------------------------------- /src/qgis_ros/qgis_ros_toolbox.py: -------------------------------------------------------------------------------- 1 | import os.path 2 | 3 | from PyQt5 import QtWidgets 4 | from qgis.core import QgsProviderRegistry, QgsProviderMetadata 5 | 6 | from .ui import ROSMasterDialog, BagfileDialog 7 | from .core import ROSVectorProvider 8 | 9 | 10 | class QgisRos(object): 11 | '''The parent plugin object. 12 | 13 | Initializes both UI and non-UI elements for QGIS-ROS. This includes a toolbar (and associated drop-down menu), 14 | which are connected to instances of each window, created eagerly. The ROSVectorProvider is also registered, 15 | allowing data layers to be created using it. 16 | 17 | A ROS node is *not* initialized unless explicitly requested by the user. This allows a user to use ROS bags in an 18 | environment where a ROS master is not 19 | ''' 20 | 21 | AUTO_REFRESH_INTERVAL = 1000 # milliseconds 22 | 23 | def __init__(self, iface): 24 | self.iface = iface 25 | self.plugin_dir = os.path.dirname(__file__) 26 | 27 | # Register all actions for cleanup on plugin unload. 28 | self.actions = [] 29 | 30 | self.menu = 'QGIS-ROS' 31 | self.toolbar = self.iface.addToolBar('QGIS-ROS') 32 | self.toolbar.setObjectName('QGIS-ROS') 33 | 34 | # Register the ROS vector data provider. 35 | metadata = QgsProviderMetadata( 36 | ROSVectorProvider.providerKey(), 37 | ROSVectorProvider.description(), 38 | ROSVectorProvider.createProvider) 39 | QgsProviderRegistry.instance().registerProvider(metadata) 40 | 41 | # Eager init dialogs and preserve state when re-opened in the future. 42 | self.bagFileDialog = BagfileDialog() 43 | self.rosMasterDialog = ROSMasterDialog() 44 | 45 | def initGui(self): 46 | toolbarButtons = [ 47 | ('Load Bag Data...', self.bagFileDialog), 48 | ('Load Topic Data...', self.rosMasterDialog) 49 | ] 50 | 51 | # Assemble the toolbar buttons. 52 | for button in toolbarButtons: 53 | action = QtWidgets.QAction(button[0], self.iface.mainWindow()) 54 | action.triggered.connect(button[1].show) 55 | self.toolbar.addAction(action) 56 | self.iface.addPluginToMenu(self.menu, action) 57 | self.actions.append(action) 58 | 59 | def unload(self): 60 | for action in self.actions: 61 | self.iface.removePluginMenu('QGIS-ROS', action) 62 | self.iface.removeToolBarIcon(action) 63 | del self.toolbar # Deref to ensure C++ cleanup. 64 | -------------------------------------------------------------------------------- /src/qgis_ros/styles/global_state.qml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 34 | 35 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 0 50 | 0 51 | 1 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 72 | 73 | 74 | 75 | 76 | 77 | 79 | 80 | 81 | 82 | 83 | 84 | 86 | 87 | 88 | 89 | 90 | 91 | 93 | 94 | 95 | 96 | 97 | 98 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 118 | 119 | 120 | 121 | 122 | 123 | 124 | 125 | 126 | 127 | 128 | 129 | 130 | 131 | 132 | 133 | 134 | 135 | 136 | 137 | 138 | 139 | 146 | 147 | 148 | 149 | 0 150 | 151 | 168 | 0 169 | generatedlayout 170 | 171 | 172 | 173 | 174 | 175 | 176 | 177 | 178 | 179 | 180 | 181 | 182 | 183 | 184 | 185 | 186 | 187 | 188 | 189 | 190 | robot_name 191 | 192 | 0 193 | 194 | -------------------------------------------------------------------------------- /src/qgis_ros/styles/nogo_map.qml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | None 8 | WholeRaster 9 | Estimated 10 | 0.02 11 | 0.98 12 | 2 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 0 25 | 26 | -------------------------------------------------------------------------------- /src/qgis_ros/styles/pose_arrow.qml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 38 | 39 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 0 81 | 0 82 | 1 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 103 | 104 | 105 | 106 | 107 | 108 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 118 | 119 | 120 | 121 | 122 | 123 | 124 | 125 | 126 | 127 | 128 | 129 | 130 | 131 | 132 | 133 | 134 | 135 | 136 | 137 | 141 | 142 | 143 | 144 | 0 145 | 146 | 163 | 0 164 | generatedlayout 165 | 166 | 167 | 168 | 169 | 170 | 171 | 172 | 173 | 174 | 175 | 176 | 177 | 178 | 179 | stamp 180 | 181 | 0 182 | 183 | -------------------------------------------------------------------------------- /src/qgis_ros/styles/pose_heatmap.qml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | stamp 15 | 16 | 17 | 18 | 19 | 20 | 0 21 | 0 22 | 1 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 43 | 44 | 45 | 46 | 47 | 48 | 50 | 51 | 52 | 53 | 54 | 55 | 57 | 58 | 59 | 60 | 61 | 62 | 64 | 65 | 66 | 67 | 68 | 69 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 117 | 118 | 119 | 120 | 0 121 | 122 | 139 | 0 140 | generatedlayout 141 | 142 | 143 | 144 | 145 | 146 | 147 | 148 | 149 | 150 | 151 | 152 | 153 | 154 | 155 | 156 | 157 | 158 | 159 | 160 | 161 | 162 | 163 | stamp 164 | 165 | 0 166 | 167 | -------------------------------------------------------------------------------- /src/qgis_ros/styles/slam_map.qml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | MinMax 8 | WholeRaster 9 | Estimated 10 | 0.02 11 | 0.98 12 | 2 13 | 14 | 15 | 0 16 | 100 17 | StretchToMinimumMaximum 18 | 19 | 20 | 21 | 22 | 23 | 24 | 0 25 | 26 | -------------------------------------------------------------------------------- /src/qgis_ros/ui/__init__.py: -------------------------------------------------------------------------------- 1 | from .data_loader_widget import DataLoaderWidget 2 | from .ros_master_dialog import ROSMasterDialog 3 | from .bagfile_dialog import BagfileDialog 4 | 5 | 6 | __all__ = [ 7 | 'ROSMasterDialog', 8 | 'DataLoaderWidget', 9 | 'BagfileDialog' 10 | ] 11 | -------------------------------------------------------------------------------- /src/qgis_ros/ui/bagfile_dialog.py: -------------------------------------------------------------------------------- 1 | from pathlib import Path 2 | import os 3 | import threading 4 | 5 | from PyQt5 import uic 6 | from PyQt5.QtWidgets import QDialog, QFileDialog 7 | from PyQt5.QtCore import pyqtSignal, pyqtSlot 8 | 9 | from qgis.core import QgsProject 10 | 11 | from ..core import bagging, TranslatorRegistry 12 | 13 | FORM_CLASS, _ = uic.loadUiType(str(Path(os.path.dirname(__file__)) / 'bagfile_dialog.ui')) 14 | 15 | 16 | class BagfileDialog(QDialog, FORM_CLASS): 17 | 18 | layerCreated = pyqtSignal(object) 19 | bagContentsRetrieved = pyqtSignal(object) 20 | layerLoadProgress = pyqtSignal(int) 21 | 22 | def __init__(self, parent=None): 23 | super(BagfileDialog, self).