基于PyQt5的ROS移动机器人的人机交互UI界面

 

百度云链接失效了，上传了github：https://github.com/1508912767/ros_car 和https://github.com/1508912767/ros_car_py

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每次做实验的时候，手动rosrun，roslaunch太过麻烦，通过 ui界面的话，只需要点点按钮就可以啦

ros_car_py包括运动，建图，导航，ui界面的程序全部打包上传，相互依赖关系见ros_car_py包。

import sys
from PyQt5.QtCore import *
from PyQt5.QtGui import *
from PyQt5.QtWidgets import *
import os
import paramiko


# 控制小车运动，启动服务器线程
class WorkThread(QThread):
    """
    使用 pyqtsignalo函数创建信号时,信号可以传递多个参数,并指定信号传递参
    数的类型,参数类型是标准的 Python数据类型(字符串、日期、布尔类型、数字、
    列表、元组和字典)
    """
    # 写在这里是有讲究的,类外也用到了这个trigger
    trigger = pyqtSignal()

    def __int__(self):
        super(WorkThread, self).__init__()

    def run(self):
        os.system(
            "gnome-terminal -x bash -c 'source ~/catkin_ws/devel/setup.bash; roslaunch ros_car_py car_running.launch'"
        )
        # 循环完毕后发出信号
        self.trigger.emit()


# 使用ssh连接板子，启动客户端线程
class WorkThreadA(QThread):
    trigger = pyqtSignal()

    def __int__(self):
        super(WorkThreadA, self).__init__()
        self.hostname = "192.168.7.2"
        self.port = 22
        self.username = "root"
        self.password = ""
        self.execmd = "python"

    def run(self):
        s = paramiko.SSHClient()
        s.set_missing_host_key_policy(paramiko.AutoAddPolicy())

        s.connect(hostname=self.hostname, port=self.port, username=self.username, password=self.password)
        stdin, stdout, stderr = s.exec_command(self.execmd)
        stdin.write("Y")  # Generally speaking, the first connection, need a simple interaction.
        # print(stdout.read())
        s.close()
        # 循环完毕后发出信号
        self.trigger.emit()

# 启动建图线程
class WorkThreadB(QThread):
    trigger = pyqtSignal()

    def __int__(self):
        super(WorkThreadB, self).__init__()

    def run(self):
        os.system(
            "gnome-terminal -x bash -c 'source ~/catkin_ws/devel/setup.bash; roslaunch ros_car_py car_gmapping.launch'"
        )
        # 循环完毕后发出信号
        self.trigger.emit()

# 启动导航线程
class WorkThreadC(QThread):
    trigger = pyqtSignal()

    def __int__(self):
        super(WorkThreadC, self).__init__()

    def run(self):
        os.system(
           "gnome-terminal -x bash -c 'source ~/catkin_ws/devel/setup.bash; roslaunch ros_car_py car_navigation.launch'"
        )
        # 循环完毕后发出信号
        self.trigger.emit()

# 显示小车状态，速度信息窗口
class ThirdWindow(QWidget):
    def __init__(self):
        super().__init__()
        self.setWindowTitle("小车的速度状态")
        self.resize(600, 300)
        self.center()

        # 实例化指针
        self.pointer = QPixmap()