rviz自定义发布Topic插件

目的

为了在测试时通过rviz发送topic触发部分功能的测试效果

代码

头文件 test_plugin.h

#ifndef PROJECT_TEST_RVIZ_H
#define PROJECT_TEST_RVIZ_H
#include <ros/ros.h>
#include <rviz/panel.h>
#include <QHBoxLayout>
#include <QPushButton>
#include <QString>

namespace test_rviz_plugin{
    class TestRvizPlugin :public rviz::Panel{
    Q_OBJECT
    public:
        TestRvizPlugin(QWidget *parent = 0);
        virtual void load(const rviz::Config &config);
        virtual void save(rviz::Config config) const;
    protected Q_SLOTS:
        void map_callback();
        void send_goal_callback();
        void patrol_callback();
    private:
        ros::NodeHandle nh_;
        QPushButton *map_button_;
        QPushButton *send_goal_button_;
        QPushButton *patrol_button_;
        ros::Publisher test_pub_;
    };
}

#endif //PROJECT_TEST_RVIZ_H

执行文件 test_plugin.cpp

#include "test_plugin.h"
#include <std_msgs/Int8.h>
namespace test_rviz_plugin{
    TestRvizPlugin::TestRvizPlugin(QWidget *parent):Panel(parent)
    {
    	//创建3个按钮
        auto *button_layout = new QHBoxLayout;
        map_button_ = new QPushButton(tr("mapping"),this);
        button_layout->addWidget(map_button_);
        send_goal_button_ = new QPushButton(tr("send target slot"),this);
        button_layout->addWidget(send_goal_button_);
        patrol_button_ = new QPushButton(tr("patrol"),this);
        button_layout->addWidget(patrol_button_);
        setLayout(button_layout);
        
        //信号连接---点击信号发生，连接到槽函数test_callback()
        connect(map_button_,SIGNAL(clicked()),this,SLOT(map_callback()));
        connect(send_goal_button_,SIGNAL(clicked()),this,SLOT(send_goal_callback()));
        connect(patrol_button_,SIGNAL(clicked()),this,SLOT(patrol_callback()));
		
        test_pub_ = nh_.advertise<std_msgs::Int8>("test_msg",10);
    }
    //加载配置数据---必须要有的
    void TestRvizPlugin::load(const rviz::Config &config){
        Panel::load(config);
    }
    //将所有配置数据保存到给定的Config对象中。在这里，重要的是要对父类调用save（），以便保存类id和面板名称。---必须要有的
    void TestRvizPlugin::save(rviz::Config config) const{
        Panel::save(config);
    }

    void TestRvizPlugin::map_callback()
    {
        std_msgs::Int8 msg;
        msg.data = 1;
        ROS_INFO("Start to map!");
        test_pub_.publish(msg);
    }
    void TestRvizPlugin::send_goal_callback()
    {
        std_msgs::Int8 msg;
        msg.data = 2;
        ROS_INFO("Send target slot to slam!");
        test_pub_.publish(msg);
    }
    void TestRvizPlugin::patrol_callback()
    {
        std_msgs::Int8 msg;
        msg.data = 3;
        ROS_INFO("Start to patrol!");
        test_pub_.publish(msg);
    }
}
#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS(test_rviz_plugin::TestRvizPlugin,rviz::Panel)

创建CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2)
project(rviz_control)
find_package(catkin REQUIRED COMPONENTS
  roscpp
  rviz
)

catkin_package()
include_directories(${catkin_INCLUDE_DIRS})
link_directories(${catkin_LIBRARY_DIRS})

set(CMAKE_AUTOMOC ON)

## This plugin includes Qt widgets, so we must include Qt.
## We'll use the version that rviz used so they are compatible.
if(rviz_QT_VERSION VERSION_LESS "5")
  message(STATUS "Using Qt4 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
  find_package(Qt4 ${rviz_QT_VERSION} EXACT REQUIRED QtCore QtGui)
  ## pull in all required include dirs, define QT_LIBRARIES, etc.
  include(${QT_USE_FILE})
else()
  message(STATUS "Using Qt5 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
  find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets)
  ## make target_link_libraries(${QT_LIBRARIES}) pull in all required dependencies
  set(QT_LIBRARIES Qt5::Widgets)
endif()

## I prefer the Qt signals and slots to avoid defining "emit", "slots",
## etc because they can conflict with boost signals, so define QT_NO_KEYWORDS here.
add_definitions(-DQT_NO_KEYWORDS)

add_library(test_plugin src/test_plugin.cpp src/test_plugin.h)
add_dependencies(test_plugin ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(test_plugin ${QT_LIBRARIES} ${catkin_LIBRARIES})

创建package.xml

<package>
  <name>rviz_control</name>
  <version>0.11.0</version>
  <description>
     Tutorials showing how to write plugins for RViz.
  </description>
  <maintainer email="Hope_166@163.com">Mu Zhui</maintainer>
  <license>BSD</license>

  <url>http://ros.org/wiki/rviz_plugin_tutorials</url>
  <author>Dave Hershberger</author>

  <buildtool_depend>catkin</buildtool_depend>

  <build_depend>qtbase5-dev</build_depend>
  <build_depend>rviz</build_depend>

  <run_depend>libqt5-core</run_depend>
  <run_depend>libqt5-gui</run_depend>
  <run_depend>libqt5-widgets</run_depend>
  <run_depend>rviz</run_depend>

  <export>
      <rviz plugin="${prefix}/plugin_description.xml"/>
  </export>
</package>

创建 plugin_description.xml

<library path="lib/libtest_plugin">
    <class name="Control"
           type="test_rviz_plugin::TestRvizPlugin"
           base_class_type="rviz::Panel">
        <description>
            A panel widget is used to test rviz plugin.
        </description>
    </class>
</library>

编译

catkin_make

调用

打开rviz

rviz

菜单栏
)
选择add new panel->Control
c
效果

参考代码: https://github.com/chaoli2/rviz_teleop_commander