ROS学习笔记（9）——在RVIZ上打造人机界面

实现功能

创建功能包

catkin_create_pkg <package_name> [depend1] [depend2] [depend3]

catkin_create_pkg MultiNaviGoalsPanel roscpp rviz std_msgs

其中[depend1]、[depend2]、[depend3]是创建该软件功能包所需的特定软件功能包，一般称为依赖包。std_msgs是消息数据包。

功能包下建立代码

.h文件

#ifndef MULTI_NAVI_GOAL_PANEL_H
#define MULTI_NAVI_GOAL_PANEL_H


#include <string>

#include <ros/ros.h>
#include <ros/console.h>
#include <rviz/panel.h>//plugin基类的头文件

#include <QPushButton>//QT按钮
#include <QTableWidget>//QT表格
#include <QCheckBox>//QT复选框

#include <visualization_msgs/Marker.h>
#include <geometry_msgs/PoseArray.h>
#include <geometry_msgs/Point.h>
#include <geometry_msgs/PoseStamped.h>
#include <std_msgs/String.h>
#include <actionlib_msgs/GoalStatus.h>
#include <actionlib_msgs/GoalStatusArray.h>
#include <tf/transform_datatypes.h>

namespace navi_multi_goals_pub_rviz_plugin {
// 所有的plugin都必须是rviz::Panel的子类
    class MultiNaviGoalsPanel : public rviz::Panel {
    Q_OBJECT
    public:
// 构造函数，在类中会用到QWidget的实例来实现GUI界面，这里先初始化为0即可
        explicit MultiNaviGoalsPanel(QWidget *parent = 0);
//公共槽
    public Q_SLOTS:
        void setMaxNumGoal(const QString &maxNumGoal);//设置最大可设置的目标点数量
        void writePose(geometry_msgs::Pose pose);//将目标点位姿写入任务列表
        void markPose(const geometry_msgs::PoseStamped::ConstPtr &pose);//在地图中标记位姿
        void deleteMark();//删除标记
//内部槽
    protected Q_SLOTS:

        void updateMaxNumGoal();             // 更新最大可设置的目标点数量
        void initPoseTable();               // 初始化目标点表格

        void updatePoseTable();             // 更新目标点表格
        void startNavi();                   // 开始第一个目标点导航
        void cancelNavi();                  //取消现在进行中的目标点导航

        void goalCntCB(const geometry_msgs::PoseStamped::ConstPtr &pose);  //目标数量子回调函数

        void statusCB(const actionlib_msgs::GoalStatusArray::ConstPtr &statuses); //状态子回调函数

        void checkCycle();  //确认循环

        void completeNavi();               //第一个任务到达后，继续进行剩下任务点的导航任务
        void cycleNavi();

        bool checkGoal(std::vector<actionlib_msgs::GoalStatus> status_list);  // 检查是否到达目标点

        static void startSpin(); // 启用ROS订阅
  //内部变量
    protected:
        QLineEdit *output_maxNumGoal_editor_;
        QPushButton *output_maxNumGoal_button_, *output_reset_button_, *output_startNavi_button_, *output_cancel_button_;
        QTableWidget *poseArray_table_;
        QCheckBox *cycle_checkbox_;

        QString output_maxNumGoal_;

        // The ROS node handle.
        ros::NodeHandle nh_;
        ros::Publisher goal_pub_, cancel_pub_, marker_pub_;
        ros::Subscriber goal_sub_, status_sub_;
        // 多目标点任务栏定义
        int maxNumGoal_;
        int curGoalIdx_ = 0, cycleCnt_ = 0;
        bool permit_ = false, cycle_ = false, arrived_ = false;
        geometry_msgs::PoseArray pose_array_;

        actionlib_msgs::GoalID cur_goalid_;
    };

} // end namespace navi-multi-goals-pub-rviz-plugin

#endif // MULTI_NAVI_GOAL_PANEL_H

View Code

.cpp文件

#include <cstdio>  //将stdio.h的内容用C++的头文件形式表现出来

#include <ros/console.h>

#include <fstream>
#include <sstream>

#include <QPainter>
#include <QLineEdit>
#include <QVBoxLayout>
#include <QLabel>
#include <QTimer>
#include <QDebug>
#include <QtWidgets/QTableWidget>
#include <QtWidgets/qheaderview.h>


