Qt-ROS 学习总结

1、安装 QT-create
https://download.qt.io/archive/qt/
进入网站后找到 qt-opensource-linux-x64-5.12.2.run，开始下载

chmod +x  qt-opensource-linux-x64-5.12.2.run
./qt-opensource-linux-x64-5.12.2.run

2、安装QT-ros
https://ros-qtc-plugin.readthedocs.io/en/latest/_source/How-to-Install-Users.html
选择离线安装
3、创建新的工程

注意：选择CatkinMake

4、编译

5、运行

6、开始创作
参考蒋大佬的文章
https://blog.csdn.net/qq_38441692?type=blog
Qt5 安装ros插件ros_qtc_plugin

sudo add-apt-repository ppa:levi-armstrong/qt-libraries-xenial
sudo add-apt-repository ppa:levi-armstrong/ppa
sudo apt-get update && sudo apt-get install qt57creator-plugin-ros

shanchu的软件源请运行

sudo add-apt-repository --remove ppa:beineri/opt-qt57-xenial
sudo add-apt-repository --remove ppa:beineri/opt-qt571-xenial

anzhuangshibai

在这里插入代码片
sudo add-apt-repository ppa:levi-armstrong/qt-libraries-xenial 
sudo add-apt-repository ppa:levi-armstrong/ppa 
sudo apt update && sudo apt install qt57creator 
sudo apt install qt57creator-plugin-ros

7、按钮启动终端
在UI 上定义一个按钮
跳转到信号槽

.c 写代码

void robomap::MainWindow::on_pushButton_6_clicked()
{
    system("gnome-terminal -x bash -c 'source ~/turtlebot_hokuyo/devel/setup.bash; roslaunch turtlebot_bringup minimal.launch'&");
}

.h 定义

8、如何在QT里显示相机界面
首先相机发布话题
这里使用的是intel d435i
通过 realsense-ros 发布相机话题

roslaunch realsense2_camera rs_camera.launch

首先在功能包的CMakeLists.txt中添加依赖

find_package(catkin REQUIRED COMPONENTS rviz roscpp sensor_msgs
    cv_bridge
    std_msgs
    image_transport
    )

订阅话题

 ros::NodeHandle n;
 image_transport::ImageTransport it_(n);
 image_sub=it_.subscribe(topic.toStdString(),100,&QNode::imageCallback0,this);

回调函数处理图片数据

 //图像话题的回调函数
 void QNode::imageCallback0(const sensor_msgs::ImageConstPtr& msg)
 {
     cv_bridge::CvImagePtr cv_ptr;

     try
       {
         //深拷贝转换为opencv类型
         cv_ptr = cv_bridge::toCvCopy(msg, msg->encoding);
         QImage im=Mat2QImage(cv_ptr->image);
         emit Show_image(0,im);
       }
       catch (cv_bridge::Exception& e)
       {

         log(Error,("video frame0 exception: "+QString(e.what())).toStdString());
         return;
       }
 }

接着将opencv类型转换为QImage类型（因为Label只能显示QImage类型的图像），通过Mat2QImage函数：

 QImage QNode::Mat2QImage(cv::Mat const& src)
 {
   QImage dest(src.cols, src.rows, QImage::Format_ARGB32);

   const float scale = 255.0;

   if (src.depth() == CV_8U) {
     if (src.channels() == 1) {
       for (int i = 0; i < src.rows; ++i) {
         for (int j = 0; j < src.cols; ++j) {
           int level = src.at<quint8>(i, j);
           dest.setPixel(j, i, qRgb(level, level, level));
         }
       }
     } else if (src.channels() == 3) {
       for (int i = 0; i < src.rows; ++i) {
         for (int j = 0; j < src.cols; ++j) {
           cv::Vec3b bgr = src.at<cv::Vec3b>(i, j);
           dest.setPixel(j, i, qRgb(bgr[2], bgr[1], bgr[0]));
         }
       }
     }
   } else if (src.depth() == CV_32F) {
     if (src.channels() == 1) {
       for (int i = 0; i < src.rows; ++i) {
         for (int j = 0; j < src.cols; ++j) {
           int level = scale * src.at<float>(i, j);
           dest.setPixel(j, i, qRgb(level, level, level));
         }
       }
     } else if (src.channels() == 3) {
       for (int i = 0; i < src.rows; ++i) {
         for (int j = 0; j < src.cols; ++j) {
           cv::Vec3f bgr = scale * src.at<cv::Vec3f>(i, j);
           dest.setPixel(j, i, qRgb(bgr[2], bgr[1], bgr[0]));
         }
       }
     }
   }

   return dest;
 }

接着发送自定义信号到mainwindow：

emit Show_image(0,im);

在mainwindows.cpp链接刚才回调函数中发出的信号：

//链接槽函数
connect(&qnode,SIGNAL(Show_image(int,QImage)),this,SLOT(slot_show_image(int,QImage)));

槽函数中处理信号在槽函数中更新ui界面显示，在lable上显示图像：

void MainWindow::slot_show_image(int frame_id, QImage image)
{
 
        ui.label_video0->setPixmap(QPixmap::fromImage(image).scaled(ui.label_video0->width(),ui.label_video0->height()));
}

定义按钮启动相机

void robomap::MainWindow::on_pushButton_11_clicked()
{
  initVideos();
}