diff --git a/src/main/qnode.cpp b/src/main/qnode.cpp
index 54baa10..4351f7a 100644
--- a/src/main/qnode.cpp
+++ b/src/main/qnode.cpp
@@ -87,7 +87,7 @@ void QNode::AutoMove(float speed_linear, float speed_turn,
//How fast will we update the robot's movement?
- double rate = 50;
+ double rate = 1;
//Set the equivalent ROS rate variable
ros::Rate loopRate(rate);
@@ -138,7 +138,7 @@ void QNode::AutoMove(float speed_linear, float speed_turn,
twist.angular.y = 0;
twist.angular.z = speed_turn * th;
- ticks = int(total_times * rate);
+ ticks = int(total_times);
for(int i = 0; i < ticks; i++)
{
diff --git a/src/ui/mainwindow.ui b/src/ui/mainwindow.ui
index db6802f..58d5687 100644
--- a/src/ui/mainwindow.ui
+++ b/src/ui/mainwindow.ui
@@ -7,9 +7,21 @@
0
0
1440
- 810
+ 860
+
+
+ 1440
+ 860
+
+
+
+
+ 1440
+ 860
+
+
MainWindow
@@ -17,8 +29,178 @@
-
- -
+
+
-
+
+
+ 0
+
+
-
+
+
+
+ 0
+ 60
+
+
+
+
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+ 32
+ 32
+
+
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+ -
+
+
+
+ 0
+ 60
+
+
+
+
+
+
+
+
+
+
+ 32
+ 32
+
+
+
+
+ -
+
+
+
+ 0
+ 60
+
+
+
+ ArrowCursor
+
+
+
+
+
+
+
+
+
+ ../../../../../catkin_ws/src/Ros_Qt5_Gui_App/ui../../../../../catkin_ws/src/Ros_Qt5_Gui_App/ui
+
+
+
+ 32
+ 32
+
+
+
+
+ -
+
+
+
+ 0
+ 60
+
+
+
+ PointingHandCursor
+
+
+ QPushButton:hover{
+background-color:rgb(186, 189, 182);
+border-bottom:2px solid rgb(67, 154, 246);
+}
+QPushButton:checked{
+background-color:cyan;
+border-bottom:2px solid white
+}
+QPushButton:pressed{
+background-color:rgb(67, 154, 246)
+}
+QPushButton{
+background-color:rgb(238, 238, 236);
+border:none;
+padding:0px 0px 0px 0px;
+margin:0px 0px 0px 0px;
+}
+
+
+
+
+
+
+ ../../../../../catkin_ws/src/Ros_Qt5_Gui_App/ui../../../../../catkin_ws/src/Ros_Qt5_Gui_App/ui
+
+
+
+ 32
+ 32
+
+
+
+
+ -
+
+
+
+ 0
+ 60
+
+
+
+ PointingHandCursor
+
+
+ QPushButton:hover{
+background-color:rgb(186, 189, 182);
+border-bottom:2px solid rgb(67, 154, 246);
+}
+QPushButton:checked{
+background-color:cyan;
+border-bottom:2px solid white
+}
+QPushButton:pressed{
+background-color:rgb(67, 154, 246)
+}
+QPushButton{
+background-color:rgb(238, 238, 236);
+border:none;
+padding:0px 0px 0px 0px;