#include "multi_navi_goal_panel.h"

namespace navi_multi_goals_pub_rviz_plugin {


    MultiNaviGoalsPanel::MultiNaviGoalsPanel(QWidget *parent)
            : rviz::Panel(parent), nh_(), maxNumGoal_(1) {

        goal_sub_ = nh_.subscribe<geometry_msgs::PoseStamped>("move_base_simple/goal_temp", 1,
                                                              boost::bind(&MultiNaviGoalsPanel::goalCntCB, this, _1));

        status_sub_ = nh_.subscribe<actionlib_msgs::GoalStatusArray>("move_base/status", 1,
                                                                     boost::bind(&MultiNaviGoalsPanel::statusCB, this,
                                                                                 _1));

        goal_pub_ = nh_.advertise<geometry_msgs::PoseStamped>("move_base_simple/goal", 1);

        cancel_pub_ = nh_.advertise<actionlib_msgs::GoalID>("move_base/cancel", 1);

        marker_pub_ = nh_.advertise<visualization_msgs::Marker>("visualization_marker", 1);

        QVBoxLayout *root_layout = new QVBoxLayout;
        // create a panel about "maxNumGoal"
        QHBoxLayout *maxNumGoal_layout = new QHBoxLayout;
        maxNumGoal_layout->addWidget(new QLabel("目标最大数量"));
        output_maxNumGoal_editor_ = new QLineEdit;
        maxNumGoal_layout->addWidget(output_maxNumGoal_editor_);
        output_maxNumGoal_button_ = new QPushButton("确定");
        maxNumGoal_layout->addWidget(output_maxNumGoal_button_);
        root_layout->addLayout(maxNumGoal_layout);

        cycle_checkbox_ = new QCheckBox("循环");
        root_layout->addWidget(cycle_checkbox_);
        // creat a QTable to contain the poseArray
        poseArray_table_ = new QTableWidget;
        initPoseTable();
        root_layout->addWidget(poseArray_table_);
        //creat a manipulate layout
        QHBoxLayout *manipulate_layout = new QHBoxLayout;
        output_reset_button_ = new QPushButton("重置");
        manipulate_layout->addWidget(output_reset_button_);
        output_cancel_button_ = new QPushButton("取消");
        manipulate_layout->addWidget(output_cancel_button_);
        output_startNavi_button_ = new QPushButton("开始导航!");
        manipulate_layout->addWidget(output_startNavi_button_);
        root_layout->addLayout(manipulate_layout);

        setLayout(root_layout);
        // set a Qtimer to start a spin for subscriptions
        QTimer *output_timer = new QTimer(this);
        output_timer->start(200);

        // 设置信号与槽的连接
        connect(output_maxNumGoal_button_, SIGNAL(clicked()), this,
                SLOT(updateMaxNumGoal()));
        connect(output_maxNumGoal_button_, SIGNAL(clicked()), this,
                SLOT(updatePoseTable()));
        connect(output_reset_button_, SIGNAL(clicked()), this, SLOT(initPoseTable()));
        connect(output_cancel_button_, SIGNAL(clicked()), this, SLOT(cancelNavi()));
        connect(output_startNavi_button_, SIGNAL(clicked()), this, SLOT(startNavi()));
        connect(cycle_checkbox_, SIGNAL(clicked(bool)), this, SLOT(checkCycle()));
        connect(output_timer, SIGNAL(timeout()), this, SLOT(startSpin()));


    }

// 更新maxNumGoal命名
    void MultiNaviGoalsPanel::updateMaxNumGoal() {
        setMaxNumGoal(output_maxNumGoal_editor_->text());
    }

// set up the maximum number of goals
    void MultiNaviGoalsPanel::setMaxNumGoal(const QString &new_maxNumGoal) {
        // 检查maxNumGoal是否发生改变.
        if (new_maxNumGoal != output_maxNumGoal_) {
            output_maxNumGoal_ = new_maxNumGoal;

            // 如果命名为空，不发布任何信息
            if (output_maxNumGoal_ == "") {
                nh_.setParam("maxNumGoal_", 1);
                maxNumGoal_ = 1;
            } else {
//                velocity_publisher_ = nh_.advertise<geometry_msgs::Twist>(output_maxNumGoal_.toStdString(), 1);
                nh_.setParam("maxNumGoal_", output_maxNumGoal_.toInt());
                maxNumGoal_ = output_maxNumGoal_.toInt();
            }
            Q_EMIT configChanged();
        }
    }

