ROS melodic环境下QT工程搭建

最新推荐文章于 2024-04-11 16:15:15 发布

qq_34911636

最新推荐文章于 2024-04-11 16:15:15 发布

阅读量1.9k

点赞数 5

分类专栏： ROS

本文链接：https://blog.csdn.net/qq_34911636/article/details/113478298

版权

ROS 专栏收录该内容

29 篇文章

订阅专栏

QT的下载与安装参照这篇文章：https://blog.csdn.net/qq_34911636/article/details/113185626?spm=1001.2014.3001.5501

安装完QT软件之后设置QT软件的快捷打开方式和安装QT-ROS插件相关依赖，具体步骤如下：

在usr/bin/路径下面创建qtcreator文件

sudo gedit /usr/bin/qtcreator

在qtcreator文件里面添加以下内容：

export QT_HOME=/xxxxx/xxxxx/QTxxx/Tools/QtCreator/bin

$QT_HOME/qtcreator $*

其中/xxxxx/xxxxx/为具体的安装路径，比如我们上面举例的安装路径为/opt/，那么就把/xxxxx/xxxxx/替换为/opt/

更改qtcreator文件的可执行权限

sudo chmod 777 /usr/bin/qtcreator

然后在终端中输入qtcreator命令即可打开QT

安装依赖：

sudo apt-get install ros-melodic-qt-create
sudo apt-get install ros-melodic-qt-build

（1）创建ROS-QT功能包

创建ROS功能包

cd /root
mkdir -p catkin_demo/src
catkin_init_workspace
cd ..
catkin_make

创建ROS-QT功能包
//catkin_create_qt_pkg命令用于创建带UI界面的QT-ROS功能包，依赖库根据需求填写如：catkin_create_qt_pkg qtros rviz std_msgs rospy roscpp

cd ~/catkin_demo/src
catkin_create_qt_pkg qtros rviz std_msgs rospy roscpp
cd ..
catkin_make

执行catkin_make命令之后会出现如下错误：

出错的原因是没有找到对应的QT4版本，因为我们的功能包默认使用的是QT4版本，而我们安装的版本是QT5所以需要更改CMakeList.txt文件

1 CMakeList.txt文件中设置包含当前目录并添加C++11标准，向CMakeList.txt文件添加以下两个设置

set(CMAKE_INCLUDE_CURRENT_DIR ON)
set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")

2 CMakeList.txt文件中添加QT库

find_package(Qt5 REQUIRED Core Widgets)
set(QT_LIBRARIES Qt5::Widgets)

3 把CMakeList.txt文件中的rosbuild_prepare_qt4(QtCore QtGui)注释掉

4 把CMakeList.txt文件QT4......全部改成QT5

QT4_ADD_RESOURCES(QT_RESOURCES_CPP ${QT_RESOURCES})
QT4_WRAP_UI(QT_FORMS_HPP ${QT_FORMS})
QT4_WRAP_CPP(QT_MOC_HPP ${QT_MOC})
改成如下：
QT5_ADD_RESOURCES(QT_RESOURCES_CPP ${QT_RESOURCES})
QT5_WRAP_UI(QT_FORMS_HPP ${QT_FORMS})
QT5_WRAP_CPP(QT_MOC_HPP ${QT_MOC})

5 把ROS-QT功能包中main_window.hpp头文件中的#include <QtGui/QMainWindow> 改成#include <QtWidgets/QMainWindow>

#include <QtWidgets/QMainWindow>

基础ROS-QT功能包CMakeList.txt文件的设置参考如下：

##############################################################################
# CMake
##############################################################################

cmake_minimum_required(VERSION 2.8.0)
project(qtros)
set(CMAKE_INCLUDE_CURRENT_DIR ON)
set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
##############################################################################
# Catkin
##############################################################################

# qt_build provides the qt cmake glue, roscpp the comms for a default talker
find_package(catkin REQUIRED COMPONENTS rviz qt_build roscpp)
find_package(Qt5 REQUIRED Core Widgets)
set(QT_LIBRARIES Qt5::Widgets)
include_directories(${catkin_INCLUDE_DIRS})
# Use this to define what the package will export (e.g. libs, headers).
# Since the default here is to produce only a binary, we don't worry about
# exporting anything. 
catkin_package()

##############################################################################
# Qt Environment
##############################################################################

# this comes from qt_build's qt-ros.cmake which is automatically 
# included via the dependency call in package.xml
#rosbuild_prepare_qt4(QtCore QtGui) # Add the appropriate components to the component list here

##############################################################################
# Sections
##############################################################################

file(GLOB QT_FORMS RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} ui/*.ui)
file(GLOB QT_RESOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} resources/*.qrc)
file(GLOB_RECURSE QT_MOC RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} FOLLOW_SYMLINKS include/qtros/*.hpp)

QT5_ADD_RESOURCES(QT_RESOURCES_CPP ${QT_RESOURCES})
QT5_WRAP_UI(QT_FORMS_HPP ${QT_FORMS})
QT5_WRAP_CPP(QT_MOC_HPP ${QT_MOC})

##############################################################################
# Sources
##############################################################################

file(GLOB_RECURSE QT_SOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} FOLLOW_SYMLINKS src/*.cpp)

##############################################################################
# Binaries
##############################################################################

add_executable(qtros ${QT_SOURCES} ${QT_RESOURCES_CPP} ${QT_FORMS_HPP} ${QT_MOC_HPP})
target_link_libraries(qtros ${QT_LIBRARIES} ${catkin_LIBRARIES})
install(TARGETS qtros RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

改完之后在cd ~/catkin_demo目录下执行catkin_make命令，执行catkin_make命令之后设置一下环境变量source devel/setup.bash

然后在终端中输入：