__init__(parent) 24 | self.setupUi(self) 25 | 26 | self.openBagButton.clicked.connect(self._getBagFileTopics) 27 | self.addLayerButton.clicked.connect(self._createLayerFromSelected) 28 | self.unloadBagButton.clicked.connect(self._unloadBag) 29 | 30 | self.bagContentsRetrieved.connect(self._tabulateBagContents) 31 | self.layerCreated.connect(self._addCreatedLayer) 32 | self.layerLoadProgress.connect(self._updateLoadProgress) 33 | self.takeRadioGroup.buttonClicked.connect(self._updateRadioSelection) 34 | 35 | # Update UI depending on what the selected layer's data type is. 36 | self.dataLoaderWidget.selectedTopicChanged.connect(self._updateDataLoadingOptions) 37 | 38 | self._bagFilePath = None 39 | 40 | def _getBagFileTopics(self): 41 | # Load topic metadata from bag. 42 | filePath, _ = QFileDialog.getOpenFileName(parent=self, filter='Bagfiles (*.bag);;All Files (*)') 43 | 44 | if not filePath: 45 | return 46 | 47 | self._bagFilePath = filePath 48 | self.openBagButton.setText('Opening...') 49 | self.openBagButton.setEnabled(False) 50 | 51 | threading.Thread(name='getBagTopicsThread', target=self._getBagContentsWorker).start() 52 | 53 | def _getBagContentsWorker(self): 54 | '''Get bagfile contents in a thread. 55 | 56 | This can take a long time depending on size of bag. 57 | 58 | Must use a signal to pass results back as UI components can only safely 59 | be manipulated in the main thread. 60 | ''' 61 | topicMetadata = bagging.getTopicsFromBag(self._bagFilePath) 62 | self.bagContentsRetrieved.emit(topicMetadata) 63 | 64 | @pyqtSlot(object) 65 | def _tabulateBagContents(self, metadata): 66 | self.currentBagPathLabel.setText(self._bagFilePath) 67 | self.dataLoaderWidget.setTopics(metadata) 68 | self.stackedWidget.setCurrentWidget(self.dataLoaderWidgetContainer) 69 | self.openBagButton.setText('Open Bag...') 70 | self.openBagButton.setEnabled(True) 71 | self.unloadBagButton.setEnabled(True) 72 | 73 | def _createLayerFromSelected(self): 74 | self.addLayerButton.setText('Loading...') 75 | self.addLayerButton.setEnabled(False) 76 | 77 | threading.Thread(name='createLayerThread', target=self._createLayerWorker).start() 78 | 79 | def _createLayerWorker(self): 80 | topicName, topicType = self.dataLoaderWidget.getSelectedTopic() 81 | 82 | # Defaults for taking all messages. 83 | sampleInterval = 1 84 | takeLast = False 85 | 86 | if self.takeSampleRadio.isChecked(): # Take sample. 87 | sampleInterval = self.sampleIntervalBox.value() 88 | elif self.takeLastRadio.isChecked(): # Take last. 89 | takeLast = True 90 | 91 | layer = bagging.getBagDataAsLayer( 92 | self._bagFilePath, 93 | topicName, 94 | topicType, 95 | sampleInterval=sampleInterval, 96 | takeLast=takeLast, 97 | progressCallback=self.layerLoadProgress.emit 98 | ) 99 | 100 | self.layerCreated.emit(layer) # Need to add layer from main thread. 101 | 102 | self.addLayerButton.setText('Add Layer') 103 | self.addLayerButton.setEnabled(True) 104 | 105 | @pyqtSlot(object) 106 | def _addCreatedLayer(self, layer): 107 | QgsProject.instance().addMapLayer(layer) 108 | 109 | @pyqtSlot(int) 110 | def _updateLoadProgress(self, progress): 111 | self.addLayerButton.setText(str(progress)) 112 | 113 | def _unloadBag(self): 114 | '''Frees up any resources from the bag, resets view and state.''' 