headless version

Author: ipa-pgt

README.md

@@ -58,6 +58,12 @@ rqt
 roslaunch frame_editor frame_editor.launch
 ```
 
+#### A headless version is available through this launch file:
+
+```
+roslaunch frame_editor frame_editor_headless.launch
+```
+
 ### Known issues: 
 #### Starting the plugin twice 
 When starting the rqt plugin twice, you will receive a long error message with these last lines: 

frame_editor/launch/frame_editor_headless.launch

@@ -0,0 +1,7 @@
+<?xml version="1.0"?>
+
+<launch>
+    <node pkg="frame_editor" type="editor.py" name="frame_editor" 
+        args="--load '$(find frame_editor)/etc/frames.yaml'"
+        output="screen"/>
+</launch>

frame_editor/src/frame_editor/editor.py

@@ -1,5 +1,8 @@
 #!/usr/bin/env python
 
+import os
+import sys
+
 import time
 import threading
 import yaml
@@ -16,6 +19,12 @@
 from python_qt_binding import QtCore
 from python_qt_binding.QtWidgets import QUndoStack
 
+## Views
+from frame_editor.interface_interactive_marker import FrameEditor_InteractiveMarker
+from frame_editor.interface_services import FrameEditor_Services
+from frame_editor.interface_markers import FrameEditor_Markers
+from frame_editor.interface_tf import FrameEditor_TF
+
 
 class FrameEditor(QtCore.QObject):
 
@@ -24,7 +33,7 @@ def __init__(self):
 
         self.frames = {}
         self.active_frame = None
-        
+
         ## Undo/Redo
         self.observers = []
         self.undo_level = 0
@@ -164,7 +173,7 @@ def load_data(self, data):
                 f.set_color(color)
             else:
                 f = Frame(name, position, orientation, frame["parent"])
-            
+
             self.command(Command_AddElement(self, f))
 
         self.undo_stack.endMacro()
@@ -198,13 +207,13 @@ def save_file(self, filename):
 
             if frame.style == "plane":
                 f["data"] = { "length": frame.length, "width":frame.width, "color": frame.color }
-            
+
             elif frame.style == "cube":
                 f["data"] = { "length": frame.length, "width": frame.width, "height": frame.height , "color": frame.color}
-            
+
             elif frame.style == "sphere":
                 f["data"] = { "diameter": frame.diameter, "color": frame.color }
-            
+
             elif frame.style == "axis":
                 f["data"] = { "length": frame.length, "width": frame.width, "color": frame.color }
 
@@ -258,17 +267,77 @@ def update_file_format(self, frame):
             # Do nothing if conversion not needed
             pass
 
+    def run(self):
+        print "> Going for some spins"
+        rate = rospy.Rate(200) # hz
+        while not rospy.is_shutdown():
+            self.broadcast()
+            rate.sleep()
+
+    def parse_args(self, argv):
+        ## Args ##
+        ##
+        # Process standalone plugin command-line arguments
+        from argparse import ArgumentParser
+        parser = ArgumentParser()
+        # Add argument(s) to the parser.
+        parser.add_argument("-q", "--quiet", action="store_true",
+                      dest="quiet",
+                      help="Put plugin in silent mode")
+        parser.add_argument("-l", "--load", action="append",
+                      dest="file",
+                      help="Load a file at startup. [rospack filepath/file]")
+
+        args, unknowns = parser.parse_known_args(argv)
+        if not args.quiet:
+            print 'arguments: ', args
+            print 'unknowns: ', unknowns
+
+        ## Load file ##
+        ##
+        if args.file:
+            arg_path = args.file[0].split()
+            if len(arg_path) == 1:
+                #load file
+                filename = arg_path[0]
+                print "Loading", filename
+                success = self.load_file(str(filename))
+            elif len(arg_path) == 2:
+                #load rospack
+                rospack = rospkg.RosPack()
+                filename = os.path.join(rospack.get_path(arg_path[0]), arg_path[1])
+                print "Loading", filename
+                success = self.load_file(str(filename))
+            else:
+                print "Load argument not understood! --load", arg_path
