手把手教你编写一个自己的rqt plugin (C++版)

秒速五厘米 2022-10-13 01:55 283阅读 0赞

ROS里的rqt plugin以Python语言编写的居多，c++的较少，如rqt\_image\_view和rviz是C++。Python版的见上一篇总结：[https://blog.csdn.net/yaked/article/details/118420240][https_blog.csdn.net_yaked_article_details_118420240]

cd ~/pcl\_ws/src (任一个ROS工作空间即可，我这里为pcl\_ws, 你可以替换为catkin\_ws)

catkin\_create\_pkg rqt\_example\_cpp roscpp rqt\_gui rqt\_gui\_cpp std\_msgs

还是之前的六步：

1. 修改package.xml，填入export语句让我们的plugin能够被系统找到进行调用。

2. 创建plugin.xml ，描述plugin，最重要的是，在rqt\_gui界面中的分组与顺序。

3. setup.py 通过ROS的catkin, 利用CMake 来将脚本文件放在一个不在PATH中但是又跟package关联的文件夹下让系统找得到。

4. 修改CMakeLists.txt

5. 创建src/rqt\_example\_cpp/my\_plugin.cpp 和 include/rqt\_example\_cpp/my\_plugin.h

6. 界面元素及布局 MyPlugin.ui

# 一、文件详述 #

### 1.1 package.xml ###

### 1.2 plugin.xml 确定在rqt\_gui界面中的名字（label）与分组（group） ###

<library path="lib/librqt_example_cpp">
      <class name="rqt_example_cpp/MyPlugin" type="rqt_example_cpp::MyPlugin" base_class_type="rqt_gui_cpp::Plugin">
        <description>
          An example C++ GUI plugin to create a great user interface.
        </description>
        <qtgui>
          
          <label>yake first C++ Plugin</label>
          <icon type="theme">system-help</icon>
          <statustip>Great user interface to provide real value.</statustip>
        </qtgui>
      </class>
    </library>

> library path 及class name ，名字（label）与分组（group）

### 1.3 setup.py ###

from distutils.core import setup
    from catkin_pkg.python_setup import generate_distutils_setup
    
    # fetch values from package.xml
    setup_args = generate_distutils_setup(
        packages=['rqt_example_cpp'],
        package_dir={'': 'src'},
        requires=['std_msgs', 'roscpp']
    )
    
    setup(**setup_args)

> requires 和 setup不一样

### 1.4 CMakeLists.txt ###

cmake_minimum_required(VERSION 2.8.3)
    project(rqt_example_cpp)
    
    find_package(catkin REQUIRED COMPONENTS
      roscpp
      roslint
      rqt_gui
      rqt_gui_cpp
      std_msgs
    )
    
    if("${qt_gui_cpp_USE_QT_MAJOR_VERSION} " STREQUAL "5 ")
      find_package(Qt5Widgets REQUIRED)
    else()
      find_package(Qt4 COMPONENTS QtCore QtGui REQUIRED)
      include(${QT_USE_FILE})
    endif()
    
    catkin_python_setup()
    
    roslint_cpp()
    
    catkin_package(
    #  INCLUDE_DIRS include
      LIBRARIES ${PROJECT_NAME}
      CATKIN_DEPENDS roscpp rqt_gui_cpp std_msgs
    #  DEPENDS system_lib
    )
    
    
    set (rqt_example_cpp_SRCS
      src/rqt_example_cpp/my_plugin.cpp
    )
    
    set(rqt_example_cpp_HDRS
      include/rqt_example_cpp/my_plugin.h
    )
    
    set(rqt_example_cpp_UIS
      src/rqt_example_cpp/my_plugin.ui
    )
    
    if("${qt_gui_cpp_USE_QT_MAJOR_VERSION} " STREQUAL "5 ")
      qt5_wrap_cpp(rqt_example_cpp_MOCS ${rqt_example_cpp_HDRS})
      qt5_wrap_ui(rqt_example_cpp_UIS_H ${rqt_example_cpp_UIS})
    else()
      qt4_wrap_cpp(rqt_example_cpp_MOCS ${rqt_example_cpp_HDRS})
      qt4_wrap_ui(rqt_example_cpp_UIS_H ${rqt_example_cpp_UIS})
    endif()
    
    include_directories(
      include
      ${CMAKE_CURRENT_BINARY_DIR}/..
      ${catkin_INCLUDE_DIRS}
    )
    
    add_library(${PROJECT_NAME}
        ${rqt_example_cpp_SRCS}
        ${rqt_example_cpp_MOCS}
        ${rqt_example_cpp_UIS_H}
        )
    
    target_link_libraries(${PROJECT_NAME}
      ${catkin_LIBRARIES}
    )
    
    if("${qt_gui_cpp_USE_QT_MAJOR_VERSION} " STREQUAL "5 ")
      target_link_libraries(${PROJECT_NAME} Qt5::Widgets)
    else()
      target_link_libraries(${PROJECT_NAME} ${QT_QTCORE_LIBRARY} ${QT_QTGUI_LIBRARY})
    endif()

> 生成动态库\*.so

### 1.5 src/rqt\_example\_cpp/my\_plugin.cpp ###

#include "rqt_example_cpp/my_plugin.h"
    #include <pluginlib/class_list_macros.h>
    #include <QStringList>
    
    namespace rqt_example_cpp
    {
    
    MyPlugin::MyPlugin()
      : rqt_gui_cpp::Plugin()
      , widget_(0)
    {
      // Constructor is called first before initPlugin function, needless to say.
    
