ROS与QT的那些事--2 实现订阅者SUB

主要修改5个文件。分别是main_windown.hpp；main_windown.cpp；main_windown.ui；qnode.hpp；qnode.cpp。
直接上代码。
添加控件；添加订阅者部分的代码。

1 main_windown.hpp

#ifndef ros_gui_pub_MAIN_WINDOW_H
#define ros_gui_pub_MAIN_WINDOW_H

#include <QtGui/QMainWindow>
#include "ui_main_window.h"
#include "qnode.hpp"
namespace ros_gui_pub {
class MainWindow : public QMainWindow {
Q_OBJECT

public:
	MainWindow(int argc, char** argv, QWidget *parent = 0);
	~MainWindow();
	void showNoMasterMessage();

public Q_SLOTS:
	void on_button_connect_clicked(bool check );
    void updateLoggingView(); // no idea why this can't connect automatically
     void updateLoggingView_sub();

private:
	Ui::MainWindowDesign ui;
	QNode qnode;
};
}  // namespace ros_gui_pub

#endif // ros_gui_pub_MAIN_WINDOW_H

1 main_windown.cpp

#include <QtGui>
#include <QMessageBox>
#include <iostream>
#include "../include/ros_gui_pub/main_window.hpp"

namespace ros_gui_pub {
using namespace Qt;

MainWindow::MainWindow(int argc, char** argv, QWidget *parent)
    : QMainWindow(parent)
    , qnode(argc,argv)
{
    ui.setupUi(this); // Calling this incidentally connects all ui's triggers to on_...() callbacks in this class.
    setWindowIcon(QIcon(":/images/icon.png"));
    ui.view_logging->setModel(qnode.loggingModel());
    ui.view_logging_sub->setModel(qnode.loggingModel_sub());
    QObject::connect(&qnode, SIGNAL(loggingUpdated()), this, SLOT(updateLoggingView()));
    QObject::connect(&qnode, SIGNAL(loggingUpdated_sub()), this, SLOT(updateLoggingView_sub()));
}

MainWindow::~MainWindow() {}
void MainWindow::showNoMasterMessage() {
    QMessageBox msgBox;
    msgBox.setText("Couldn't find the ros master.");
    msgBox.exec();
    close();
}

void MainWindow::on_button_connect_clicked(bool check ) {

    if ( !qnode.init() ) {
        showNoMasterMessage();
    } else {
        ui.button_connect->setEnabled(false);
    }
}

void MainWindow::updateLoggingView() {
    ui.view_logging->scrollToBottom();
}

void MainWindow::updateLoggingView_sub() {
    ui.view_logging_sub->scrollToBottom();
}

}  // namespace ros_gui_pub

3 qnode.hpp

#ifndef ros_gui_pub_QNODE_HPP_
#define ros_gui_pub_QNODE_HPP_

#ifndef Q_MOC_RUN
#include <ros/ros.h>
#include <std_msgs/String.h>
#endif
#include <string>
#include <QThread>
#include <QStringListModel>

namespace ros_gui_pub {

class QNode : public QThread {
    Q_OBJECT
public:
	QNode(int argc, char** argv );
	virtual ~QNode();
	bool init();
	void run();

	enum LogLevel {
	         Debug,
	         Info,
	         Warn,
	         Error,
	         Fatal
	 };

	QStringListModel* loggingModel() { return &logging_model; }
    QStringListModel* loggingModel_sub() { return &logging_model_sub; }
	void log( const LogLevel &level, const std::string &msg);
    void log_sub( const LogLevel &level_sub, const std::string &msg_sub);

    void Callback(const  std_msgs::StringConstPtr& submsg);

Q_SIGNALS:
	void loggingUpdated();
    void loggingUpdated_sub();
    void rosShutdown();

private:
	int init_argc;
	char** init_argv;
	ros::Publisher chatter_publisher;
    ros::Subscriber chatter_sublisher;
    QStringListModel logging_model;
    QStringListModel logging_model_sub;
};

}  // namespace ros_gui_pub

#endif /* ros_gui_pub_QNODE_HPP_ */

4 qnode.cpp

#include <ros/ros.h>
#include <ros/network.h>
#include <string>
#include <std_msgs/String.h>
#include <sstream>
#include "../include/ros_gui_pub/qnode.hpp"

namespace ros_gui_pub {

QNode::QNode(int argc, char** argv ) :
    init_argc(argc),
    init_argv(argv)
    {}

