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()