RVIZ中添加按钮组件

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前言

Rviz基于qt编写的可视化界面，是ros的一个可视化工具，用于可视化传感器的数据和状态信息。本文介绍怎样在rviz中添加按钮组件，方便用户操作。

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一、代码实现

1.新建功能包

在工作空间下，新建功能包test_rviz_plugin。

cd catkin_ws/src
catkin_create_pkg test_rviz_plugin roscpp rviz
cd ..
catkin_make

2. 具体实现

参考rviz：rviz_plugin_tutorials

2.1 test_rviz_plugin.h

新建TestRvizPlugin类，公共继承rviz::Panel;
virtual void load(const rviz::Config &config)和virtual void save(rviz::Config config) const 重写rviz::Panel中的函数，用于从配置文件加载和保存数据；
void test_callback(); 和 void test2_callback();槽函数，点击按钮后执行的操作函数；

#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 test_callback();
        void test2_callback();
    private:
        ros::NodeHandle nh_;
        QPushButton *test_button_;
        QPushButton *test2_button_;
        ros::Publisher test_pub_, test2_pub_;
    };
}

#endif //PROJECT_TEST_RVIZ_H

2.2 test_rviz_plugin.cpp

最后两行的作用 是告诉插件库这个类。 每个应该由 pluginlib::ClassLoader 加载的类都必须在其.cpp文件中编译这两行，在任何命名空间范围之外。

#include <test_rviz_plugin/test_rviz_plugin.h>
#include <std_msgs/String.h>
namespace test_rviz_plugin{
    TestRvizPlugin::TestRvizPlugin(QWidget *parent):Panel(parent)
    {
    	//创建两个按钮---测试按钮和测试按钮2
        auto *button_layout = new QHBoxLayout;
        test_button_ = new QPushButton(tr("测试按钮"),this);
        button_layout->addWidget(test_button_);
        test2_button_ = new QPushButton(tr("测试按钮2"),this);
        button_layout->addWidget(test2_button_);
        setLayout(button_layout);
        
        //信号连接---点击信号发生，连接到槽函数test_callback()
        connect(test_button_,SIGNAL(clicked()),this,SLOT(test_callback()));
        connect(test2_button_,SIGNAL(clicked()),this,SLOT(test2_callback()));
		
        test_pub_ = nh_.advertise<std_msgs::String>("test_topic",10);
        test2_pub_ = nh_.advertise<std_msgs::String>("test2_topic",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::test_callback()
    {
        std::string str;
        std_msgs::String msg;
        msg.data = "test";
        ROS_INFO("测试消息发布！");
        test_pub_.publish(msg);
    }
    void TestRvizPlugin::test2_callback()
    {
        std::string str;
        std_msgs::String msg;
        msg.data = "test2";
        ROS_INFO("测试消息2发布！");
        test_pub_.publish(msg);
    }
}
#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS(test_rviz_plugin::TestRvizPlugin,rviz::Panel)

二、修改配置文件

1.CMakeLists.txt

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rviz
)

catkin_package(
  INCLUDE_DIRS include
)
include_directories(${catkin_INCLUDE_DIRS})
link_directories(${catkin_LIBRARY_DIRS})
## This setting causes Qt's "MOC" generation to happen automatically.
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_rviz_plugin src/test_rviz_plugin.cpp include/test_rviz_plugin/test_rviz_plugin.h)
add_dependencies(test_rviz_plugin ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(test_rviz_plugin ${QT_LIBRARIES} ${catkin_LIBRARIES})

2.package.xml

添加如下：主要添加编译依赖和执行依赖，以及注册rviz插件

  <build_depend>qtbase5-dev</build_depend>
  <build_depend>rviz</build_depend>
  
  <exec_depend>libqt5-core</exec_depend>
  <exec_depend>libqt5-gui</exec_depend>
  <exec_depend>libqt5-widgets</exec_depend>
  <exec_depend>rviz</exec_depend>
  
  <export>
    <!-- Other tools can request additional information be placed here -->
    <rviz plugin="${prefix}/plugin_descriptions.xml"/>
  </export>

3.新建插件描述文件

在功能包中，新建.xml文件，以plugin_descriptions.xml为例。path =“lib/libxxx”
标签class中name 、type、base_class_type表示插件名称、类型以及依赖的基类

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

三、查看插件注册及结果

1.插件注册显示

cd catkin_ws
catkin_make
source devel/setup.bash 

rospack plugins --attrib=plugin rviz

会在终端打印出rviz的相关插件：

...
test_rviz_plugin /home/robot/catkin_ws/src/test_rviz_plugin/plugin_descriptions.xml
...

2.结果显示

roscore
rviz

打开rviz—Panels—Add New Panel

点击Add New Panel

找到自定义的test_rviz_plugin插件，选中添加即可。
如图所示：

点击测试按钮，结果如图：

放一张效果图~~

四、总结

以上就是在rviz中添加简单的按钮插件过程，和全局路径插件类似，都需要注册插件后才能使用。

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