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Air_Ground_CEC
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pvqf6mep3 3 years ago
parent 263828dcda 62218ad955
commit 10b0e7928d
6 changed files with 97 additions and 180 deletions
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176
CMakeLists.txt
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@ -4,9 +4,7 @@ project(Air_Ground_CEC)
## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
@ -15,94 +13,7 @@ find_package(catkin REQUIRED COMPONENTS
image_transport
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installedsudo sh -c 'echo "/usr/local/lib" > /etc/ld.so.conf.d/opencv.conf'
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs # Or other packages containing msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
@ -115,7 +26,8 @@ catkin_package(
## Build ##
###########
find_package(OpenCV REQUIRED)
#set(OpenCV_DIR /usr/local/share/opencv4)
#find_package(OpenCV REQUIRED)
find_package(Qt5 REQUIRED COMPONENTS Widgets )
set(CMAKE_AUTOMOC ON)
set(CMAKE_AUTOUIC ON)
@ -151,87 +63,5 @@ target_link_libraries(Air_Ground_CEC
${OpenCV_LIBRARIES}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/Air_Ground_CEC.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/Air_Ground_CEC_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_Air_Ground_CEC.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

14
src/include/qnode.hpp
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@ -35,12 +35,17 @@ public:
bool init();
void SubAndPubTopic();
void KeyboardMove(char key, float speed_linear, float speed_trun);
QImage image;
Q_SIGNALS:
void speed_x(double x);
void speed_th(double th);
void power(float p);
void loggingCamera();//发出设置相机图片信号
private:
int init_argc;
char **init_argv;
@ -49,14 +54,19 @@ private:
ros::Publisher cmd_pub;
ros::Subscriber cmdVel_sub;
ros::Subscriber power_sub;
QStringListModel logging_model;
image_transport::Subscriber image_sub;
cv::Mat img;
QString odom_topic;
QString batteryState_topic;
void speedCallback(const nav_msgs::Odometry::ConstPtr& msg);
void powerCallback(const std_msgs::Float32& message_holder);
void myCallback(const std_msgs::Float64& message_holder);
//void myCallback(const std_msgs::Float64& message_holder);
void myCallback_img(const sensor_msgs::ImageConstPtr& msg);//camera callback function
};

15
src/main/mainwindow.cpp
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@ -277,6 +277,8 @@ void MainWindow::connections(){
connect(&qnode, SIGNAL(speed_x(double)), this, SLOT(slot_speed_x(double)));
connect(&qnode, SIGNAL(speed_th(double)), this, SLOT(slot_speed_th(double)));
QObject::connect(&qnode,SIGNAL(loggingCamera()),this,SLOT(updateLogcamera()));
}
@ -322,4 +324,15 @@ void MainWindow::Slider_linear_valueChanged(int v) {
ui->label_linear->setText(QString::number(v));
}
void MainWindow::displayCamera(const QImage &image)
{
qimage_mutex_.lock();
qimage_ = image.copy();
ui->label_camera->setPixmap(QPixmap::fromImage(qimage_));
ui->label_camera->resize(ui->label_camera->pixmap()->size());
qimage_mutex_.unlock();
}
void MainWindow::updateLogcamera()
{
displayCamera(qnode.image);
}

25
src/main/qnode.cpp
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@ -25,6 +25,7 @@ bool QNode::init() {
ros::init(init_argc,init_argv,"Air_Ground_CEC",
ros::init_options::AnonymousName | ros::init_options::NoSigintHandler);
SubAndPubTopic();
//start();
return true;
}
@ -36,6 +37,11 @@ void QNode::SubAndPubTopic(){
//power_sub = n.subscribe(batteryState_topic.toStdString(), 1000,
// &QNode::powerCallback, this);
cmd_pub = n.advertise<geometry_msgs::Twist>("cmd_vel", 1);
image_transport::ImageTransport it(n);
//chatter_subscriber = n.subscribe("chatter",1000,&QNode::myCallback,this);
image_sub = it.subscribe("camera/image",100,&QNode::myCallback_img,this);
//chatter_publisher = n.advertise<std_msgs::String>("chatter1", 1000);
}
void QNode::KeyboardMove(char key, float speed_linear, float speed_trun){
@ -76,3 +82,22 @@ void QNode::speedCallback(const nav_msgs::Odometry::ConstPtr& msg)
emit speed_x(msg->twist.twist.linear.x);
emit speed_th(msg->twist.twist.angular.z);
}
void QNode::myCallback_img(const sensor_msgs::ImageConstPtr &msg)
{
try
{
cv_bridge::CvImageConstPtr cv_ptr = cv_bridge::toCvShare(msg, sensor_msgs::image_encodings::RGB8);
img = cv_ptr->image;
image = QImage(img.data,img.cols,img.rows,img.step[0],QImage::Format_RGB888);//change to QImage format
ROS_INFO("I'm setting picture in mul_t callback function!");
std::cout<<"10"<<std::endl;
emit loggingCamera();
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR("Could not convert from '%s' to 'bgr8'.", msg->encoding.c_str());
}
}

4
src/ui/mainwindow.hpp
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@ -44,6 +44,8 @@ public slots:
void Slider_raw_valueChanged(int v);
void Slider_linear_valueChanged(int v);
void updateLogcamera();//added
void displayCamera(const QImage& image);//added
private:
@ -57,6 +59,8 @@ private:
void setBtnStyles();
void connections();
QImage qimage_;//added
mutable QMutex qimage_mutex_;//added
};

43
src/ui/mainwindow.ui
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@ -670,8 +670,8 @@ background-color: rgb(255,255,255);
<widget class="QWidget" name="widget_speed_x" native="true">
<property name="geometry">
<rect>
<x>240</x>
<y>380</y>
<x>100</x>
<y>400</y>
<width>302</width>
<height>300</height>
</rect>
@ -689,8 +689,8 @@ background-color: rgb(255,255,255);
<widget class="QWidget" name="widget_speed_th" native="true">
<property name="geometry">
<rect>
<x>580</x>
<y>380</y>
<x>490</x>
<y>400</y>
<width>302</width>
<height>300</height>
</rect>
@ -705,6 +705,41 @@ background-color: rgb(255,255,255);
<string notr="true"/>
</property>
</widget>
<widget class="QGroupBox" name="groupBox_12">
<property name="geometry">
<rect>
<x>50</x>
<y>10</y>
<width>541</width>
<height>368</height>
</rect>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="title">
<string>Logging</string>
</property>
<layout class="QGridLayout" name="gridLayout_3">
<item row="1" column="0">
<widget class="QListView" name="view_logging_2">
<property name="enabled">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label_camera">
<property name="text">
<string>CameraLabel</string>
</property>
</widget>
</item>
</layout>
</widget>
</widget>
</widget>
</item>

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