ROS2+Qt5 开发问题汇总

1.整合Qt 和 ROS 项目

前面跟着ROS2 QT实现学习笔记-1.1 功能包的创建和编译 - 知乎

前面都挺好的，但是到了CMakeList.txt 好像不太行，make会报错：

fatal error: QMainWindow: No such file or directory
    4 | #include <QMainWindow>

       |                 ^~~~~~~~~~~~~

自己捣鼓出来写成这样：

cmake_minimum_required(VERSION 3.8)
project(ros2_qt1_demo LANGUAGES CXX)

set(CMAKE_INCLUDE_CURRENT_DIR ON)

#set(CMAKE_AUTOUIC ON)
set(CMAKE_AUTOMOC ON)
set(CMAKE_AUTORCC ON)
set(CMAKE_CXX_STANDARD 11)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(Qt5 COMPONENTS Widgets REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)


file(GLOB PRO_SOURCE_DIR RELATIVE ${CMAKE_SOURCE_DIR} FOLLOW_SYMLINKS src/*.cpp)
file(GLOB PRO_UI_DIR RELATIVE ${CMAKE_SOURCE_DIR} FOLLOW_SYMLINKS ui/*.ui)
file(GLOB PRO_INCLUDE_DIR RELATIVE ${CMAKE_SOURCE_DIR} FOLLOW_SYMLINKS include/*.h *.hpp)
file(GLOB PRO_RESOURCE_DIR RELATIVE ${CMAKE_SOURCE_DIR} FOLLOW_SYMLINKS resource/*.qrc)
# （输出， 输入）
qt5_wrap_ui(QT_UI_HPP ${PRO_UI_DIR})
qt5_wrap_cpp(QT_MOC_HPP ${PRO_INCLUDE_DIR})
qt5_add_resources(QT_RESOUCE_HPP ${PRO_RESOURCE_DIR})

add_executable(ros2_qt1_demo
#main.cpp
#mainwindow.cpp
#mainwindow.h
#mainwindow.ui
    ${PRO_SOURCE_DIR}
    ${PRO_INCLUDE_DIR}
    ${PRO_UI_DIR}
    ${PRO_RESOURCE_DIR}
    ${QT_UI_HPP} # UI的文件应该不需要添加在这里
    ${QT_MOC_HPP}
    ${QT_RESOUCE_HPP}
)

target_link_libraries(ros2_qt1_demo PRIVATE Qt5::Widgets)
include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()