利用QT添加ros项目，以及简单的rviz推送订阅话题
在本文中，我们将深入探讨如何在QT环境中集成ROS（Robot Operating System）项目，并通过QT界面向rviz（Robot Visualization）发送及订阅话题。这是一项重要的技能，尤其对于那些需要开发具有用户友好图形界面的机器人应用的开发者来说。
我们需要了解QT和ROS的基本概念。QT是一个流行的跨平台应用程序开发框架，广泛用于创建桌面和移动设备的图形用户界面。ROS则是机器人软件开发的一个开源框架，提供了一系列工具、库和约定，使开发人员能够构建模块化的机器人系统。
**步骤1：设置ROS与QT环境**
在开始之前，确保你已经在你的开发环境中安装了ROS和QT。对于ROS，你需要安装对应操作系统的版本，如ROS Melodic（Ubuntu 18.04）或ROS Noetic（Ubuntu 20.04）。对于QT，可以从官方网站下载并安装QT Creator，这是一个集成了开发环境的IDE。
**步骤2：创建ROS项目**
使用catkin工作空间来创建ROS项目。打开终端，导航到你的工作空间目录，然后执行以下命令：
```bash
mkdir -p src
cd src
catkin_create_pkg my_project rospy std_msgs geometry_msgs # 将my_project替换为你的项目名
```
这将创建一个名为`my_project`的新ROS包，包含必要的依赖项。
**步骤3：添加QT模块**
在你的ROS项目中，你需要添加QT支持。编辑`CMakeLists.txt`文件，将以下行添加到`find_package(catkin REQUIRED COMPONENTS ...)`之后：
```cmake
find_package(Qt5 COMPONENTS Widgets CoreGui REQUIRED)
catkin_package(
...
CATKIN_DEPENDS roscpp rospy std_msgs geometry_msgs
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME}
CATKIN_DEPENDS_QT ${QT_COMPONENTS}
)
```
然后，添加QT配置到`cmake`部分：
```cmake
include_directories(include ${QT_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
add_executable(${PROJECT_NAME}_node src/mainwindow.cpp)
target_link_libraries(${PROJECT_NAME}_node ${QT_LIBRARIES} ${catkin_LIBRARIES})
```
**步骤4：编写QT界面**
使用QT Creator创建一个新的QT项目，选择`Qt Widgets Application`模板。在`mainwindow.cpp`中，你可以添加所需的按钮、文本框等控件，以实现与ROS交互的功能。
**步骤5：连接ROS节点**
在QT项目中，引入ROS库并创建节点。例如，在`mainwindow.cpp`的`setupUi`函数中，你可以初始化ROS节点：
```cpp
ros::init(argc, argv, "qt_node");
ros::NodeHandle nh;
```
然后，你可以定义ROS消息类型并创建发布器和订阅器。例如，如果你要处理`geometry_msgs::PoseStamped`类型的消息，可以这样做：
```cpp
geometry_msgs::PoseStamped pose_msg;
ros::Publisher pose_pub = nh.advertise("pose_topic", 10);
```
**步骤6：发送和接收话题**
在QT界面中，当用户点击按钮时，可以调用`pose_pub.publish(pose_msg)`来发布消息。同样，你可以使用`ros::Subscriber`来订阅其他话题。例如：
```cpp
ros::Subscriber sub = nh.subscribe("marker_topic", 10, &MainWindow::markerCallback, this);
```
这里，`markerCallback`是你定义的回调函数，用于处理接收到的消息。
**步骤7：使用rviz可视化**
在rviz中，你可以添加`Marker`或`Interactive Marker`显示来接收和显示来自`marker_topic`的话题。确保你的QT节点运行并发布话题，rviz将实时更新。
总结，这个过程涵盖了在QT中创建ROS项目的完整流程，包括添加QT支持、构建QT界面、连接ROS节点、发送和接收话题，以及使用rviz进行可视化。这只是一个基本示例，实际应用中可能需要处理更复杂的数据结构和用户交互。通过这个实践，你可以为自己的机器人项目开发出强大的图形用户界面。
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