Kinetic: port UI code to Qt version 5

[jack-oquin]

As much as possible, we should try to make things work with both Qt4 and Qt5.

ref: #83

[jack-oquin]

Most of the Qt code appears in these packages:

• bwi_planning_common
• bwi_rqt_plugins
• multi_level_map_utils

[jack-oquin]

It looks like our Python Qt4 scripts are using the old, deprecated SIGNAL interface. That has to be removed before migrating to Qt5.

[jack-oquin]

Note that the commits above are all saved in the kinetic branch of this repository.

[jack-oquin]

To test this with the simulator, install ROS Kinetic on an Ubuntu Xenial system.

Follow the BWI software install directions: https://github.com/utexas-bwi/bwi/blob/master/README.md

Note that the rosdep install step will not work, because there are missing dependencies in ROS Kinetic. there are missing dependencies in ROS Kinetic. You'll need to install some more ROS packages manually. I don't have an exact list. I generally end up trying to build things, installing the dependencies that turn up missing, then repeating that process until it finally works.

[jack-oquin]

The transforms are working now in simulation.

[jack-oquin]

Commit 6b43d46 is the proper way to handle the module differences between pyqt4 and pyqt5 in a compatible manner. It has not been tested with Qt4 yet, but I expect that to work.

The other module imports should be done similarly.

[jack-oquin]

The modified pyqt imports work on Indigo, too, even using the kinetic branch:

• The bwi_rqt_plugins question dialog window successfully.
• The bwi_planning_common logical marker window comes up.
• The multi_level_map_utils level selector passes its test.

[jack-oquin]

The kinetic branch of bwi_common mostly seems to run in simulation on Indigo now, except for the difference in clingo versions. As expected, running visit_door_list fails:

[action_executor-23] process has died [pid 5417, exit code -11, cmd /home/joq/ros/trusty_indigo/devel/lib/bwi_kr_execution/single_plan_executor_node __name:=action_executor __log:=/home/joq/.ros/log/b23d0952-f89b-11e7-bb1d-001517fdbc75/action_executor-23.log].
log file: /home/joq/.ros/log/b23d0952-f89b-11e7-bb1d-001517fdbc75/action_executor-23*.log

[jack-oquin]

The Python bwi_rqt_plugins seem to basically work.

The C++ image plugin builds (with Qt4), but segfaults in rqt if you launch it. It presumably needs to be ported to Qt5.

[jack-oquin]

I don't see any use of the C++ image plugin anywhere in our three main repositories. Moreover, rqt already has an image view plugin. So, I think I'll just delete ours.

If it turns out someone actually needs it, we can go back and resurrect the old code, doing whatever porting is necessary.