在QT中开发librviz显示雷达点云数据

一、基础配置

1. 在rosworksapce中建立gui模版项目，在src目录下
   catkin_create_qt_pkg test 创建一个包名为test的ros_gui模板
2. 添加rviz包依赖
   在CMakeLists.txt中添加
   find_package(catkin REQUIRED COMPONENTS rviz roscpp)
   在package.xml中添加

<build_depend>roscpp</build_depend>
  <run_depend>roscpp</run_depend>
  <build_depend>rospy</build_depend>
  <run_depend>rospy</run_depend>
  <build_depend>rviz</build_depend>
  <run_depend>rviz</run_depend>

二、UI

在main_window.ui中在centralwidget下添加verticalLayout，verticalLayout就是我要在上边添加rviz的布局，而这个close的button是为了关闭当前页面，并且结束终端的一些操作。

三、创建rviz相关的class

3.1引入：

#include <rviz/visualization_manager.h>

#include <rviz/render_panel.h>

#include <rviz/display.h>

#include <rviz/default_plugin/view_controllers/orbit_view_controller.h>

#include <rviz/view_manager.h>

3.2 在main_window.hpp中定义一个class，就是显示rviz的组件

class RvizPlugin: public QObject{

    Q_OBJECT

public:

    RvizPlugin(QVBoxLayout* ui){

//创建rviz的容器，并将该容器作为组建加入到ui内，其中关键class为VisualizationManager，是个管理类，起到控制创建rviz图层和设置坐标系的作用。

      render_panel_=new rviz::RenderPanel;

       ui->addWidget(render_panel_);

       manager_=new rviz::VisualizationManager(render_panel_);

      render_panel_->initialize(manager_->getSceneManager(),manager_);

       manager_->initialize();

       manager_->startUpdate();

      manager_->setFixedFrame("/world”);

//创建一个类型为rviz/PointCloud2的图层，用于接收topic为points_map的点云数据，就是我最终底图的图层

      rviz::Display *map_=manager_->createDisplay("rviz/PointCloud2","pointCloud2",true);

      ROS_ASSERT(map_!=NULL);

      map_->subProp("Topic")->setValue("/points_map");

      map_->subProp("Invert Rainbow")->setValue("true");

      map_->subProp("Style")->setValue("Points");

      map_->subProp("Size (Pixels)")->setValue("2");

      //map_->subProp("Decay Time")->setValue("0");

      map_->subProp("Color Transformer")->setValue("FlatColor");

      map_->subProp("Queue Size")->setValue("10");

      map_->subProp("Alpha")->setValue("0.05");

//创建一个类型为rviz/PointCloud2的图层，用于接收topic为points_raw的点云数据，就是雷达实时扫描数据的展示

      rviz::Display *robot_=manager_->createDisplay("rviz/PointCloud2","pointCloud2",true);

       ROS_ASSERT(robot_!=NULL);

       robot_->subProp("Topic")->setValue("/points_raw");

       //robot_->subProp("Use Rainbow")->setValue(true);

       robot_->subProp("Size (Pixels)")->setValue("2");

       robot_->subProp("Style")->setValue("Points");

       //robot_->subProp("Autocompute Intensity Bounds")->setValue(true);

       //robot_->subProp("Color Transformer")->setValue("Intensity");

       robot_->subProp("Queue Size")->setValue("10");

       robot_->subProp("Alpha")->setValue("0.3");

       //robot_->subProp("Channel Name")->setValue("Intensity");

  //     robot_->subProp("Color Transformer")->setValue("Intensity");

  //     robot_->subProp("Color Transformer")->setValue("Intensity");

//这个是创建小车模型的图层，由urdf文件控制

       rviz::Display *car=manager_->createDisplay("rviz/RobotModel","adjustable robot",true);

            ROS_ASSERT(car!=NULL);

           car->subProp("Robot Description")->setValue("robot_description");

      manager_->startUpdate();

//设置整个地图的展示方式，如视角、距离、偏航等

      viewManager = manager_->getViewManager();

      viewManager->setRenderPanel(render_panel_);

      viewManager->setCurrentViewControllerType("rviz/ThirdPersonFollower");

      viewManager->getCurrent()->subProp("Target Frame")->setValue("/base_link");

      viewManager->getCurrent()->subProp("Near Clip Distance")->setValue("0.01");

      viewManager->getCurrent()->subProp("Focal Point")->setValue("1.90735e-06;-7.62939e-06;0");

      viewManager->getCurrent()->subProp("Focal Shape Size")->setValue("0.05");

      viewManager->getCurrent()->subProp("Focal Shape Fixed Size")->setValue("true");

      //juli

      viewManager->getCurrent()->subProp("Distance")->setValue("204.168");

      //chetou jiaodu

      viewManager->getCurrent()->subProp("Yaw")->setValue("1.7004");

      //fujiao

      viewManager->getCurrent()->subProp("Pitch")->setValue("0.770398");

    }

public slots:

private:

    rviz::RenderPanel* render_panel_;// = new rviz::RenderPanel;

    rviz::VisualizationManager *manager_;// =  new rviz::VisualizationManager(pointCloud_panel);

    rviz::ViewManager* viewManager;

};

3.3 在.cpp文件中直接使用即可

RvizPlugin rvi(this->ui.verticalLayout);

3.4 close按钮的关闭操作

void rtourMap::MainWindow::on_close_clicked()
{
    system("killall -9 rosbag");
    this->close();
}

四、效果展示