115 | self._bagFilePath = None 116 | self.currentBagPathLabel.setText('No bag selected') 117 | self.dataLoaderWidget.setTopics(None) 118 | self.stackedWidget.setCurrentWidget(self.bagSelectionWidget) 119 | self.unloadBagButton.setEnabled(False) 120 | 121 | def _updateRadioSelection(self): 122 | '''When radio group changes, enable/disable the sample interval.''' 123 | if self.takeSampleRadio.isChecked(): 124 | self.sampleIntervalGroup.setEnabled(True) 125 | else: 126 | self.sampleIntervalGroup.setEnabled(False) 127 | 128 | def _updateDataLoadingOptions(self): 129 | '''Adjust the available loading options if a raster is selected. 130 | 131 | Raster data types aren't subscriptable. Must use Take Latest instead. 132 | ''' 133 | name, topicType = self.dataLoaderWidget.getSelectedTopic() 134 | dataModelType = TranslatorRegistry.instance().get(topicType).dataModelType 135 | isRaster = dataModelType == 'Raster' 136 | 137 | self.takeAllRadio.setEnabled(not isRaster) 138 | self.takeSampleRadio.setEnabled(not isRaster) 139 | self.takeLastRadio.setChecked(isRaster) 140 | 141 | self._updateRadioSelection() 142 | -------------------------------------------------------------------------------- /src/qgis_ros/ui/bagfile_dialog.ui: -------------------------------------------------------------------------------- 1 | 2 | 3 | Dialog 4 | 5 | 6 | 7 | 0 8 | 0 9 | 1200 10 | 747 11 | 12 | 13 | 14 | 15 | 0 16 | 0 17 | 18 | 19 | 20 | Load Bag Data 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | Bag: 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 75 38 | true 39 | 40 | 41 | 42 | No bag selected 43 | 44 | 45 | 46 | 47 | 48 | 49 | Qt::Horizontal 50 | 51 | 52 | 53 | 40 54 | 20 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | false 63 | 64 | 65 | Unload Bag 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 1 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 0 84 | 0 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 0 94 | 0 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 0 103 | 0 104 | 105 | 106 | 107 | Options 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | Take every message from the bagfile 117 | 118 | 119 | Take All 120 | 121 | 122 | true 123 | 124 | 125 | takeRadioGroup 126 | 127 | 128 | 129 | 130 | 131 | 132 | Take only the most recent message (typically for latched data) 133 | 134 | 135 | Take Last 136 | 137 | 138 | false 139 | 140 | 141 | takeRadioGroup 142 | 143 | 144 | 145 | 146 | 147 | 148 | Take every nth message from the bagfile. 149 | 150 | 151 | Take Sample 152 | 153 | 154 | takeRadioGroup 155 | 156 | 157 | 158 | 159 | 160 | 161 | 162 | 163 | 164 | false 165 | 166 | 167 | 168 | 169 | 170 | Record only every nth message from the bagfile. 171 | 172 | 173 | Sample Interval: 174 | 175 | 176 | 177 | 178 | 179 | 180 | Record only every nth message from the bagfile. 181 | 182 | 183 | 1 184 | 185 | 186 | 100000 187 | 188 | 189 | 190 | 191 | 192 | 193 | 194 | 195 | 196 | 197 | 198 | 199 | Qt::Horizontal 200 | 201 | 202 | 203 | 40 204 | 20 205 | 206 | 207 | 208 | 209 | 210 | 211 | 212 | Add selected layer to the QGIS layer manager pane 213 | 214 | 215 | Add Layer 216 | 217 | 218 | 219 | 220 | 221 | 222 | Qt::Horizontal 223 | 224 | 225 | 226 | 40 227 | 20 228 | 229 | 230 | 231 | 232 | 233 | 234 | 235 | 236 | 237 | 238 | 239 | 240 | 241 | 242 | 243 | 0 244 | 0 245 | 246 | 247 | 248 | Open Bag... 249 | 250 | 251 | 252 | 253 | 254 | 255 | 256 | 257 | 258 | 259 | 260 | DataLoaderWidget 261 | QWidget 262 |
