同意

加快文档撰写

src/include/qnode.hpp

@@ -1,8 +1,29 @@
-#include <opencv2/core.hpp>
+#ifndef Air_Ground_CEC_QNODE_HPP_
-#include <opencv2/highgui.hpp>
+#define Air_Ground_CEC_QNODE_HPP_
-#include <opencv2/imgproc.hpp>
-#include <image_transport/image_transport.h>
-#include <cv_bridge/cv_bridge.h>
-#include <QImage>
 
+#ifndef Q_MOC_RUN
+#include <ros/ros.h>
+#endif
+
+#include <geometry_msgs/Twist.h>
+
+#include <QThread>
+
+class QNode : public QThread{
+    Q_OBJECT
+public:
+    QNode(int argc, char **argv);
+    virtual ~QNode();
+    bool init();
+    void KeyboardMove(char key);
+
+private:
+    int init_argc;
+    char **init_argv;
+    ros::NodeHandle n;
+    ros::Subscriber cmdVel_sub;
+    ros::Publisher cmd_pub;
+};
+
+#endif
 

src/main/main.cpp

@@ -1,13 +1,24 @@
 #include "../include/roskeyboardteleopnode.h"
+#include "../ui/mainwindow.hpp"
 
+#include <QApplication>
 
-
+#include <ros/ros.h>
 
 
 
 int main(int argc, char** argv)
 {
+
+
+
     ros::init(argc,argv,"tbk", ros::init_options::AnonymousName | ros::init_options::NoSigintHandler);
+
+    QApplication app(argc, argv);
+    MainWindow CEC(0,0,0);
+    CEC.show();
+    return app.exec();
+/*
     RosKeyboardTeleopNode tbk;
 
     boost::thread t = boost::thread(boost::bind(&RosKeyboardTeleopNode::keyboardLoop, &tbk));
@@ -18,7 +29,7 @@ int main(int argc, char** argv)
     t.join();
     tbk.stopRobot();
     tcsetattr(kfd, TCSANOW, &cooked);
-
+*/
     return(0);
 }
 

src/main/mainwindow.cpp

@@ -1,14 +1,59 @@
 #include "../ui/mainwindow.hpp"
 
 
-MainWindow::MainWindow(QWidget *parent) :
+MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
-    QMainWindow(parent),
+    QMainWindow(parent), qnode(argc, argv),
     ui(new Ui::MainWindow)
 {
     ui->setupUi(this);
+
+    connections();
 }
 
 MainWindow::~MainWindow()
 {
     delete ui;
 }
+
+
+
+void MainWindow::slot_keyboard_control(){
+    QPushButton *btn = qobject_cast<QPushButton *>(sender());
+    std::string btn_name = btn->text().toStdString();
+    char key = ' ';
+    if (btn_name == "左"){
+        key = 'a';
+    }
+    else if (btn_name == "右") {
+        key = 'd';
+    }
+    else if (btn_name == "前") {
+        key = 'w';
+    }
+    else if (btn_name == "后") {
+        key = 's';
+    }
+    /*
+    else if (btn_name == "加速") {
+        key = 'f';
+    }
+    */
+
+
+    qnode.KeyboardMove(key);
+    std::cout<<key<<std::endl;
+
+}
+
+void MainWindow::connections(){
+    //绑定速度控制按钮
+    ui->pushButton_W->setShortcut(Qt::Key_W);
+    connect(ui->pushButton_W, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
+    ui->pushButton_S->setShortcut(Qt::Key_S);
+    connect(ui->pushButton_S, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
+    ui->pushButton_A->setShortcut(Qt::Key_A);
+    connect(ui->pushButton_A, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
+    ui->pushButton_D->setShortcut(Qt::Key_D);
+    connect(ui->pushButton_D, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
+    connect(ui->pushButton_shift, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
+}

src/main/qnode.cpp

@@ -1 +1,47 @@
+#include "../include/qnode.hpp"
 
+#include <ros/ros.h>
+#include <std_msgs/String.h>
+#include <ros/network.h>
+
+QNode::QNode(int argc, char **argv) : init_argc(argc), init_argv(argv){
+    cmd_pub = n.advertise<geometry_msgs::Twist>("cmd_vel", 1);
+}
+
+
+QNode::~QNode() {
+  if (ros::isStarted()) {
+    ros::shutdown();  // explicitly needed since we use ros::start();
+    ros::waitForShutdown();
+  }
+  wait();
+}
+
+bool QNode::init() {
+  ros::init(init_argc, init_argv, "cyrobot_monitor",
+            ros::init_options::AnonymousName);
+  if (!ros::master::check()) {
+    return false;
+  }
+  ros::start();  // explicitly needed since our nodehandle is going out of
+                 // scope.
+  start();
+  return true;
+}
+
+void QNode::KeyboardMove(char key){
+    std::map<char, std::vector<float>> moveBindings {
+        // {'key', {speed, turn}}
+        {'w', {1, 0}}, {'s', {-1, 0}}, {'a', {0, 1}}, {'d', {0, -1}},
+        {'W', {1, 0}}, {'S', {-1, 0}}, {'A', {0, 1}}, {'D', {0, -1}}
+    };
+
+    float x = moveBindings[key][0];
+    float z = moveBindings[key][1];
+
+    geometry_msgs::Twist twist;
+    twist.linear.x = x;
+    twist.angular.z = z;
+    cmd_pub.publish(twist);
+    ros::spinOnce();
+}