      // give QObjects reasonable names
      setObjectName("MyPlugin");
    }
    
    void MyPlugin::initPlugin(qt_gui_cpp::PluginContext& context)
    {
      // access standalone command line arguments
      QStringList argv = context.argv();
      // create QWidget
      widget_ = new QWidget();
      // extend the widget with all attributes and children from UI file
      ui_.setupUi(widget_);
      // add widget to the user interface
      context.addWidget(widget_);
    }
    
    void MyPlugin::shutdownPlugin()
    {
      // unregister all publishers here
    }
    
    void MyPlugin::saveSettings(qt_gui_cpp::Settings& plugin_settings,
        qt_gui_cpp::Settings& instance_settings) const
    {
      // instance_settings.setValue(k, v)
    }
    
    void MyPlugin::restoreSettings(const qt_gui_cpp::Settings& plugin_settings,
        const qt_gui_cpp::Settings& instance_settings)
    {
      // v = instance_settings.value(k)
    }
    
    /*bool hasConfiguration() const
    {
      return true;
    }
    
    void triggerConfiguration()
    {
      // Usually used to open a dialog to offer the user a set of configuration
    }*/
    
    }  // namespace rqt_example_cpp
    //PLUGINLIB_DECLARE_CLASS(rqt_example_cpp, MyPlugin, rqt_example_cpp::MyPlugin, rqt_gui_cpp::Plugin)
    PLUGINLIB_EXPORT_CLASS(rqt_example_cpp::MyPlugin, rqt_gui_cpp::Plugin)

### 1.6 src/rqt\_example\_cpp/MyPlugin.ui ###

<?xml version="1.0" encoding="UTF-8"?>
    <ui version="4.0">
     <class>Form</class>
     <widget class="QWidget" name="Form">
      <property name="geometry">
       <rect>
        <x>0</x>
        <y>0</y>
        <width>400</width>
        <height>300</height>
       </rect>
      </property>
      <property name="windowTitle">
       <string>Form</string>
      </property>
      <widget class="QPushButton" name="Test">
       <property name="geometry">
        <rect>
         <x>120</x>
         <y>70</y>
         <width>98</width>
         <height>27</height>
        </rect>
       </property>
       <property name="text">
        <string>C++ button</string>
       </property>
      </widget>
     </widget>
     <resources/>
     <connections/>
    </ui>

### 1.7 include/rqt\_example\_cpp/MyPlugin.h ###

#ifndef RQT_EXAMPLE_CPP_MY_PLUGIN_H
    #define RQT_EXAMPLE_CPP_MY_PLUGIN_H
    
    #include <rqt_gui_cpp/plugin.h>
    #include <rqt_example_cpp/ui_my_plugin.h>
    #include <QWidget>
    
    namespace rqt_example_cpp
    {
    
    class MyPlugin
      : public rqt_gui_cpp::Plugin
    {
      Q_OBJECT
    public:
      MyPlugin();
      virtual void initPlugin(qt_gui_cpp::PluginContext& context);
      virtual void shutdownPlugin();
      virtual void saveSettings(qt_gui_cpp::Settings& plugin_settings,
          qt_gui_cpp::Settings& instance_settings) const;
      virtual void restoreSettings(const qt_gui_cpp::Settings& plugin_settings,
          const qt_gui_cpp::Settings& instance_settings);
    
      // Comment in to signal that the plugin has a way to configure it
      // bool hasConfiguration() const;
      // void triggerConfiguration();
    private:
      Ui::MyPluginWidget ui_;
      QWidget* widget_;
    };
    }  // namespace rqt_example_cpp
    #endif  // RQT_EXAMPLE_CPP_MY_PLUGIN_H

### 编译运行 ###

cd ~/pcl\_ws/

catkin\_make

rosrun rqt\_mypkg rqt\_mypkg

或rqt -s rqt\_mypkg (-s, 指的是standalone)

如果没有找到试试 rqt --force-discover

参考：

[https://github.com/ros-visualization/rqt\_image\_view][https_github.com_ros-visualization_rqt_image_view]

[https://github.com/lucasw/rqt\_mypkg/tree/master/rqt\_example\_cpp][https_github.com_lucasw_rqt_mypkg_tree_master_rqt_example_cpp]

[https://fjp.at/ros/rqt-turtle/][https_fjp.at_ros_rqt-turtle] 较为复杂的案例，知识点较多，慢慢品味

[https_blog.csdn.net_yaked_article_details_118420240]: https://blog.csdn.net/yaked/article/details/118420240
[https_github.com_ros-visualization_rqt_image_view]: https://github.com/ros-visualization/rqt_image_view
[https_github.com_lucasw_rqt_mypkg_tree_master_rqt_example_cpp]: https://github.com/lucasw/rqt_mypkg/tree/master/rqt_example_cpp
[https_fjp.at_ros_rqt-turtle]: https://fjp.at/ros/rqt-turtle/