qgis_ros/ui/data_loader_widget.h
263 | 1 264 | 265 | 266 | 267 | 268 | 269 | 270 | 271 | 272 | -------------------------------------------------------------------------------- /src/qgis_ros/ui/data_loader_widget.py: -------------------------------------------------------------------------------- 1 | import os 2 | from pathlib import Path 3 | 4 | from PyQt5 import uic 5 | 6 | from PyQt5.QtWidgets import QWidget, QTableWidgetItem, QHeaderView 7 | from PyQt5.QtCore import pyqtSignal 8 | 9 | from ..core import TranslatorRegistry 10 | 11 | FORM_CLASS, _ = uic.loadUiType(str(Path(os.path.dirname(__file__)) / 'data_loader_widget.ui')) 12 | 13 | 14 | class DataLoaderWidget(QWidget, FORM_CLASS): 15 | 16 | selectedTopicChanged = pyqtSignal() 17 | 18 | def __init__(self, parent=None): 19 | super(DataLoaderWidget, self).__init__(parent) 20 | self._showMessageCount = False 21 | self.setupUi(self) 22 | 23 | self.tableWidget.itemSelectionChanged.connect(self.selectedTopicChanged) 24 | 25 | def setTopics(self, topicMetadata): 26 | '''Populates table with a new set of topicMetadata.''' 27 | self.tableWidget.clearContents() 28 | 29 | if topicMetadata is None: 30 | return 31 | 32 | # Filter untranslatable topicMetadata 33 | topicMetadata = [t for t in topicMetadata if t[1] in TranslatorRegistry.instance().translatableTypeNames] 34 | 35 | # Populate table. 36 | self.tableWidget.setRowCount(len(topicMetadata)) 37 | for row, topicMetadata in enumerate(topicMetadata): 38 | dataModelType = TranslatorRegistry.instance().get(topicMetadata[1]).dataModelType 39 | self.tableWidget.setItem(row, 0, QTableWidgetItem(topicMetadata[0])) 40 | self.tableWidget.setItem(row, 1, QTableWidgetItem(topicMetadata[1])) 41 | self.tableWidget.setItem(row, 2, QTableWidgetItem(dataModelType)) 42 | 43 | try: 44 | self.tableWidget.setItem(row, 3, QTableWidgetItem(str(topicMetadata[2]))) 45 | except Exception: 46 | pass # No data count available. 47 | 48 | header = self.tableWidget.horizontalHeader() 49 | header.setSectionResizeMode(0, QHeaderView.ResizeToContents) 50 | header.setSectionResizeMode(1, QHeaderView.ResizeToContents) 51 | header.setSectionResizeMode(2, QHeaderView.ResizeToContents) 52 | 53 | def getSelectedTopic(self): 54 | row = self.tableWidget.currentRow() 55 | topicName = self.tableWidget.item(row, 0).text() 56 | topicType = self.tableWidget.item(row, 1).text() 57 | 58 | return topicName, topicType 59 | -------------------------------------------------------------------------------- /src/qgis_ros/ui/data_loader_widget.ui: -------------------------------------------------------------------------------- 1 | 2 | 3 | DataLoaderWidget 4 | 5 | 6 | 7 | 0 8 | 0 9 | 838 10 | 777 11 | 12 | 13 | 14 | QGIS ROS 15 | 16 | 17 | 18 | 19 | 20 | QAbstractItemView::SingleSelection 21 | 22 | 23 | QAbstractItemView::SelectRows 24 | 25 | 26 | true 27 | 28 | 29 | 0 30 | 31 | 32 | 4 33 | 34 | 35 | true 36 | 37 | 38 | true 39 | 40 | 41 | true 42 | 43 | 44 | true 45 | 46 | 47 | true 48 | 49 | 50 | false 51 | 52 | 53 | 54 | Topic Name 55 | 56 | 57 | 58 | 59 | Message Type 60 | 61 | 62 | 63 | 64 | Data Type 65 | 66 | 67 | 68 | 69 | Count 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | -------------------------------------------------------------------------------- /src/qgis_ros/ui/ros_master_dialog.py: -------------------------------------------------------------------------------- 1 | from pathlib import Path 2 | import os 3 | import threading 4 | 5 | from PyQt5 import uic 6 | from PyQt5.QtWidgets import QDialog 7 | from PyQt5.QtCore import QTimer, pyqtSignal 8 | 9 | from qgis.core import QgsProject 10 | 11 | from socket import error as socket_error 12 | import rosgraph 13 | import rospy 14 | 15 | from ..core import TranslatorRegistry 16 | 17 | 18 | FORM_CLASS, _ = uic.loadUiType(str(Path(os.path.dirname(__file__)) / 'ros_master_dialog.ui')) 19 | 20 | 21 | class ROSMasterDialog(QDialog, FORM_CLASS): 22 | 23 | layerCreated = pyqtSignal(object) 24 | 25 | def __init__(self, parent=None): 26 | super(ROSMasterDialog, self).__init__(parent) 27 | self.setupUi(self) 28 | self.dataLoaderWidget.tableWidget.removeColumn(3) # Don't need "count" field. 29 | 30 | self.addLayerButton.clicked.connect(self._createLayerFromSelected) 31 | self.layerCreated.connect(self._addCreatedLayer) 32 | 33 | # Check every two seconds for a ROS master. 34 | self.checkMasterTimer = QTimer() 35 | self.checkMasterTimer.timeout.connect(self._checkForMaster) 36 | self.checkMasterTimer.start(2000) 37 | 38 | # Update UI depending on which data loading method is selected. 39 | self.subscribeRadioGroup.buttonClicked.connect(self._updateKeepOlderMessagesCheckbox) 40 | 41 | # Update UI depending on what the selected layer's data type is. 42 | self.dataLoaderWidget.selectedTopicChanged.connect(self._updateDataLoadingOptions) 43 | 44 | # Report current state of ROS MASTER search to user. 45 | masterUri = os.environ.get('ROS_MASTER_URI') 46 | if masterUri: 47 | label = 'Searching for ROS Master at: {}...'.format(masterUri) 48 | else: 49 | label = 'Environment variable `ROS_MASTER_URI` not set. Cannot initialize node.' 50 | self.checkMasterTimer.stop() 51 | self.searchMasterLabel.setText(label) 52 | 53 | def _checkForMaster(self): 54 | try: 55 | rosgraph.Master('/rostopic').getPid() 56 | except socket_error: 57 | pass # No master found. 58 | else: 59 | # Master found. Init node then update UI state. 60 | rospy.init_node('qgis_ros_toolbox') 61 | self._getAvailableTopics() 62 | 63 | self.checkMasterTimer.stop() 64 | self.currentRosMasterLabel.setText(os.environ['ROS_MASTER_URI']) 65 | self.stackedWidget.setCurrentWidget(self.dataLoaderWidgetContainer) 66 | 67 | def _getAvailableTopics(self): 68 | topicMetadata = [(topicName, topicType) for topicName, topicType in rospy.get_published_topics()] 69 | self.dataLoaderWidget.setTopics(topicMetadata) 70 | 71 | def _createLayerFromSelected(self): 72 | threading.Thread(name='createLayerThread', target=self._createLayerWorker).start() 73 | 74 | def _createLayerWorker(self): 75 | name, topicType = self.dataLoaderWidget.getSelectedTopic() 76 | 77 | subscribe = self.subscribeRadio.isChecked() 78 | keepOlderMessages = self.keepOlderMessagesCheckbox.isChecked() 79 | sampleInterval = self.sampleIntervalBox.value() 80 | 81 | translator = TranslatorRegistry.instance().get(topicType) 82 | 83 | layer = translator.createLayer( 84 | name, 85 | subscribe=subscribe, 86 | keepOlderMessages=keepOlderMessages, 87 | sampleInterval=sampleInterval 88 | ) 89 | 90 | self.layerCreated.emit(layer) # Need to add layer from main thread. 