Hello ROS Qt

visualization 界面

Introduction 介绍

A ROS package based on C++ and Qt for ros-tutorial's turtle simulation teleoperation.

基于C++和Qt的ROS包，用于ROS教程-小乌龟仿真的界面遥控。

Nodes graph 节点关系图

nodes_rqt_graph 节点关系图

Prerequisite 所需软件库

• Ubuntu 20.04
• ROS Noetic
• Qt5: qt5-default, qt5-doc, qtbase5-dev, qtbase5-dev-tools, qtchooser

Usage 用法

1. Build 构建

1. Install the prerequisites 安装所需软件库

2. Build a workspace 创建工作空间

   mkdir -p catkin_ws/src

3. Clone this repository in /catkin_ws/src 克隆仓库

   cd catkin_ws/src
   git clone https://github.com/McQueenZero/Hello-ROS-Qt.git

4. Build the files 编译

   catkin_make

2. Run 运行

1. Launch the nodes 启动节点

   cd catkin_ws
   source devel/setup.bash
   roslaunch teleop turtlesim_teleop.launch

2. Change the turtle path pen color 更改乌龟轨迹笔刷颜色

   rosservice call /turtle1/set_pen "{r: 0, g: 0, b: 0, width: 5, 'off': 0}"

Reference

• ros_tutorials/turtlesim
• Qt Widgets Examples
• Qt Widgets C++ Classes