    // initialize the table of pose
    void MultiNaviGoalsPanel::initPoseTable() {
        ROS_INFO("Initialize");
        curGoalIdx_ = 0, cycleCnt_ = 0;
        permit_ = false, cycle_ = false;
        poseArray_table_->clear();
        pose_array_.poses.clear();
        deleteMark();
        poseArray_table_->setRowCount(maxNumGoal_);
        poseArray_table_->setColumnCount(3);
        poseArray_table_->setEditTriggers(QAbstractItemView::NoEditTriggers);
        poseArray_table_->horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch);
        QStringList pose_header;
        pose_header << "x" << "y" << "yaw";
        poseArray_table_->setHorizontalHeaderLabels(pose_header);
        cycle_checkbox_->setCheckState(Qt::Unchecked);

    }

    // delete marks in the map
    void MultiNaviGoalsPanel::deleteMark() {
        visualization_msgs::Marker marker_delete;
        marker_delete.action = visualization_msgs::Marker::DELETEALL;
        marker_pub_.publish(marker_delete);
    }

    //update the table of pose
    void MultiNaviGoalsPanel::updatePoseTable() {
        poseArray_table_->setRowCount(maxNumGoal_);
//        pose_array_.poses.resize(maxNumGoal_);
        QStringList pose_header;
        pose_header << "x" << "y" << "yaw";
        poseArray_table_->setHorizontalHeaderLabels(pose_header);
        poseArray_table_->show();
    }

    // call back function for counting goals
    void MultiNaviGoalsPanel::goalCntCB(const geometry_msgs::PoseStamped::ConstPtr &pose) {
        if (pose_array_.poses.size() < maxNumGoal_) {
            pose_array_.poses.push_back(pose->pose);
            pose_array_.header.frame_id = pose->header.frame_id;
            writePose(pose->pose);
            markPose(pose);
        } else {
            ROS_ERROR("Beyond the maximum number of goals: %d", maxNumGoal_);
        }
    }

    // write the poses into the table
    void MultiNaviGoalsPanel::writePose(geometry_msgs::Pose pose) {

        poseArray_table_->setItem(pose_array_.poses.size() - 1, 0,
                                  new QTableWidgetItem(QString::number(pose.position.x, 'f', 2)));
        poseArray_table_->setItem(pose_array_.poses.size() - 1, 1,
                                  new QTableWidgetItem(QString::number(pose.position.y, 'f', 2)));
        poseArray_table_->setItem(pose_array_.poses.size() - 1, 2,
                                  new QTableWidgetItem(
                                          QString::number(tf::getYaw(pose.orientation) * 180.0 / 3.14, 'f', 2)));

    }

    // when setting a Navi Goal, it will set a mark on the map
    void MultiNaviGoalsPanel::markPose(const geometry_msgs::PoseStamped::ConstPtr &pose) {
        if (ros::ok()) {
            visualization_msgs::Marker arrow;
            visualization_msgs::Marker number;
            arrow.header.frame_id = number.header.frame_id = pose->header.frame_id;
            arrow.ns = "navi_point_arrow";
            number.ns = "navi_point_number";
            arrow.action = number.action = visualization_msgs::Marker::ADD;
            arrow.type = visualization_msgs::Marker::ARROW;
            number.type = visualization_msgs::Marker::TEXT_VIEW_FACING;
            arrow.pose = number.pose = pose->pose;
            number.pose.position.z += 1.0;
            arrow.scale.x = 1.0;
            arrow.scale.y = 0.2;
            number.scale.z = 1.0;
            arrow.color.r = number.color.r = 1.0f;
            arrow.color.g = number.color.g = 0.98f;
            arrow.color.b = number.color.b = 0.80f;
            arrow.color.a = number.color.a = 1.0;
            arrow.id = number.id = pose_array_.poses.size();
            number.text = std::to_string(pose_array_.poses.size());
            marker_pub_.publish(arrow);
            marker_pub_.publish(number);
        }
    }

    // check whether it is in the cycling situation
    void MultiNaviGoalsPanel::checkCycle() {
        cycle_ = cycle_checkbox_->isChecked();
    }

