第一步:建立工作空间
- 建立自己的工作空间catkin_ws
- 进入catkin_ws建立src文件夹
- 在src文件夹内新建项目文件夹python_gui
- 在python_gui文件夹内建立src文件夹,至此,可将构建的python文件放在里面
第二步:编写python文件
- 插入python模块
import wx
import commands
import os
import rospy
import math
用于界面制作的模块主要为wx,如果在运行时提示缺少某一模块,可以pip install
- 主函数构建
if __name__ == '__main__':
rospy.init_node('gui')
app = wx.App()
frame = GUI(parent = None, id = -1)##构建的GUI类
frame.Show()
app.MainLoop()
将该段代码放于最后
- GUI类的构建
class SLAM(wx.Frame):
def __init__(self, parent, id):
wx.Frame.__init__(self, parent, id, 'GUI', size = (355, 650))
panel = wx.Panel(self)
btt_lidar = wx.Button(panel, label = 'RSlidar-32', pos = (10, 5), size = (80, 30)) ##button的制作:label为button名字,pos为button在panel面板上的位置,size为button大小
text_pitch = wx.StaticText(panel, id, "pitch/0.1deg", (3, 270), (100, 30), wx.ALIGN_CENTER) ##静态文本框的制作
text_pitch.SetBackgroundColour('black')
self.slider_pitch = wx.SpinCtrl(panel, -1, "", (90,267), (80, -1))##滑块的制作
self.slider_pitch.SetRange(-50,50)
self.slider_pitch.SetValue(0)
self.topic_x = wx.TextCtrl(panel, id, str(error_x), (160, 105), (100, 30), wx.TE_CENTER) ##数值显示框
self.topic_x.SetForegroundColour('white')
self.topic_x.SetBackgroundColour('black')
sub = rospy.Subscriber('odom_error', PoseStamped, self.callback)##ros subscribe
self.Bind(wx.EVT_BUTTON, self.Rslidar32, btt_lidar)##button事件触发
def Rslidar32(self, event):##button回调函数
os.system("bash /home/saic/shell_files/rslidar_32.sh &")
def callback(self, msg):##ros subscribe回调函数
error_x = msg.pose.position.x
print (error_x)
error_y = msg.pose.position.y
gps_theta = msg.pose.position.z
self.topic_x.SetValue(str(error_x))
self.topic_y.SetValue(str(error_y))
self.topic_z.SetValue(str(gps_theta))
第三步:cmake、package.xml编写
cmakelist:
find_package(catkin REQUIRED COMPONENTS
geometry_msgs
roscpp
rospy
std_msgs
)
package:
<buildtool_depend>catkin</buildtool_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_export_depend>geometry_msgs</build_export_depend>
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>rospy</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<exec_depend>geometry_msgs</exec_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>std_msgs</exec_depend>