title: 搭建qt+ros的开发环境(二)

---

title: 搭建qt+ros的开发环境(二)
date: 2020-07-08 19:52:00
tags: 记录

---

通过上一篇博客创建的gui_pkg，这里要做的是在QT视图中显示ROS话题发布与接收的消息以及加上一个按键测试。

系统：ubuntu14

软件：Qt5.9.1Creator

继续上一篇记录的内容，两条命令创建了两个package.

catkin_create_pkg topic_pkg std_msgs roscpp
catkin_create_qt_pkg gui_pkg

在main_window.ui文件加入List View、Push Button、Label控件，List View名字改为view_logging,Push Button改名为sent_cmd。记得编译一下，这样控件才会加到main_window.h文件。如图：

在qnode.hpp文件加入代码，这里记得增加头文件#include "std_msgs/String.h"。

/**
 * @file /include/gui_pkg/qnode.hpp
 *
 * @brief Communications central!
 *
 * @date February 2011
 **/
/*****************************************************************************
** Ifdefs
*****************************************************************************/

#ifndef gui_pkg_QNODE_HPP_
#define gui_pkg_QNODE_HPP_

/*****************************************************************************
** Includes
*****************************************************************************/

#include <ros/ros.h>
#include <string>
#include <QThread>
#include <QStringListModel>
#include "std_msgs/String.h"	//add

/*****************************************************************************
** Namespaces
*****************************************************************************/

namespace gui_pkg {

/*****************************************************************************
** Class
*****************************************************************************/

class QNode : public QThread {
    Q_OBJECT
public:
	QNode(int argc, char** argv );
	virtual ~QNode();
	bool init();
	bool init(const std::string &master_url, const std::string &host_url);
	void run();
    void Callback(const std_msgs::String::ConstPtr& msg); //add
  	void sent_cmd();  //add
	/*********************
	** Logging
	**********************/
	enum LogLevel {
	         Debug,
	         Info,
	         Warn,
	         Error,
	         Fatal
	 };

	QStringListModel* loggingModel() { return &logging_model; }
  void log( const LogLevel &level, const std::string &msg);

  QStringListModel* loggingModel_sub() { return &logging_model_sub; } //add
  void log_sub( const LogLevel &level, const std::string &msg); //add

Q_SIGNALS:
	void loggingUpdated();
    void rosShutdown();
  void loggingUpdated_sub();  //add

private:
	int init_argc;
	char** init_argv;
	ros::Publisher chatter_publisher;
    QStringListModel logging_model;
  ros::Subscriber chatter_subscriber; //add
    QStringListModel logging_model_sub; //add
};

}  // namespace gui_pkg

#endif /* gui_pkg_QNODE_HPP_ */

在main_window.hpp文件加入代码

/**
 * @file /include/gui_pkg/main_window.hpp
 *
 * @brief Qt based gui for gui_pkg.
 *
 * @date November 2010
 **/
#ifndef gui_pkg_MAIN_WINDOW_H
#define gui_pkg_MAIN_WINDOW_H

/*****************************************************************************
** Includes
*****************************************************************************/

#include <QtGui/QMainWindow>
#include "ui_main_window.h"
#include "qnode.hpp"

/*****************************************************************************
** Namespace
*****************************************************************************/

namespace gui_pkg {

/*****************************************************************************
** Interface [MainWindow]
*****************************************************************************/
/**
 * @brief Qt central, all operations relating to the view part here.
 */
class MainWindow : public QMainWindow {
Q_OBJECT

public:
	MainWindow(int argc, char** argv, QWidget *parent = 0);
	~MainWindow();

	void ReadSettings(); // Load up qt program settings at startup
	void WriteSettings(); // Save qt program settings when closing

	void closeEvent(QCloseEvent *event); // Overloaded function
	void showNoMasterMessage();

public Q_SLOTS:
	/******************************************
	** Auto-connections (connectSlotsByName())
	*******************************************/
	void on_actionAbout_triggered();
	void on_button_connect_clicked(bool check );
	void on_checkbox_use_environment_stateChanged(int state);
  	void pub_cmd(); //add

    /******************************************
    ** Manual connections
    *******************************************/
    void updateLoggingView(); // no idea why this can't connect automatically
    void updateLoggingView_sub(); //add

private:
	Ui::MainWindowDesign ui;
	QNode qnode;
};

}  // namespace gui_pkg

#endif // gui_pkg_MAIN_WINDOW_H

在qnode.cpp文件加入代码,这里注意回调函数。

chatter_publisher = n.advertise<std_msgs::String>("chatter", 1000);
chatter_subscriber = n.subscribe("chatter", 1000,&QNode::Callback,this); //add

void QNode::log_sub( const LogLevel &level, const std::string &msg)   //add
{
  logging_model_sub.insertRows(logging_model_sub.rowCount(),1);
  std::stringstream logging_model_msg;
  switch ( level ) {
    case(Debug) : {
        ROS_DEBUG_STREAM(msg);
        logging_model_msg << "[DEBUG] [" << ros::Time::now() << "]: " << msg;
        break;
    }
    case(Info) : {
        ROS_INFO_STREAM(msg);
        logging_model_msg << "[INFO] [" << ros::Time::now() << "]: " << msg;
        break;
    }
    case(Warn) : {
        ROS_WARN_STREAM(msg);
        logging_model_msg << "[INFO] [" << ros::Time::now() << "]: " << msg;
        break;
    }
    case(Error) : {
        ROS_ERROR_STREAM(msg);
        logging_model_msg << "[ERROR] [" << ros::Time::now() << "]: " << msg;
        break;
    }
    case(Fatal) : {
        ROS_FATAL_STREAM(msg);
        logging_model_msg << "[FATAL] [" << ros::Time::now() << "]: " << msg;
        break;
    }
  }
  QVariant new_row(QString(logging_model_msg.str().c_str()));
  logging_model_sub.setData(logging_model_sub.index(logging_model_sub.rowCount()-1),new_row);
  Q_EMIT loggingUpdated_sub(); // used to readjust the scrollbar
}

void QNode::Callback(const std_msgs::String::ConstPtr& submsg)  //add
{
  log_sub(Info,std::string("Success sub:")+submsg->data.c_str());
}

void QNode::sent_cmd()  //add
{
  if(ros::ok()){
    std_msgs::String msg;
    std::stringstream ss;
    ss << "clicked the button";
    msg.data = ss.str();
    chatter_publisher.publish(msg);
    log(Info, std::string("I sent:")+msg.data);
    ros::spinOnce();
  }
}

在main_window.cpp文件加入代码。

MainWindow::MainWindow(int argc, char** argv, QWidget *parent)
	: QMainWindow(parent)
	, qnode(argc,argv)
{
	ui.view_logging_sub->setModel(qnode.loggingModel_sub());    //add
	QObject::connect(&qnode, SIGNAL(loggingUpdated_sub()), this, SLOT(updateLoggingView_sub())); //add

	QObject::connect(ui.sent_cmd,SIGNAL(clicked()),this,SLOT(pub_cmd()));//add
}

void MainWindow::updateLoggingView_sub() {    //add
        ui.view_logging_sub->scrollToBottom();
}

void MainWindow::pub_cmd(){ //add
  qnode.sent_cmd();
}

最后是运行效果：

参考链接：

https://blog.csdn.net/qq_16481211/article/details/90707043

https://blog.csdn.net/qq_16481211/article/details/90708055

https://blog.csdn.net/u014610460/article/details/79355533

https://blog.csdn.net/Ricardo_lun/article/details/80025024