+margin:0px 0px 0px 0px;
+}
+
+
+
+
+
+
+ ../../../../../catkin_ws/src/Ros_Qt5_Gui_App/ui../../../../../catkin_ws/src/Ros_Qt5_Gui_App/ui
+
+
+
+ 32
+ 32
+
+
+
+
+
+
+ -
2
@@ -54,431 +236,885 @@
-
+
- 1000
- 30
- 407
- 680
+ 700
+ 0
+ 735
+ 750
-
+
-
-
-
- 1
-
-
-
-
-
-
-
-
-
-
- Qt::Vertical
-
-
- QSizePolicy::Preferred
-
-
-
- 20
- 20
-
-
-
-
- -
-
-
-
-
-
-
- 64
- 64
-
-
-
-
- 64
- 64
-
-
-
-
- 15
-
-
-
- ↖
-
-
-
- -
-
-
-
- 64
- 64
-
-
-
-
- 64
- 64
-
-
-
-
- 15
-
-
-
- QPushButton{border-image: url(://images/up.png);}
-
-
- ↑
-
-
-
- -
-
-
-
- 64
- 64
-
-
-
-
- 64
- 64
-
-
-
-
- 15
-
-
-
- ↗
-
-
-
-
-
- -
-
-
-
-
-
-
- 64
- 64
-
-
-
-
- 64
- 64
-
-
-
-
- 15
-
-
-
- ←
-
-
-
- -
-
-
-
- 90
- 64
-
-
-
-
- 90
- 64
-
-
-
- 全向模式（k）
-
-
- K
-
-
-
+
+ -
+
+
+
+ 60
+ 0
+
+
+
+
+ 13
+
+
+
+ 00:00:00
+
+
+
+ -
+
+
+
+ 32
+ 32
+
+
+
+
+ 32
+ 32
+
+
+
+
+
+
+ :/images/robot2.png
+
+
+
+ -
+
+
+
+
+
+ 系统状态：
+
+
+
+ -
+
+
+
+ 20
+ 20
+
+
+
+
+ 20
+ 20
+
+
+
+ PointingHandCursor
+
+
+ QPushButton{
+border:none;
+padding:0px 0px 0px 0px;
+margin:0px 0px 0px 0px;
+}
+
+
+
+
+
+
+ -
+
+
+ Qt::Horizontal
+
+
+
+ 40
+ 20
+
+
+
+
+ -
+
+
+
+
+
+
+
+
+
+ -
+
+
+
+ 30
+ 30
+
+
+
+
+
+
+ :/images/power.png
+
+
+
+ -
+
+
+
+ 90
+ 16777215
+
+
+
+ QProgressBar#progressBar
+{
+ border:none; /*无边框*/
+ background:rgb(211, 215, 207);
+ border-radius:5px;
+ text-align:center; /*文本的位置*/
+ color: rgb(229, 229, 229); /*文本颜色*/
+}
+
+QProgressBar::chunk
+{
+ background-color:rgb(115, 210, 22);
+ border-radius:4px;
+}
+
+
+
+ 70
+
+
+
+ -
+
+
+
+ 32
+ 32
+
+
+
+
+ 32
+ 32
+
+
+
+
+
+
+ :/images/power-v.png
+
+
+
+ -
+
+
+
+ 50
+ 32
+
+
+
+
+ 50
+ 32
+
+
+
+
+
+
+ 00.00V
+
+
+
+
+
+ -
+
+
-
+
+
-
+
+
+
+ 270
+ 200
+
+
+
+ map
+
+
+
+ -
+
+
+ Qt::Vertical
+
+
+
+ 20
+ 40
+
+
+
+
+ -
+
+
+
+ 270
+ 200
+
+
+
+ target
+
+
+
+ -
+
+
+ Qt::Vertical
+
+
+
+ 20
+ 40
+
+
+
+
+ -
+
+
+
+ 270
+ 200
+
+
+
+ shortcut
+
+
+
+
+
+ -
+
+
+ Qt::Horizontal
+
+
+
+ 40
+ 20
+
+
+
+
+ -
+
+
-
+
+
+ 0
+
+
+
-
-
-
-
- 64
- 64
-
-
-
-
- 64
- 64
-
-
-
-
- 15
-
-
-
-
-
-
- →
-
-
+
+
-
+
+
+ Qt::Vertical
+
+
+ QSizePolicy::Preferred
+
+
+
+ 20
+ 20
+
+
+
+
+ -
+
+
-
+
+
+
+ 64
+ 64
+
+
+
+
+ 64
+ 64
+
+
+
+
+ 15
+
+
+
+ ↖
+
+
