Ros机器人Rviz Qt5插件开发(1)——机器人速度控制插件开发
本系列教程文章专栏：
ROS机器人GUI程序开发
一，创建功能包
在工作空间src目录下：
catkin_create_pkg cmd_control roscpp rviz std_msgs
二，配置功能包
2.1添加类到功能包src目录：
2.2添加plugin描述文件plugin_description.xml到功能包根目录：
<library path="lib/libcmd_control">
<class name="cmd_control/cmd_control"
type="cmd_control:cmd_control"
base_class_type="rviz::Panel">
<description>
A panel widget Control the Robot
</description>
</class>
</library>
这里注意，第一行lib 需要在自己包名前面加个lib
<library path="lib/libcmd_control">
2.3然后在 package.xml文件里添加plugin_description.xml。
<export>
<rviz plugin="${prefix}/plugin_description.xml"/>
</export>
2.4CMakeLists.txt
添加如下（注意需要修改头文件和cpp名）：
## This plugin includes Qt widgets, so we must include Qt like so:
find_package(Qt5 REQUIRED Core Widgets)
set(QT_LIBRARIES Qt5::Widgets)
include_directories(${catkin_INCLUDE_DIRS})
## I prefer the Qt signals and slots to avoid defining "emit", "slots",
## etc because they can conflict with boost signals, so define QT_NO_KEYWORDS here.
add_definitions(-DQT_NO_KEYWORDS)
## Here we specify which header files need to be run through "moc",
## Qt's meta-object compiler.
##修改这里的头文件名
qt5_wrap_cpp(MOC_FILES
src/cmd_control.h
)
## Here we specify the list of source files, including the output of
## the previous command which is stored in ``${MOC_FILES}``.
##修改这里的cpp名
set(SOURCE_FILES
src/cmd_control.cpp
${MOC_FILES}
)
## An rviz plugin is just a shared library, so here we declare the
## library to be called ``${PROJECT_NAME}`` (which is
## "rviz_plugin_tutorials", or whatever your version of this project
## is called) and specify the list of source files we collected above
## in ``${SOURCE_FILES}``.
add_library(${PROJECT_NAME} ${SOURCE_FILES})
## Link the library with whatever Qt libraries have been defined by
## the ``find_package(Qt4 ...)`` line above, and with whatever libraries
## catkin has included.
##
## Although this puts "rviz_plugin_tutorials" (or whatever you have
## called the project) as the name of the library, cmake knows it is a
## library and names the actual file something like
## "librviz_plugin_tutorials.so", or whatever is appropriate for your
## particular OS.
target_link_libraries(${PROJECT_NAME} ${QT_LIBRARIES} ${catkin_LIBRARIES})
这样就能使用qt打开项目并编辑了
qt打开项目教程：
qt配置Ros gui开发
三，编写代码
cmd_control.h
#ifndef CMD_CONTROL_H
#define CMD_CONTROL_H
#include cmd_control.cpp
#include "cmd_control.h"
#include 四，实现效果
编译成功后，我们来运行rviz，需要注意的是：一定要source devel文件夹下的setup脚本，来生效路径，否则会找不到插件：
打开rviz:
rosrun rviz rviz
选择菜单栏:
panels->add new panel:
最终效果：
完整项目地址：
github