ROS与Qt5人机交互界面开发-订阅map话题

ROS与Qt5人机交互界面开发-订阅map话题

说明：

• 介绍如何订阅map话题

步骤：

• 这一篇教程在教程四的基础上进行修改，修改了部分bug，实现了map图层的添加，显示，放大，缩小等
• 实现效果

• 核心代码
• 主要就是这么几句：

//添加map display
  map_=manager_->createDisplay("rviz/Map","QMap",true);
 ROS_ASSERT(map_);
 //设置display的话题属性
 map_->subProp("Topic")->setValue(topic);
  //设置display的透明度
 map_->subProp("Alpha")->setValue(Alpha);
  //设置display的样式属性
 map_->subProp("Color Scheme")->setValue(Color_Scheme);
 map_->setEnabled(enable);
 //rviz控制器更新界面显示
 manager_->startUpdate();

• 相关源文件：
• qrviz.hpp内容如下：

#ifndef QRVIZ_H
#define QRVIZ_H

#include <QVBoxLayout>
#include <rviz/visualization_manager.h>
#include <rviz/render_panel.h>
#include <rviz/display.h>
#include <rviz/tool_manager.h>
#include <rviz/visualization_manager.h>
#include <rviz/render_panel.h>
#include <rviz/display.h>
#include<rviz/tool_manager.h>
#include <rviz_visual_tools/rviz_visual_tools.h>
#include <QThread>
#include <QDebug>
class QRviz:public QThread
{
    Q_OBJECT
public:
    QRviz(QVBoxLayout *layout,QString node_name);
    void run();
    void createDisplay(QString display_name,QString topic_name);
    void Display_Grid(bool enable,QColor color=QColor(125,125,125));
    void Display_Map(bool enable,QString topic,double Alpha,QString Color_Scheme);

private:
    rviz::RenderPanel *render_panel_;
    rviz::VisualizationManager *manager_;
    rviz::Display* grid_=NULL ;
    rviz::Display* map_=NULL ;
    QVBoxLayout *layout;
    QString nodename;

 //   rviz::VisualizationManager *manager_=NULL;
//    rviz::RenderPanel *render_panel_;

};

#endif // QRVIZ_H

• qrviz.cpp内容如下：

#include "../include/cyrobot_monitor/qrviz.hpp"

QRviz::QRviz(QVBoxLayout *layout,QString node_name)
{
    int argc;
    char **argv;
    this->layout=layout;
    this->nodename=node_name;
    ros::init(argc,argv,"QRviz",ros::init_options::AnonymousName);
    //创建rviz容器
    render_panel_=new rviz::RenderPanel;
    //向layout添加widget
    layout->addWidget(render_panel_);
    //初始化rviz控制对象
    manager_=new rviz::VisualizationManager(render_panel_);
   //初始化camera 这行代码实现放大 缩小 平移等操作
    render_panel_->initialize(manager_->getSceneManager(),manager_);



//       //工具管理
//       rviz::ToolManager* tool_man;
//       connect( tool_man, SIGNAL( toolAdded( Tool* )), this, SLOT( addTool( Tool* )));
//       connect( tool_man, SIGNAL( toolRemoved( Tool* )), this, SLOT( removeTool( Tool* )));
//       connect( tool_man, SIGNAL( toolRefreshed( Tool* )), this, SLOT( refreshTool( Tool* )));
//       connect( tool_man, SIGNAL( toolChanged( Tool* )), this, SLOT( indicateToolIsCurrent( Tool* )));
    manager_->initialize();
    manager_->removeAllDisplays();

//    rviz::Display* grid_ = manager_->createDisplay( "rviz/Grid", "adjustable grid", true );
//    ROS_ASSERT( grid_ != NULL );
//    // Configure the GridDisplay the way we like it.
//    grid_->subProp( "Line Style" )->setValue("Billboards");
//    grid_->subProp( "Color" )->setValue(QColor(125,125,125));
//    manager_->startUpdate();



}
//显示grid
void QRviz::Display_Grid(bool enable,QColor color)
{
    if(grid_==NULL)
    {
        grid_ = manager_->createDisplay( "rviz/Grid", "adjustable grid", true );
        ROS_ASSERT( grid_ != NULL );
        // Configure the GridDisplay the way we like it.
        grid_->subProp( "Line Style" )->setValue("Billboards");
        grid_->subProp( "Color" )->setValue(color);

    }
    else{
        grid_->subProp( "Color" )->setValue(color);
    }
    grid_->setEnabled(enable);
    manager_->startUpdate();
}
//显示map
void QRviz::Display_Map(bool enable,QString topic,double Alpha,QString Color_Scheme)
{
    if(!enable&&map_)
    {
        map_->setEnabled(false);
        return ;
    }
    if(map_==NULL)
    {
        qDebug()<<"map ok";
        map_=manager_->createDisplay("rviz/Map","QMap",true);

        ROS_ASSERT(map_);
        map_->subProp("Topic")->setValue(topic);
        map_->subProp("Alpha")->setValue(Alpha);
        map_->subProp("Color Scheme")->setValue(Color_Scheme);
    }
    map_->setEnabled(enable);
    manager_->startUpdate();
}
void QRviz::createDisplay(QString display_name,QString topic_name)
{


}
void QRviz::run()
{

}

• 在mainwindow使用：

 QComboBox *topic_box=(QComboBox *) ui.treeWidget_rviz->itemWidget(parentItem->child(1),1);
        QLineEdit *alpha=(QLineEdit *) ui.treeWidget_rviz->itemWidget(parentItem->child(2),1);
        QComboBox *scheme=(QComboBox *) ui.treeWidget_rviz->itemWidget(parentItem->child(3),1);
        map_rviz->Display_Map(enable,topic_box->currentText(),alpha->text().toDouble(),scheme->currentText());