ROS与QT语言入门教程-按钮调用ROS的librviz

ROS与QT语言入门教程-按钮调用ROS的librviz

说明：

• 在ROS QT GUI模板上，按钮调用ROS的librviz

点击查看完整代码

点击查看librviz的源代码

运行和测试librviz应用程序

• 安装预编译的Debian软件包

$ sudo apt-get install ros-kinetic-visualization-tutorials

• 启动 ros master

$ roscore

• 运行librviz应用程序

$ rosrun librviz_tutorial myviz

• 弹出下面的界面

按钮调用ROS的librviz步骤：

• 下载librviz源码

$ git clone https://github.com/ros-visualization/visualization_tutorials

• 创建ros qt包

$ catkin_create_qt_pkg test3 

• 所有的源代码放在visualization_tutorials/librviz_tutorials/src目录下

  • 把myviz.h复制到test3包的include目录下

  • 把myviz.cpp复制到test3包的src目录下

• 在qtcreator创建工程文件

• 编辑main_windows.cpp和myviz.cpp，添加头文件

  #include "../include/test3/myviz.h"

• 编辑main_window.hpp头文件

  把#include <QtGui/QMainWindow> 修改为 #include <QtWidgets/QMainWindow>

• 编辑main_window.ui文件

  • 拖入一个按钮控件，名为librviz

  • 在按钮空间上右击，选择Go to slot... -> clicked()

• 编辑main_windows.cpp源文件

namespace test3 {
    void test3::MainWindow::on_pushButton_clicked()
    {
      MyViz* myviz = new MyViz();
      myviz->show();
      myviz->resize(600,400);
      myviz->setWindowTitle("Mapping Show");
    }
}

代码解释：创建对象myviz，并且进行显示，设置它的大小为600 x 400，并且命名标题为Mapping Show

• 编辑CMakeLists.txt文件

cmake_minimum_required(VERSION 2.8.0)
project(test3)
set(CMAKE_INCLUDE_CURRENT_DIR ON)#added

find_package(catkin REQUIRED COMPONENTS  roscpp rviz)#deleted qt_build added rviz
find_package(Qt5 REQUIRED Core Widgets)#added
set(QT_LIBRARIES Qt5::Widgets)#added
include_directories(${catkin_INCLUDE_DIRS})

catkin_package()

#rosbuild_prepare_qt4(QtCore QtGui) # Add the appropriate components to the component list here

file(GLOB QT_FORMS RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} ui/*.ui)
file(GLOB QT_RESOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} resources/*.qrc)
file(GLOB_RECURSE QT_MOC RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} FOLLOW_SYMLINKS include/test3/*.hpp *.h)

QT5_ADD_RESOURCES(QT_RESOURCES_CPP ${QT_RESOURCES})
QT5_WRAP_UI(QT_FORMS_HPP ${QT_FORMS})
QT5_WRAP_CPP(QT_MOC_HPP ${QT_MOC})

file(GLOB_RECURSE QT_SOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} FOLLOW_SYMLINKS src/*.cpp)

add_executable(test3 ${QT_SOURCES} ${QT_RESOURCES_CPP} ${QT_FORMS_HPP} ${QT_MOC_HPP})
target_link_libraries(test3 ${QT_LIBRARIES} ${catkin_LIBRARIES})
install(TARGETS test3 RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

• 编辑package.xml

    <build_depend>rviz</build_depend>
    <run_depend>rviz</run_depend>
    <build_depend>qtbase5-dev</build_depend>
    <run_depend>libqt5-core</run_depend>
    <run_depend>libqt5-gui</run_depend>
    <run_depend>libqt5-widgets</run_depend>

• 编译运行

  • 在终端运行：

$ roscore

• 运行qt程序

• 点击按钮 connect -> libviz

• 拉动Line Thickness滑条，调整线的粗细

• 拉动Cell Size滑条，调整块的大小

参考资料
http://docs.ros.org/fuerte/api/librviz_tutorial/html/
https://github.com/ros-visualization/visualization_tutorials
https://blog.csdn.net/qq_30460905/article/details/79210300