Ubuntu20.04+ROS2+Qt5(c++)+vscode环境配置

操作环境

操作系统：虚拟机ubuntu20.04

ROS2版本：foxy 

Qt版本：Qt5.14.2

编译环境：colcon 和 vscode

配置QT和ROS2

首先确保安装好Qt和foxy并source好环境，可参考其他文章如：Ubuntu20.04安装ROS2 Foxy，Ubuntu20.04安装Qt5.14，Ubuntu20.04安装vscode这里不过多阐述，另外由于安装ROS2时不自带编译工具，因此还需自己安装colcon来编译：

sudo apt-get install python3-colcon-common-extensions

打开QtCreator创建一个工程，选择cmake编译，得到以下文件，然后先放着备用

接下来开始创建demo工程，先创建一个主文件夹，并在下面创建一个src子文件夹

在src文件夹下，创建一个ros2的功能包，其中ros_qt是自己定义的功能包名字，使用ament_cmake来编译：

ros2 pkg create ros_qt --build-type ament_cmake --dependencies rclcpp

会自动生成如下文件：

回到主文件夹目录，使用colcon编译整个工程：

colcon build

 会生成如下文件夹：

将刚才Qt文件放到功能包的src文件夹下，记住是功能包的src文件夹，当然其他的cpp文件也是放在这里：

打开vscode，开始配置CMakeList.txt，默认的文件是这样的：

废话不多说，直接贴代码，需要注意的点和踩过的坑都用中文注释了。

cmake_minimum_required(VERSION 3.5)
project(ros_qt)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

set(CMAKE_AUTOMOC ON)
set(CMAKE_AUTOUIC ON)  #一定要添加这几行，不然编译时可能会提示找不到Qt的ui文件
set(CMAKE_AUTORCC ON)

# include_directories(
# "./src"
# ${EIGEN3_INCLUDE_DIR}   #如果使用到其他的包时，需要在这里include
# ${CERES_INCLUDE_DIRS}
# )

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(Qt5 COMPONENTS Widgets REQUIRED) #ament_cmake会自动寻找Qt包

FILE(GLOB HEAD_FILES "./src/*.h")
FILE(GLOB SRC_FILES "./src/*.cpp")
FILE(GLOB UI_FILES "./src/*.ui")
add_executable(${PROJECT_NAME}_node ${SRC_FILES} ${HEAD_FILES} ${UI_FILES})

ament_target_dependencies(${PROJECT_NAME}_node rclcpp std_msgs) #自动依赖ros2的包
target_link_libraries(${PROJECT_NAME}_node Qt5::Widgets)  #Qt和其他的包还是要用这行来链接

#install
install(TARGETS
  ${PROJECT_NAME}_node
  DESTINATION lib/${PROJECT_NAME}
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()

回到终端使用colcon build编译，或者在vscode通过Ctrl+Shift+B选择colcon build，不出意外的话编译成功。

 随便复制一个发布话题的例程：

#include "mainwindow.h"
#include <QApplication>
#include <chrono>
#include <memory>
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"

using namespace std::chrono_literals;

/* This example creates a subclass of Node and uses a fancy C++11 lambda
 * function to shorten the callback syntax, at the expense of making the
 * code somewhat more difficult to understand at first glance. */

class MinimalPublisher : public rclcpp::Node
{
public:
  MinimalPublisher()
  : Node("minimal_publisher"), count_(0)
  {
    publisher_ = this->create_publisher<std_msgs::msg::String>("topic", 10);
    auto timer_callback =
      [this]() -> void {
        auto message = std_msgs::msg::String();
        message.data = "Hello, world! " + std::to_string(this->count_++);
        RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", message.data.c_str());
        this->publisher_->publish(message);
      };
    timer_ = this->create_wall_timer(500ms, timer_callback);
  }

private:
  rclcpp::TimerBase::SharedPtr timer_;
  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
  size_t count_;
};

int main(int argc, char *argv[])
{
    rclcpp::init(argc, argv);
    QApplication a(argc, argv);
    MainWindow w;
    w.show();
    rclcpp::spin(std::make_shared<MinimalPublisher>());
    return a.exec();
    
}

打开终端，在工程文件夹下重新colcon build构建一次，然后source一下环境：

输入指令运行节点：

ros2 run ros_qt ros_qt_node 

 运行成功：

至此，ROS2 + Qt5的配置已经完成，但是在vscode下还是会出现很多红色波浪线 ，也无法在vscode里打开程序，接下来配置vscode。

配置VSCODE

先科普一下vscode中c_cpp_properties.json、launch.json、settings.json、task.json这几个文件的作用：

必须配置的 c_cpp_properties.json和launch.json这两个文件，直接上代码。

 c_cpp_properties.json

{
    "configurations": [
        {
            "browse": {
                "databaseFilename": "${default}",
                "limitSymbolsToIncludedHeaders": false
            },
            "includePath": [
                "${workspaceFolder}/**",
                "/opt/ros/foxy/include",
                "/opt/Qt5.14.2/5.14.2/gcc_64/include/**",
                "${workspaceFolder}/build/ros_qt/ros_qt_node_autogen/include"
            ],
            "name": "ROS",
            "intelliSenseMode": "gcc-x64",
            "compilerPath": "/usr/bin/gcc",
            "cStandard": "gnu11",
            "cppStandard": "c++14"
        }
    ],
    "version": 4
}

launch.json

{
    // Use IntelliSense to learn about possible attributes.
    // Hover to view descriptions of existing attributes.
    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
    "version": "0.2.0",
    "configurations": [
        {
            "name": "ros_qt_node",
            "type": "cppdbg",
            "request": "launch",
            "program": "${workspaceFolder}/install/ros_qt/lib/ros_qt/ros_qt_node",//这句是关键
            "args": [],
            "stopAtEntry": false,
            "cwd": "${workspaceFolder}",
            "environment": [

            ],
            "externalConsole": false,
            "MIMode": "gdb",
            "setupCommands": [
                {
                    "description": "Enable pretty-printing for gdb",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": true
                }
            ],
            "preLaunchTask": "colcon: build",
            "miDebuggerPath": "/usr/bin/gdb"
        }
    ]
}

配置完成后，就可以在vscode上运行代码了

问题记录 

如果编译时出现如下报错，Could not find a package configuration file provided by "Qt5SerialPort"

 这是QT5的串口包问题，请设置QT5的路径，修改cmakelist.txt如下：

并确保安装了Qt5SerialPort：

sudo apt-get install qtserialport5-dev

 如果运行时出现如下报错，version `Qt_5.14' not found：

请在终端打开.bashrc:

gedit ~/.bashrc

在文件里设置qt5的lib的环境变量:

export LD_LIBRARY_PATH=/opt/Qt5.14.2/5.14.2/gcc_64/lib:$LD_LIBRARY_PATH

 保存文件后，将工程下编译生成的文件夹删掉，然后重启vscode，重新编译运行即可。

 以上就是Ubuntu20.04+ROS2+Qt5(c++)+vscode环境配置的全部内容。