    // start to navigate, and only command the first goal
    void MultiNaviGoalsPanel::startNavi() {
        curGoalIdx_ = curGoalIdx_ % pose_array_.poses.size();
        if (!pose_array_.poses.empty() && curGoalIdx_ < maxNumGoal_) {
            geometry_msgs::PoseStamped goal;
            goal.header = pose_array_.header;
            goal.pose = pose_array_.poses.at(curGoalIdx_);
            goal_pub_.publish(goal);
            ROS_INFO("Navi to the Goal%d", curGoalIdx_ + 1);
            poseArray_table_->item(curGoalIdx_, 0)->setBackgroundColor(QColor(255, 69, 0));
            poseArray_table_->item(curGoalIdx_, 1)->setBackgroundColor(QColor(255, 69, 0));
            poseArray_table_->item(curGoalIdx_, 2)->setBackgroundColor(QColor(255, 69, 0));
            curGoalIdx_ += 1;
            permit_ = true;
        } else {
            ROS_ERROR("Something Wrong");
        }
    }

    // complete the remaining goals
    void MultiNaviGoalsPanel::completeNavi() {
        if (curGoalIdx_ < pose_array_.poses.size()) {
            geometry_msgs::PoseStamped goal;
            goal.header = pose_array_.header;
            goal.pose = pose_array_.poses.at(curGoalIdx_);
            goal_pub_.publish(goal);
            ROS_INFO("Navi to the Goal%d", curGoalIdx_ + 1);
            poseArray_table_->item(curGoalIdx_, 0)->setBackgroundColor(QColor(255, 69, 0));
            poseArray_table_->item(curGoalIdx_, 1)->setBackgroundColor(QColor(255, 69, 0));
            poseArray_table_->item(curGoalIdx_, 2)->setBackgroundColor(QColor(255, 69, 0));
            curGoalIdx_ += 1;
            permit_ = true;
        } else {
            ROS_ERROR("All goals are completed");
            permit_ = false;
        }
    }

    // command the goals cyclically
    void MultiNaviGoalsPanel::cycleNavi() {
        if (permit_) {
            geometry_msgs::PoseStamped goal;
            goal.header = pose_array_.header;
            goal.pose = pose_array_.poses.at(curGoalIdx_ % pose_array_.poses.size());
            goal_pub_.publish(goal);
            ROS_INFO("Navi to the Goal%lu, in the %dth cycle", curGoalIdx_ % pose_array_.poses.size() + 1,
                     cycleCnt_ + 1);
            bool even = ((cycleCnt_ + 1) % 2 != 0);
            QColor color_table;
            if (even) color_table = QColor(255, 69, 0); else color_table = QColor(100, 149, 237);
            poseArray_table_->item(curGoalIdx_ % pose_array_.poses.size(), 0)->setBackgroundColor(color_table);
            poseArray_table_->item(curGoalIdx_ % pose_array_.poses.size(), 1)->setBackgroundColor(color_table);
            poseArray_table_->item(curGoalIdx_ % pose_array_.poses.size(), 2)->setBackgroundColor(color_table);
            curGoalIdx_ += 1;
            cycleCnt_ = curGoalIdx_ / pose_array_.poses.size();
        }
    }

    // cancel the current command
    void MultiNaviGoalsPanel::cancelNavi() {
        if (!cur_goalid_.id.empty()) {
            cancel_pub_.publish(cur_goalid_);
            ROS_ERROR("Navigation have been canceled");
        }
    }

    // call back for listening current state
    void MultiNaviGoalsPanel::statusCB(const actionlib_msgs::GoalStatusArray::ConstPtr &statuses) {
        bool arrived_pre = arrived_;
        arrived_ = checkGoal(statuses->status_list);
        if (arrived_) { ROS_ERROR("%d,%d", int(arrived_), int(arrived_pre)); }
        if (arrived_ && arrived_ != arrived_pre && ros::ok() && permit_) {
            if (cycle_) cycleNavi();
            else completeNavi();
        }
    }

    //check the current state of goal
    bool MultiNaviGoalsPanel::checkGoal(std::vector<actionlib_msgs::GoalStatus> status_list) {
        bool done;
        if (!status_list.empty()) {
            for (auto &i : status_list) {
                if (i.status == 3) {
                    done = true;
                    ROS_INFO("completed Goal%d", curGoalIdx_);
                } else if (i.status == 4) {
                    ROS_ERROR("Goal%d is Invalid, Navi to Next Goal%d", curGoalIdx_, curGoalIdx_ + 1);
                    return true;
                } else if (i.status == 0) {
                    done = true;
                } else if (i.status == 1) {
                    cur_goalid_ = i.goal_id;
                    done = false;
                } else done = false;
            }
        } else {
            ROS_INFO("Please input the Navi Goal");
            done = false;
        }
        return done;
    }

