1、创建catkin_ws工作区
#!/bin/bash
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ~/catkin_ws/
catkin_make
source devel/setup.bash
source /opt/ros/kinetic/setup.bash
2、创建插件
#!/bin/bash
source /opt/ros/kinetic/setup.bash
#rviz_wxcollect_commander
rviz_plugin_name=rviz_wxcollect_commander
catkin_create_pkg ${rviz_plugin_name} roscpp rviz std_msgs
rm -rf ${rviz_plugin_name}/include
cd ${rviz_plugin_name}/src
touch ${rviz_plugin_name}.h ${rviz_plugin_name}.cpp
cd ../
touch >>plugin_description.xml
3、写插件逻辑,可以增加ui文件。
set(CMAKE_INCLUDE_CURRENT_DIR ON)
#这一句加上,不然找不到ui_xxxx.h
qt5_wrap_ui(ui_FILES src/rviz_wxcollect_commander.ui)
4、编译插件
catkin_ws目录下执行
source /opt/ros/kinetic/setup.sh
catkin_make
source devel/setup.bash #否则找不到插件
5、启动rviz
source /opt/ros/kinetic/setup.bash
rosrun rviz rviz