+
+ -
+
+
+
+ 64
+ 64
+
+
+
+
+ 64
+ 64
+
+
+
+
+ 15
+
+
+
+ QPushButton{border-image: url(://images/up.png);}
+
+
+ ↑
+
+
+
+ -
+
+
+
+ 64
+ 64
+
+
+
+
+ 64
+ 64
+
+
+
+
+ 15
+
+
+
+ ↗
+
+
+
+
+
+ -
+
+
-
+
+
+
+ 64
+ 64
+
+
+
+
+ 64
+ 64
+
+
+
+
+ 15
+
+
+
+ ←
+
+
+
+ -
+
+
+
+ 90
+ 64
+
+
+
+
+ 90
+ 64
+
+
+
+ 全向模式（k）
+
+
+ K
+
+
+
+ -
+
+
+
+ 64
+ 64
+
+
+
+
+ 64
+ 64
+
+
+
+
+ 15
+
+
+
+
+
+
+ →
+
+
+
+
+
+ -
+
+
-
+
+
+
+ 64
+ 64
+
+
+
+
+ 64
+ 64
+
+
+
+
+ 15
+
+
+
+ ↙
+
+
+
+ -
+
+
+
+ 64
+ 64
+
+
+
+
+ 64
+ 64
+
+
+
+
+ 15
+
+
+
+ QPushButton{border-image: url(://images/down.png);}
+QPushButton{border:none;}
+QPushButton:pressed{border-image: url(://images/down_2.png);}
+
+
+ ↓
+
+
+
+ -
+
+
+
+ 64
+ 64
+
+
+
+
+ 64
+ 64
+
+
+
+
+ 15
+
+
+
+ ↘
+
+
+
+
+
+ -
+
+
+ Qt::Vertical
+
+
+ QSizePolicy::Fixed
+
+
+
+ 20
+ 30
+
+
+
+
+ -
+
+
-
+
+
+ Qt::Horizontal
+
+
+ QSizePolicy::Fixed
+
+
+
+ 10
+ 20
+
+
+
+
+ -
+
+
-
+
+
+ 线速度(cm/s)：
+
+
+
+ -
+
+
+ 100
+
+
+ 1
+
+
+ 50
+
+
+ Qt::Horizontal
+
+
+
+ -
+
+
+ 50
+
+
+
+
+
+ -
+
+
+ Qt::Horizontal
+
+
+ QSizePolicy::Fixed
+
+
+
+ 20
+ 20
+
+
+
+
+
+
+ -
+
+
-
+
+
+ Qt::Horizontal
+
+
+ QSizePolicy::Fixed
+
+
+
+ 10
+ 20
+
+
+
+
+ -
+
+
+ 角速度(cm/s)：
+
+
+
+ -
+
+
+ 100
+
+
+ 100
+
+
+ Qt::Horizontal
+
+
+
+ -
+
+
+ 100
+
+
+
+ -
+
+
+ Qt::Horizontal
+
+
+ QSizePolicy::Fixed
+
+
+
+ 20
+ 20
+
+
+
+
+
+
+ -
+
+
+ Qt::Vertical
+
+
+ QSizePolicy::Fixed
+
+
+
+ 20
+ 30
+
+
+
+
+ -
+
+
-
+
+
+ Qt::Horizontal
+
+
+ QSizePolicy::Expanding
+
+
+
+ 40
+ 20
+
+
+
+
+ -
+
+
+
+ 200
+ 200
+
+
+
+
+
+ -
+
+
+ Qt::Horizontal
+
+
+ QSizePolicy::Expanding
+
+
+
+ 40
+ 20
+
+
+
+
+
+
+ -
+
+
+ Qt::Vertical
+
+
+
+ 385
+ 21
+
+
+
+
+
-
- -
-
+
+
+
-
-
+
- 64
- 64
-
-
-
-
- 64
- 64
+ 0
+ 221
-
-
- 15
-
-
- ↙
+ TextLabel
-
-
+
- 64
- 64
+ 300
+ 0
- 64
- 64
+ 12312312
+ 12312312
-
-
- 15
-
-
- QPushButton{border-image: url(://images/down.png);}
-QPushButton{border:none;}
-QPushButton:pressed{border-image: url(://images/down_2.png);}
-
-
- ↓
-
-
-
- -
-
-
-
- 64
- 64
-
-
-
-
- 64
- 64
-
-
-
-
- 15
-
-
-
- ↘
+ QListView{
+border-top: 5px solid qlineargradient(y0:0, y1:1,stop: 0 #ececef, stop: 1 white);