// spin for subscribing
    void MultiNaviGoalsPanel::startSpin() {
        if (ros::ok()) {
            ros::spinOnce();
        }
    }

} // end namespace navi-multi-goals-pub-rviz-plugin

// 声明此类是一个rviz的插件

#include <pluginlib/class_list_macros.h>

PLUGINLIB_EXPORT_CLASS(navi_multi_goals_pub_rviz_plugin::MultiNaviGoalsPanel, rviz::Panel)

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namespace

Namespace基本知识_snowlyw的博客-CSDN博客_namespace

C++

C++ 教程 | 菜鸟教程 (runoob.com)

C++的：：

::在c++中什么意思_百度知道 (baidu.com)

C++的：

C++ 继承 | 菜鸟教程 (runoob.com)

ros::NodeHandle

ROS Nodehandle句柄的理解_消雨匆匆-CSDN博客_ros::nodehandl

Qt说明：

文字编辑——QLineEdit
按键——QPushButton
列表——QTableWidget
复选框——QCheckBox
文字显示——QString
Qt——QTableWidget 与 QTableView开发实践【不负此行！】_風的博客-CSDN博客_qtablewidget
QWidget *parent QWidget *parent_Evavava啊的博客-CSDN博客

CMakeLists.txt

## BEGIN_TUTORIAL
## This CMakeLists.txt file for rviz_plugin_tutorials builds both the MultiNaviGoalsPanel tutorial and the ImuDisplay tutorial.
##
## First start with some standard catkin stuff.
cmake_minimum_required(VERSION 2.8.3)
project(navi_multi_goals_pub_rviz_plugin)
find_package(catkin REQUIRED COMPONENTS rviz geometry_msgs std_msgs actionlib_msgs)
catkin_package(CATKIN_DEPENDS message_runtime)
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)

## Here we specify which header files need to be run through "moc",
## Qt's meta-object compiler.


## Here we specify the list of source files, including the output of
## the previous command which is stored in ``${MOC_FILES}``.
set(SOURCE_FILES
  src/multi_navi_goal_panel.cpp
  ${MOC_FILES}
)

## An rviz plugin is just a shared library, so here we declare the
## library to be called ``${PROJECT_NAME}`` (which is
## "rviz_plugin_tutorials", or whatever your version of this project
## is called) and specify the list of source files we collected above
## in ``${SOURCE_FILES}``.
add_library(${PROJECT_NAME} ${SOURCE_FILES})

## Link the library with whatever Qt libraries have been defined by
## the ``find_package(Qt4 ...)`` line above, and with whatever libraries
## catkin has included.
##
## Although this puts "rviz_plugin_tutorials" (or whatever you have
## called the project) as the name of the library, cmake knows it is a
## library and names the actual file something like
## "librviz_plugin_tutorials.so", or whatever is appropriate for your
## particular OS.
target_link_libraries(${PROJECT_NAME} ${QT_LIBRARIES} ${catkin_LIBRARIES})
## END_TUTORIAL


## Install rules

install(TARGETS
  ${PROJECT_NAME}
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

install(FILES 
  plugin_description.xml
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
install(DIRECTORY icons/
        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/icons)

install(DIRECTORY media/
        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/media)

#install(DIRECTORY media/
#  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/media)

#install(DIRECTORY icons/
#  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/icons)

#install(PROGRAMS scripts/send_test_msgs.py
#  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