+                print "Please use --load 'myRosPackage pathInMyPackage/myYaml.yaml'"
+                print "or use --load 'fullPathToMyYaml.yaml'"
+                success = None
+
+            if success:
+                return filename
+            elif success == False:
+                print "ERROR LOADING FILE"
+            return ''
+
+    def init_views(self):
+        ## Views
+        self.interface_tf = FrameEditor_TF(self)
+        self.interactive = FrameEditor_InteractiveMarker(self)
+        self.services = FrameEditor_Services(self)
+        self.interface_markers = FrameEditor_Markers(self)
+
 if __name__ == "__main__":
 
     rospy.init_node('frame_editor')
 
     editor = FrameEditor()
-    editor.load_params(rospy.get_name())
+    # editor.load_params(rospy.get_name())
+
+    editor.parse_args(sys.argv[1:])
+    editor.init_views()
 
     print "Frame editor ready!"
-    rate = rospy.Rate(100) # hz
-    while not rospy.is_shutdown():
-        editor.broadcast()
-        rate.sleep()
+    editor.run()
 
 # eof

frame_editor/src/frame_editor/rqt_editor.py

@@ -23,11 +23,7 @@
 from frame_editor.interface import Interface
 
 ## Views
-from frame_editor.interface_interactive_marker import FrameEditor_InteractiveMarker
-from frame_editor.interface_services import FrameEditor_Services
-from frame_editor.interface_markers import FrameEditor_Markers
 from frame_editor.interface_gui import FrameEditor_StyleWidget
-from frame_editor.interface_tf import FrameEditor_TF
 
 
 class FrameEditorGUI(ProjectPlugin, Interface):
@@ -42,45 +38,11 @@ def __init__(self, context):
         self.file_type = "YAML files(*.yaml)"
 
 
-        ## Args ##
-        ##
-        # Process standalone plugin command-line arguments
-        from argparse import ArgumentParser
-        parser = ArgumentParser()
-        # Add argument(s) to the parser.
-        parser.add_argument("-q", "--quiet", action="store_true",
-                      dest="quiet",
-                      help="Put plugin in silent mode")
-        parser.add_argument("-l", "--load", action="append",
-                      dest="file",
-                      help="Load a file at startup. [rospack filepath/file]")
-
-        args, unknowns = parser.parse_known_args(context.argv())
-        if not args.quiet:
-            print 'arguments: ', args
-            print 'unknowns: ', unknowns
-
-
-        ## Load file ##
-        ##
         self.filename = ""
-        if args.file:
-            arg_path = args.file[0].split()
-            if len(arg_path) == 1:
-                #load file
-                filename = arg_path[0]
-                print "Loading", filename
-                self.load_file(str(filename))
-            elif len(arg_path) == 2:
-                #load rospack
-                rospack = rospkg.RosPack()
-                filename = os.path.join(rospack.get_path(arg_path[0]), arg_path[1])
-                print "Loading", filename
-                self.load_file(str(filename))
-            else:
-                print "Load argument not understood! --load", arg_path
-                print "Please use --load 'myRosPackage pathInMyPackage/myYaml.yaml'"
-                print "or use --load 'fullPathToMyYaml.yaml'"
+
+        filename = self.editor.parse_args(context.argv())
+        if filename:
+            self.set_current_file(filename)
 
 
         ## Update thread ##
@@ -121,10 +83,7 @@ def create_main_widget(self):
 
 
         ## Views
-        self.interface_tf = FrameEditor_TF(self.editor)
-        self.interactive = FrameEditor_InteractiveMarker(self.editor)
-        self.services = FrameEditor_Services(self.editor)
-        self.interface_markers = FrameEditor_Markers(self.editor)
+        self.editor.init_views()
         self.interface_style = FrameEditor_StyleWidget(self.editor)
 
         widget.style_frame.layout().addWidget(self.interface_style.get_widget())
@@ -169,11 +128,7 @@ def create_main_widget(self):
 
 
     def _update_thread_run(self):
-        print "> Going for some spins"
-        rate = rospy.Rate(200) # hz
-        while not rospy.is_shutdown():
-            self.editor.broadcast()
-            rate.sleep()
+        self.editor.run()
 
     @Slot()
     def _update_finished(self):