src/ui/mainwindow.hpp

@@ -3,6 +3,8 @@
 
 #include <QMainWindow>
 #include "ui_mainwindow.h"
+#include "../include/qnode.hpp"
+
 namespace Ui {
 class MainWindow;
 }
@@ -12,11 +14,17 @@ class MainWindow : public QMainWindow
     Q_OBJECT
 
 public:
-    explicit MainWindow(QWidget *parent = nullptr);
+    explicit MainWindow(int argc, char **argv, QWidget *parent = 0);
     ~MainWindow();
 
+public slots:
+    void slot_keyboard_control();
+
 private:
     Ui::MainWindow *ui;
+    void connections();
+    QNode qnode;
+
 };
 
 #endif // MAINWINDOW_H

src/ui/mainwindow.ui

@@ -1,24 +1,216 @@
+<?xml version="1.0" encoding="UTF-8"?>
 <ui version="4.0">
- <author/>
- <comment/>
- <exportmacro/>
  <class>MainWindow</class>
- <widget name="MainWindow" class="QMainWindow">
+ <widget class="QMainWindow" name="MainWindow">
   <property name="geometry">
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>800</width>
+    <width>1600</width>
-    <height>600</height>
+    <height>900</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>MainWindow</string>
   </property>
-  <widget name="menubar" class="QMenuBar"/>
+  <widget class="QWidget" name="centralwidget">
-  <widget name="centralwidget" class="QWidget"/>
+   <widget class="QWidget" name="">
-  <widget name="statusbar" class="QStatusBar"/>
+    <property name="geometry">
+     <rect>
+      <x>410</x>
+      <y>260</y>
+      <width>314</width>
+      <height>164</height>
+     </rect>
+    </property>
+    <layout class="QGridLayout" name="gridLayout">
+     <item row="0" column="0">
+      <spacer name="horizontalSpacer">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>40</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item row="0" column="1">
+      <widget class="QPushButton" name="pushButton_W">
+       <property name="minimumSize">
+        <size>
+         <width>100</width>
+         <height>50</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>100</width>
+         <height>50</height>
+        </size>
+       </property>
+       <property name="font">
+        <font>
+         <pointsize>15</pointsize>
+        </font>
+       </property>
+       <property name="text">
+        <string>前</string>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="2">
+      <spacer name="horizontalSpacer_2">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>40</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item row="1" column="0">
+      <widget class="QPushButton" name="pushButton_A">
+       <property name="minimumSize">
+        <size>
+         <width>100</width>
+         <height>50</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>100</width>
+         <height>50</height>
+        </size>
+       </property>
+       <property name="font">
+        <font>
+         <pointsize>15</pointsize>
+        </font>
+       </property>
+       <property name="text">
+        <string>左</string>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="1">
+      <widget class="QPushButton" name="pushButton_shift">
+       <property name="minimumSize">
+        <size>
+         <width>100</width>
+         <height>50</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>100</width>
+         <height>50</height>
+        </size>
+       </property>
+       <property name="font">
+        <font>
+         <pointsize>15</pointsize>
+        </font>
+       </property>
+       <property name="text">
+        <string>加速</string>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="2">
+      <widget class="QPushButton" name="pushButton_D">
+       <property name="minimumSize">
+        <size>
+         <width>100</width>
+         <height>50</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>100</width>
+         <height>50</height>
+        </size>
+       </property>
+       <property name="font">
+        <font>
+         <pointsize>15</pointsize>
+        </font>
+       </property>
+       <property name="text">
+        <string>右</string>
+       </property>
+      </widget>
+     </item>
+     <item row="2" column="0">
+      <spacer name="horizontalSpacer_3">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>40</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item row="2" column="1">
+      <widget class="QPushButton" name="pushButton_S">
+       <property name="minimumSize">
+        <size>
+         <width>100</width>
+         <height>50</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>100</width>
+         <height>50</height>
+        </size>
+       </property>
+       <property name="font">
+        <font>
+         <pointsize>15</pointsize>
+        </font>
+       </property>
+       <property name="text">
+        <string>后</string>
+       </property>
+      </widget>
+     </item>
+     <item row="2" column="2">
+      <spacer name="horizontalSpacer_4">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>40</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+    </layout>
+   </widget>
+  </widget>
+  <widget class="QMenuBar" name="menubar">
+   <property name="geometry">
+    <rect>
+     <x>0</x>
+     <y>0</y>
+     <width>1600</width>
+     <height>22</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QStatusBar" name="statusbar"/>
  </widget>
- <pixmapfunction/>
+ <resources/>
  <connections/>
 </ui>