+border-left: 5px solid qlineargradient(x0:0, x1:1,stop: 0 #ececef, stop: 1 white);
+ border-bottom: 5px solid qlineargradient(y0:0, y1:1,stop: 0 white, stop: 1 #ececef);
+border-right: 5px solid qlineargradient(x0:0, x1:1,stop: 0 white, stop: 1 #ececef);
+background-color: rgb(255,255,255);
+}
+
-
+
+
+
+ -
+
+
+ 0
+
-
-
+
- Qt::Vertical
+ Qt::Horizontal
QSizePolicy::Fixed
- 20
- 30
+ 10
+ 20
-
-
-
-
-
-
- Qt::Horizontal
-
-
- QSizePolicy::Fixed
-
-
-
- 10
- 20
-
-
-
-
- -
-
-
-
-
-
- 线速度(cm/s)：
-
-
-
- -
-
-
- 100
-
-
- 1
-
-
- 50
-
-
- Qt::Horizontal
-
-
-
- -
-
-
- 50
-
-
-
-
-
- -
-
-
- Qt::Horizontal
-
-
- QSizePolicy::Fixed
-
-
-
- 20
- 20
-
-
-
-
-
+
+
+
+ 0
+ 45
+
+
+
+ system
+
+
-
-
-
-
-
-
- Qt::Horizontal
-
-
- QSizePolicy::Fixed
-
-
-
- 10
- 20
-
-
-
-
- -
-
-
- 角速度(cm/s)：
-
-
-
- -
-
-
- 100
-
-
- 100
-
-
- Qt::Horizontal
-
-
-
- -
-
-
- 100
-
-
-
- -
-
-
- Qt::Horizontal
-
-
- QSizePolicy::Fixed
-
-
-
- 20
- 20
-
-
-
-
-
+
+
+
+ 0
+ 45
+
+
+
+ keyboard
+
+
-
-
+
- Qt::Vertical
+ Qt::Horizontal
QSizePolicy::Fixed
@@ -486,67 +1122,7 @@ QPushButton:pressed{border-image: url(://images/down_2.png);}
20
- 30
-
-
-
-
- -
-
-
-
-
-
- Qt::Horizontal
-
-
- QSizePolicy::Expanding
-
-
-
- 40
- 20
-
-
-
-
- -
-
-
-
- 200
- 200
-
-
-
-
-
- -
-
-
- Qt::Horizontal
-
-
- QSizePolicy::Expanding
-
-
-
- 40
- 20
-
-
-
-
-
-
- -
-
-
- Qt::Vertical
-
-
-
- 385
- 21
+ 20
@@ -554,110 +1130,211 @@ QPushButton:pressed{border-image: url(://images/down_2.png);}
-
-
-
- -
-
-
-
- 0
- 221
-
-
-
- TextLabel
-
-
-
+
+
+
+
+
+
+
+
+ 21
+ 1
+ 660
+ 756
+
+
+
+ -
+
+
+
+ 0
+ 0
+
+
+
+ Logging
+
+
+
-
+
+
+
+ 600
+ 270
+
+
+
+ CameraLabel
+
+
+
+ -
+
+
+ true
+
+
+
+ 600
+ 81
+
+
+
+
+ 16777215
+ 81
+
+
+
+
+
+
+
+ -
+
+
-
+
-
-
+
300
- 0
-
-
-
-
- 12312312
- 12312312
+ 300
- QListView{
-border-top: 5px solid qlineargradient(y0:0, y1:1,stop: 0 #ececef, stop: 1 white);
-border-left: 5px solid qlineargradient(x0:0, x1:1,stop: 0 #ececef, stop: 1 white);
- border-bottom: 5px solid qlineargradient(y0:0, y1:1,stop: 0 white, stop: 1 #ececef);
-border-right: 5px solid qlineargradient(x0:0, x1:1,stop: 0 white, stop: 1 #ececef);
-background-color: rgb(255,255,255);
-}
-
+
+ -
+
+
-
+
+
+
+ 160
+ 30
+
+
+
+ x 轴线速度
+
+
