ROS学习笔记(9)——在RVIZ上打造人机界面
作者:互联网
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> #include <QPushButton> #include <QTableWidget> #include <QCheckBox> #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 { class MultiNaviGoalsPanel : public rviz::Panel { Q_OBJECT public: explicit MultiNaviGoalsPanel(QWidget *parent = 0); public Q_SLOTS: void setMaxNumGoal(const QString &maxNumGoal); void writePose(geometry_msgs::Pose pose); void markPose(const geometry_msgs::PoseStamped::ConstPtr &pose); void deleteMark(); protected Q_SLOTS: void updateMaxNumGoal(); // update max number of goal void initPoseTable(); // initialize the pose table void updatePoseTable(); // update the pose table void startNavi(); // start the navigation for the first pose void cancelNavi(); //cancel the current navigation void goalCntCB(const geometry_msgs::PoseStamped::ConstPtr &pose); //goal count sub callback function void statusCB(const actionlib_msgs::GoalStatusArray::ConstPtr &statuses); //status sub callback function void checkCycle(); void completeNavi(); //after the first pose, continue to navigate the rest of poses void cycleNavi(); bool checkGoal(std::vector<actionlib_msgs::GoalStatus> status_list); // check whether arrived the goal static void startSpin(); // spin for sub 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_; // Multi navi-goals Panel 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_HView Code
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)
标签:ROS,RVIZ,msgs,maxNumGoal,void,pose,人机界面,output,include 来源: https://www.cnblogs.com/Godzilla-Good-Boy/p/15943041.html