ros-in-qt-example

app.py

#!/usr/bin/env python

import sys
from threading import Thread

from PyQt5.QtCore import QThread, pyqtSignal
from PyQt5.QtWidgets import (
    QApplication,
    QDialog,
    QDialogButtonBox,
    QFormLayout,
    QGroupBox,
    QLabel,
    QLineEdit,
    QMenu,
    QMenuBar,
    QVBoxLayout
)

import rospy
from std_msgs.msg import String


class RosManager(QThread):
    def __init__(self, signals):
        QThread.__init__(self)
        self.signals = signals

    def callback(self, msg):
        print msg.data
        if msg.data == "foo":
            self.signals["foo"].emit(msg.data)
        elif msg.data == "bar":
            self.signals["bar"].emit(msg.data)


    def run(self):
        rospy.init_node("listener", anonymous=True, disable_signals=True)
        rospy.Subscriber("chatter", String, self.callback)

        while not rospy.is_shutdown():
            pass

        rospy.spin()


class Dialog(QDialog):

    foo_signal = pyqtSignal(str)
    bar_signal = pyqtSignal(str)

    def __init__(self):
        super(Dialog, self).__init__()

        self.create_menu()

        button_box = QDialogButtonBox(QDialogButtonBox.Ok | QDialogButtonBox.Cancel)

        button_box.accepted.connect(self.accept)
        button_box.rejected.connect(self.reject)

        self.create_foo_bar_group()

        main_layout = QVBoxLayout()
        main_layout.setMenuBar(self.menu_bar)
        main_layout.addWidget(self.foo_bar_group)
        main_layout.addWidget(button_box)
        self.setLayout(main_layout)

        self.setWindowTitle("ROS In QT Example")

        self.foo_signal.connect(self.update_foo_line)
        self.bar_signal.connect(self.update_bar_line)

    def create_foo_bar_group(self):
        self.foo_bar_group = QGroupBox("Foo Bar")
        layout = QFormLayout()

        self.foo_line = QLineEdit()
        self.bar_line = QLineEdit()

        layout.addRow(QLabel("Foo:"), self.foo_line)
        layout.addRow(QLabel("Bar:"), self.bar_line)
        self.foo_bar_group.setLayout(layout)

    def create_menu(self):
        self.menu_bar = QMenuBar()

        self.file_menu = QMenu("&File", self)
        self.exit_action = self.file_menu.addAction("E&xit")
        self.menu_bar.addMenu(self.file_menu)

        self.exit_action.triggered.connect(self.accept)

    def update_foo_line(self, msg_data):
        self.foo_line.setText(msg_data)

    def update_bar_line(self, msg_data):
        self.bar_line.setText(msg_data)

    def get_signals(self):
        return {'foo': self.foo_signal, 'bar': self.bar_signal}

      
if __name__ == '__main__':
    app = QApplication(sys.argv)
    dialog = Dialog()
    signals = dialog.get_signals()

    ros_mgr_thread = RosManager(signals)
    ros_mgr_thread.start()

    sys.exit(dialog.exec_())