使用QTCreater qmake 开发ros程序（非ros_qt 插件）

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于 2018-01-08 18:01:14 发布

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分类专栏： ROS

本文链接：https://blog.csdn.net/WMX843230304WMX/article/details/79005702

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使用QTCreater 开发ros程序（qmake 编译并且不需要ros_qt 插件）

前言，ROS 默认使用 catkin_make 作为编译器，catkin_make 是cmake 的变种。当项目需要Qt开发界面（qmake编译），又需要作为ROS节点，使用QtCreater作为开发工具

核心步骤2个：

1 、需要把ros安装目录下的include 头文件目录添加到包含搜索目录

所以在 pro 文件中加入

#--add ros include
INCLUDEPATH += -I /opt/ros/kinetic/include
DEPENDPATH +=  /opt/ros/kinetic/include

2 、需要把ros程序依赖的库链接到程序中

所以在 pro 文件中加入

#--add ros libs
unix:!macx: LIBS += -L /opt/ros/kinetic/lib/ -lroscpp
unix:!macx: LIBS += -L /opt/ros/kinetic/lib/ -lroslib
unix:!macx: LIBS += -L /opt/ros/kinetic/lib/ -lpthread
unix:!macx: LIBS += -L /opt/ros/kinetic/lib/ -lroscpp_serialization
unix:!macx: LIBS += -L /opt/ros/kinetic/lib/ -lrostime
unix:!macx: LIBS += -L /opt/ros/kinetic/lib/ -lrosconsole
unix:!macx: LIBS += -L /opt/ros/kinetic/lib/ -lrosconsole_log4cxx
unix:!macx: LIBS += -L /opt/ros/kinetic/lib/ -lrosconsole_backend_interface
unix:!macx: LIBS += -L /opt/ros/kinetic/lib/ -lxmlrpcpp

完整代码

rosNode.pro

QT += core
QT -= gui

CONFIG += c++11

TARGET = rosNode
CONFIG += console
CONFIG -= app_bundle

TEMPLATE = app

SOURCES += main.cpp

# The following define makes your compiler emit warnings if you use
# any feature of Qt which as been marked deprecated (the exact warnings
# depend on your compiler). Please consult the documentation of the
# deprecated API in order to know how to port your code away from it.
DEFINES += QT_DEPRECATED_WARNINGS

# You can also make your code fail to compile if you use deprecated APIs.
# In order to do so, uncomment the following line.
# You can also select to disable deprecated APIs only up to a certain version of Qt.
#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0




#--add ros include
INCLUDEPATH += -I /opt/ros/kinetic/include
DEPENDPATH +=  /opt/ros/kinetic/include

#--add ros libs
unix:!macx: LIBS += -L /opt/ros/kinetic/lib/ -lroscpp
unix:!macx: LIBS += -L /opt/ros/kinetic/lib/ -lroslib
unix:!macx: LIBS += -L /opt/ros/kinetic/lib/ -lpthread
unix:!macx: LIBS += -L /opt/ros/kinetic/lib/ -lroscpp_serialization
unix:!macx: LIBS += -L /opt/ros/kinetic/lib/ -lrostime
unix:!macx: LIBS += -L /opt/ros/kinetic/lib/ -lrosconsole
unix:!macx: LIBS += -L /opt/ros/kinetic/lib/ -lrosconsole_log4cxx
unix:!macx: LIBS += -L /opt/ros/kinetic/lib/ -lrosconsole_backend_interface
unix:!macx: LIBS += -L /opt/ros/kinetic/lib/ -lxmlrpcpp

main.cpp

#include <QCoreApplication>

#include "ros/ros.h"
#include "std_msgs/String.h"
#include <sstream>


int main(int argc, char *argv[])
{
    QCoreApplication a(argc, argv);

    ros::init(argc, argv, "talker");

    ros::NodeHandle n;

    ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);

    ros::Rate loop_rate(10);

    int count = 0;
    while (ros::ok())
    {
        /**
        * This is a message object. You stuff it with data, and then publish it.
        */
        std_msgs::String msg;

        std::stringstream ss;
        ss << "hello world " << count;
        msg.data = ss.str();

        ROS_INFO("%s", msg.data.c_str());

        /**
        * The publish() function is how you send messages. The parameter
        * is the message object. The type of this object must agree with the type
        * given as a template parameter to the advertise<>() call, as was done
        * in the constructor above.
        */
        chatter_pub.publish(msg);

        ros::spinOnce();

        loop_rate.sleep();
        ++count;
    }

    return a.exec();
}