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package.xml

<package>
<name>navi_multi_goals_pub_rviz_plugin</name>
<version>0.0.0</version>
<description>The navi_multi_goals_pub_rviz_plugin package</description>
<!--   One maintainer tag required, multiple allowed, one person per tag   -->
<!--   Example:    -->
<!--   <maintainer email="jane.doe@example.com">Jane Doe</maintainer>   -->
<maintainer email="ryoo@todo.todo">ryoo</maintainer>
<!--   One license tag required, multiple allowed, one license per tag   -->
<!--   Commonly used license strings:   -->
<!--     BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3   -->
<license>TODO</license>
<!--   Url tags are optional, but mutiple are allowed, one per tag   -->
<!--   Optional attribute type can be: website, bugtracker, or repository   -->
<!--   Example:   -->
<!--   <url type="website">http://wiki.ros.org/navi_multi_goals_pub_rviz_plugin</url>   -->
<!--   Author tags are optional, mutiple are allowed, one per tag   -->
<!--   Authors do not have to be maintianers, but could be   -->
<!--   Example:   -->
<!--   <author email="jane.doe@example.com">Jane Doe</author>   -->
<!--   The *_depend tags are used to specify dependencies   -->
<!--   Dependencies can be catkin packages or system dependencies   -->
<!--   Examples:   -->
<!--   Use build_depend for packages you need at compile time:   -->
<!--     <build_depend>message_generation</build_depend>   -->
<!--   Use buildtool_depend for build tool packages:   -->
<!--     <buildtool_depend>catkin</buildtool_depend>   -->
<!--   Use run_depend for packages you need at runtime:   -->
<!--     <run_depend>message_runtime</run_depend>   -->
<!--   Use test_depend for packages you need only for testing:   -->
<!--     <test_depend>gtest</test_depend>   -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>actionlib_msgs</build_depend>
<build_depend>rviz</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>message_generation</build_depend>
<run_depend>roscpp</run_depend>
<run_depend>rviz</run_depend>
<run_depend>std_msgs</run_depend>
<run_depend>geometry_msgs</run_depend>
<run_depend>message_runtime</run_depend>
<run_depend>actionlib_msgs</run_depend>
<export>
<rviz plugin="${prefix}/plugin_description.xml"/>
</export>
</package>

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plugin_description.xml

<library path="lib/libnavi_multi_goals_pub_rviz_plugin">
<class name="navi_multi_goals_pub_rviz_plugin/MultiNaviGoalsPanel" type="navi_multi_goals_pub_rviz_plugin::MultiNaviGoalsPanel" base_class_type="rviz::Panel">
<description>A panel widget allowing multi-goals navigation.</description>
</class>
</library>

ROS说明:

Publisher

发送每个目标点消息给/move_base_simple/goal的goal_pub_
发送取消指令消息给/move_base/cancel的cancel_pub_
发送文字和箭头标记的mark_pub_。

Subsrciber

订阅来自rviz中2D Nav Goal的导航目标点消息的goal_sub_
订阅目前导航状态的status_sub_

发现问题：

创建步骤

打开功能包路径
cd /home/wheeltec/wheeltec_robot/src

创建功能包
catkin_create_pkg rviz_navi_multi_goals_pub_rviz_pluginr roscpp rviz std_msgs

打开功能包的SRC文件夹
cd /home/wheeltec/wheeltec_robot/src/navi_multi_goals_pub_rviz_plugin/src

创建.h .cpp文件并粘贴内容

cd /home/wheeltec/wheeltec_robot/src/navi_multi_goals_pub_rviz_plugin创建一个plugin的描述文件 plugin_description.xml

然后在 package.xml文件里添加plugin_description.xml

CMakeLists.txt文件粘贴相应的编译规则

修改系统时间为当前时间
sudo date -s “2022-02-20 00:00:00”

打开工程路径编译
cd /home/wheeltec/wheeltec_robot
catkin_make -DCATKIN_WHITELIST_PACKAGES="navi_multi_goals_pub_rviz_plugin"

问题：

我想要安装如链接中所述的插件，想实现第一步，rviz中识别安装的插件功能包，后续我可以更改内容完成自己的可视化界面设计。
但现在的问题是我按如上步骤安装并编译功能包成功，但rviz中没法实现，已尝试下载更换多个代码，尝试失败。
或者如何更改适配WHEELtec的软件？

参考链接

ROS技术点滴 —— rviz plugin - 知乎 (zhihu.com)

ROS-RViz plugin-多点导航交互界面 - 知乎 (zhihu.com)

posted @ 2022-02-27 18:46 Godzilla~ 阅读(837) 评论(0) 收藏举报

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ROS学习笔记（9）——在RVIZ上打造人机界面

实现功能

创建功能包

功能包下建立代码

.h文件

.cpp文件

Qt说明：

CMakeLists.txt

package.xml

plugin_description.xml

ROS说明:

Publisher

Subsrciber

发现问题：

创建步骤

问题：

参考链接

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