多传感器融合之QT控件的设计

    //save map
    cmdArray->data.push_back(0);
    // mapping status
    cmdArray->data.push_back(0);
    // confirm/Go to goal
    cmdArray->data.push_back(0);
    // change the cmd_vel
    cmdArray->data.push_back(0);
    // the goal x-y position
    cmdArray->data.push_back(0);
    cmdArray->data.push_back(0);

save map----1----------data[0]=1

start-----2----------data[1]=1

stop-------3--------------data[1]=0

confirm the goal ------4---------data[2]=1;data[4]=1000*goal_x;data[5]=1000*goal_y

go to the goal ---------5-------------data[2]=2

2.响应qnode

以updatemap为例子：

1.接收到/livox/lidar话题，进入到readPointFusedCloud回调函数，在回调函数中发布slammapUpdated
QObject::connect(&qnode, SIGNAL(slamMapUpdated()), this, SLOT(updateMap()));
void MainWindow::updateMap()
{
    QVector<double> x(qnode.cloudFuse