QNode::~QNode() {
}

bool QNode::init() {
    ros::init(init_argc,init_argv,"ros_gui_pub");
    if ( ! ros::master::check() ) {
        return false;
    }
    ros::start(); // explicitly needed since our nodehandle is going out of scope.
    ros::NodeHandle n;
    // Add your ros communications here.
    chatter_publisher = n.advertise<std_msgs::String>("chatter", 1000);
    chatter_sublisher = n.subscribe("chatter",1000,&QNode::Callback,this);
    start();
    return true;
}

void QNode::run() {
    ros::Rate loop_rate(1);
    int count = 0;
    while ( ros::ok() ) {
//        ROS_INFO("PUB 111");

        std_msgs::String msg;
        std::stringstream ss;
        ss << "hello world " << count;
        msg.data = ss.str();
        chatter_publisher.publish(msg);
        log(Info,std::string("I sent: ")+msg.data);
        ros::spinOnce();
        loop_rate.sleep();
        ++count;
    }
    std::cout << "Ros shutdown, proceeding to close the gui." << std::endl;
    Q_EMIT rosShutdown(); // used to signal the gui for a shutdown (useful to roslaunch)
}




void QNode::log( const LogLevel &level, const std::string &msg) {
    logging_model.insertRows(logging_model.rowCount(),1);
    std::stringstream logging_model_msg;
    switch ( level ) {
        case(Debug) : {
                ROS_DEBUG_STREAM(msg);
                logging_model_msg << "[DEBUG] [" << ros::Time::now() << "]: " << msg;
                break;
        }
        case(Info) : {
                ROS_INFO_STREAM(msg);
                logging_model_msg << "[INFO] [" << ros::Time::now() << "]: " << msg;
                break;
        }
        case(Warn) : {
                ROS_WARN_STREAM(msg);
                logging_model_msg << "[INFO] [" << ros::Time::now() << "]: " << msg;
                break;
        }
        case(Error) : {
                ROS_ERROR_STREAM(msg);
                logging_model_msg << "[ERROR] [" << ros::Time::now() << "]: " << msg;
                break;
        }
        case(Fatal) : {
                ROS_FATAL_STREAM(msg);
                logging_model_msg << "[FATAL] [" << ros::Time::now() << "]: " << msg;
                break;
        }
    }
    QVariant new_row(QString(logging_model_msg.str().c_str()));
    logging_model.setData(logging_model.index(logging_model.rowCount()-1),new_row);
    Q_EMIT loggingUpdated(); // used to readjust the scrollbar
}


void QNode::log_sub( const LogLevel &level, const std::string &msg) {
    logging_model_sub.insertRows(logging_model_sub.rowCount(),1);
    std::stringstream logging_model_msg;
    switch ( level ) {
        case(Debug) : {
                ROS_DEBUG_STREAM(msg);
                logging_model_msg << "[DEBUG] [" << ros::Time::now() << "]: " << msg;
                break;
        }
        case(Info) : {
                ROS_INFO_STREAM(msg);
                logging_model_msg << "[INFO] [" << ros::Time::now() << "]: " << msg;
                break;
        }
        case(Warn) : {
                ROS_WARN_STREAM(msg);
                logging_model_msg << "[INFO] [" << ros::Time::now() << "]: " << msg;
                break;
        }
        case(Error) : {
                ROS_ERROR_STREAM(msg);
                logging_model_msg << "[ERROR] [" << ros::Time::now() << "]: " << msg;
                break;
        }
        case(Fatal) : {
                ROS_FATAL_STREAM(msg);
                logging_model_msg << "[FATAL] [" << ros::Time::now() << "]: " << msg;
                break;
        }
    }
    QVariant new_row(QString(logging_model_msg.str().c_str()));
    logging_model_sub.setData(logging_model_sub.index(logging_model_sub.rowCount()-1),new_row);
    Q_EMIT loggingUpdated_sub(); // used to readjust the scrollbar
}


void QNode::Callback(const  std_msgs::StringConstPtr& submsg)
{
    log_sub(Info,std::string("Success Sub:  ") + submsg->data.c_str());
//    ROS_INFO("SUB 111");
}


}  // namespace ros_gui_pub

5 main_window.ui

注意添加控件名称是 ： view_logging_sub

演示