在ROS 2中使用QT，显示话题内容，详细配置代码

大家好，我是因为草莓生病而不开心的小鱼，今天分享下在ROS 2中如何使用QT，显示话题内容，附上详细配置代码。

功能包类型选ament_cmake，核心代码是这两句，把spin单独出来，不然接收不到话题数据

std::thread spin_thread([listener]() -> void { rclcpp::spin(listener); });
  spin_thread.detach();

主要代码 sys_status_display.cpp

#include <QApplication>
#include <QLabel>
#include <QString>


#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"


class Listener : public rclcpp::Node {
 public:
  Listener() : Node("sys_status_display") {
    subscription_ = this->create_subscription<std_msgs::msg::String>(
        "chatter", 10,
        std::bind(&Listener::topic_callback, this, std::placeholders::_1));
    label_ = new QLabel("等待话题数据哈哈哈哈哈哈哈哈哈哈哈哈");
    label_->show();
  }


 private:
  void topic_callback(const std_msgs::msg::String::SharedPtr msg) const {
    QString message = QString::fromStdString(msg->data);
    label_->setText(message);
  }


  rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_;
  QLabel* label_;
};


int main(int argc, char* argv[]) {
  rclcpp::init(argc, argv);
  QApplication app(argc, argv);
  auto listener = std::make_shared<Listener>();
  std::thread spin_thread([listener]() -> void { rclcpp::spin(listener); });
  spin_thread.detach();
  app.exec();
  rclcpp::shutdown();
  return 0;
}

CMakeLists.txt配置

cmake_minimum_required(VERSION 3.8)
project(status_display)


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(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(Qt5 REQUIRED COMPONENTS Widgets)
include_directories(include ${Qt5Widgets_INCLUDE_DIRS})


add_executable(sys_status_display src/sys_status_display.cpp)
target_link_libraries(sys_status_display Qt5::Widgets)
ament_target_dependencies(sys_status_display rclcpp std_msgs)


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()




install(TARGETS sys_status_display
  DESTINATION lib/${PROJECT_NAME})


ament_package()