91 | 92 | def _addCreatedLayer(self, layer): 93 | QgsProject.instance().addMapLayer(layer) 94 | 95 | def _updateKeepOlderMessagesCheckbox(self): 96 | self.keepOlderMessagesCheckbox.setEnabled(not self.takeLatestRadio.isChecked()) 97 | 98 | def _updateDataLoadingOptions(self): 99 | '''Adjust the available loading options if a raster is selected. 100 | 101 | Raster data types aren't subscriptable. Must use Take Latest instead. 102 | ''' 103 | name, topicType = self.dataLoaderWidget.getSelectedTopic() 104 | dataModelType = TranslatorRegistry.instance().get(topicType).dataModelType 105 | isRaster = dataModelType == 'Raster' 106 | 107 | self.subscribeRadio.setEnabled(not isRaster) 108 | self.takeLatestRadio.setChecked(isRaster) 109 | 110 | self._updateKeepOlderMessagesCheckbox() 111 | -------------------------------------------------------------------------------- /src/qgis_ros/ui/ros_master_dialog.ui: -------------------------------------------------------------------------------- 1 | 2 | 3 | Dialog 4 | 5 | 6 | 7 | 0 8 | 0 9 | 1200 10 | 1000 11 | 12 | 13 | 14 | 15 | 0 16 | 0 17 | 18 | 19 | 20 | Load Topic Data 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | ROS Master: 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 75 38 | true 39 | 40 | 41 | 42 | Unknown 43 | 44 | 45 | 46 | 47 | 48 | 49 | Qt::Horizontal 50 | 51 | 52 | 53 | 40 54 | 20 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 1 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 0 74 | 0 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | Options 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | Continually capture messages published to selected topic 95 | 96 | 97 | Subscribe 98 | 99 | 100 | true 101 | 102 | 103 | subscribeRadioGroup 104 | 105 | 106 | 107 | 108 | 109 | 110 | Take only the most recent message (typically for latched data) 111 | 112 | 113 | Take Latest 114 | 115 | 116 | false 117 | 118 | 119 | subscribeRadioGroup 120 | 121 | 122 | 123 | 124 | 125 | 126 | Qt::Horizontal 127 | 128 | 129 | 130 | 40 131 | 20 132 | 133 | 134 | 135 | 136 | 137 | 138 | 139 | 140 | 141 | 142 | 143 | 144 | 145 | When subscribed, record only every nth message 146 | 147 | 148 | Sample Interval: 149 | 150 | 151 | 152 | 153 | 154 | 155 | When subscribed, record only every nth message 156 | 157 | 158 | 1 159 | 160 | 161 | 100 162 | 163 | 164 | 165 | 166 | 167 | 168 | When checked, all messages are preserved as records, instead of only the latest message 169 | 170 | 171 | Qt::RightToLeft 172 | 173 | 174 | Keep older messages: 175 | 176 | 177 | 178 | 179 | 180 | 181 | 182 | 183 | 184 | 185 | 186 | 187 | Qt::Horizontal 188 | 189 | 190 | 191 | 40 192 | 20 193 | 194 | 195 | 196 | 197 | 198 | 199 | 200 | Add selected layer to the QGIS layer manager pane 201 | 202 | 203 | Add Layer 204 | 205 | 206 | 207 | 208 | 209 | 210 | Qt::Horizontal 211 | 212 | 213 | 214 | 40 215 | 20 216 | 217 | 218 | 219 | 220 | 221 | 222 | 223 | 224 | 225 | 226 | 227 | 228 | 229 | 230 | Searching for ROS Master... 231 | 232 | 233 | Qt::AlignCenter 234 | 235 | 236 | 237 | 238 | 239 | 240 | 241 | 242 | 243 | 244 | 245 | DataLoaderWidget 246 | QWidget 247 |
qgis_ros/ui/data_loader_widget.h
248 | 1 249 | 250 | 251 | 252 | 253 | 254 | 255 | 256 | 257 | --------------------------------------------------------------------------------