+
+ -
+
+
+ Qt::Horizontal
+
+
+
+ 40
+ 20
+
+
+
+
+ -
+
+
+
+ 60
+ 35
+
+
+
+ 正向
+
+
+
+
+
-
-
-
- -
-
-
- 0
-
+
-
-
+
Qt::Horizontal
-
- QSizePolicy::Fixed
-
- 10
+ 40
20
-
-
-
-
- 0
- 45
-
-
-
- system
-
-
-
- -
-
-
-
- 0
- 45
-
-
-
- keyboard
-
-
+
+
-
+
+
+
+ 300
+ 300
+
+
+
+
+
+
+
+ -
+
+
-
+
+
+
+ 160
+ 30
+
+
+
+ x 轴线速度
+
+
+
+ -
+
+
+ Qt::Horizontal
+
+
+
+ 40
+ 20
+
+
+
+
+ -
+
+
+
+ 60
+ 35
+
+
+
+ 正向
+
+
+
+
+
+
-
-
+
Qt::Horizontal
-
- QSizePolicy::Fixed
-
- 20
+ 40
20
@@ -667,252 +1344,9 @@ background-color: rgb(255,255,255);
-
-
-
- 100
- 400
- 302
- 300
-
-
-
-
- 300
- 300
-
-
-
-
-
-
-
-
-
- 490
- 400
- 302
- 300
-
-
-
-
- 300
- 300
-
-
-
-
-
-
-
-
-
- 50
- 10
- 541
- 368
-
-
-
-
- 0
- 0
-
-
-
- Logging
-
-
- -
-
-
- true
-
-
-
- -
-
-
- CameraLabel
-
-
-
-
-
- -
-
-
- 0
-
-
-
-
-
-
- 0
- 60
-
-
-
-
-
-
-
-
-
-
- 32
- 32
-
-
-
-
- -
-
-
-
- 0
- 60
-
-
-
-
-
-
-
-
-
-
- 32
- 32
-
-
-
-
- -
-
-
-
- 0
- 60
-
-
-
- ArrowCursor
-
-
-
-
-
-
-
-
-
- ../../../../../catkin_ws/src/Ros_Qt5_Gui_App/ui../../../../../catkin_ws/src/Ros_Qt5_Gui_App/ui
-
-
-
- 32
- 32
-
-
-
-
- -
-
-
-
- 0
- 60
-
-
-
- PointingHandCursor
-
-
- QPushButton:hover{
-background-color:rgb(186, 189, 182);
-border-bottom:2px solid rgb(67, 154, 246);
-}
-QPushButton:checked{
-background-color:cyan;
-border-bottom:2px solid white
-}
-QPushButton:pressed{
-background-color:rgb(67, 154, 246)
-}
-QPushButton{
-background-color:rgb(238, 238, 236);
-border:none;
-padding:0px 0px 0px 0px;
-margin:0px 0px 0px 0px;
-}
-
-
-
-
-
-
- ../../../../../catkin_ws/src/Ros_Qt5_Gui_App/ui../../../../../catkin_ws/src/Ros_Qt5_Gui_App/ui
-
-
-
- 32
- 32
-
-
-
-
- -
-
-
-
- 0
- 60
-
-
-
- PointingHandCursor
-
-
- QPushButton:hover{
-background-color:rgb(186, 189, 182);
-border-bottom:2px solid rgb(67, 154, 246);
-}
-QPushButton:checked{
-background-color:cyan;
-border-bottom:2px solid white
-}
-QPushButton:pressed{
-background-color:rgb(67, 154, 246)
-}
-QPushButton{
-background-color:rgb(238, 238, 236);
-border:none;
-padding:0px 0px 0px 0px;
-margin:0px 0px 0px 0px;
-}
-
-
-
-
-
-
- ../../../../../catkin_ws/src/Ros_Qt5_Gui_App/ui../../../../../catkin_ws/src/Ros_Qt5_Gui_App/ui
-
-
-
- 32
- 32
-
-
-
-
-
-