diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..8c11610
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,229 @@
+cmake_minimum_required(VERSION 3.0.2)
+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
+ cv_bridge
+ 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
+# LIBRARIES Air_Ground_CEC
+# CATKIN_DEPENDS roscpp
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+find_package(OpenCV REQUIRED)
+find_package(Qt5 REQUIRED COMPONENTS Widgets )
+set(CMAKE_AUTOMOC ON)
+set(CMAKE_AUTOUIC ON)
+set(CMAKE_INCLUDE_CURRENT_DIR ON)
+
+set(SOURCES
+ src/main.cpp
+ src/mainwindow.cpp
+ src/mainwindow.hpp
+ src/mainwindow.ui
+ src/qnode.cpp
+ src/qnode.hpp
+)
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+ include/Air_Ground_CEC
+ ${catkin_INCLUDE_DIRS}
+ ${OpenCV_INCLUDE_DIRS}
+)
+
+add_executable(Air_Ground_CEC ${SOURCES})
+target_link_libraries(Air_Ground_CEC
+ Qt5::Widgets
+ ${catkin_LIBRARIES}
+ ${OpenCV_LIBRARIES}
+)
+
+## Declare a C++ library
+# add_library(${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)
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000..9c40002
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,73 @@
+
+
+ Air_Ground_CEC
+ 0.1.0
+ The Air_Ground_CEC package
+
+
+
+
+ jackyma
+
+
+
+
+
+ Apache 2.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ catkin
+ roscpp
+ roscpp
+ roscpp
+
+ opencv2
+ opencv2
+ opencv2
+
+ message_generation
+ message_generation
+ message_runtime
+
+ std_msgs sensor_msgs cv_bridge image_transport
+ std_msgs sensor_msgs cv_bridge image_transport
+ std_msgs sensor_msgs cv_bridge image_transport
+
+
+
+
+
+
+
diff --git a/src/main.cpp b/src/main.cpp
new file mode 100644
index 0000000..2702a1f
--- /dev/null
+++ b/src/main.cpp
@@ -0,0 +1,197 @@
+#include
+#include
+#include
+#include
+#include
+#include
+
+#include
+#include
+#include
+
+#define KEYCODE_W 0x77
+#define KEYCODE_A 0x61
+#define KEYCODE_S 0x73
+#define KEYCODE_D 0x64
+
+#define KEYCODE_A_CAP 0x41
+#define KEYCODE_D_CAP 0x44
+#define KEYCODE_S_CAP 0x53
+#define KEYCODE_W_CAP 0x57
+
+class SmartCarKeyboardTeleopNode
+{
+ private:
+ double walk_vel_;
+ double run_vel_;
+ double yaw_rate_;
+ double yaw_rate_run_;
+
+ geometry_msgs::Twist cmdvel_;
+ ros::NodeHandle n_;
+ ros::Publisher pub_;
+
+ public:
+ SmartCarKeyboardTeleopNode()
+ {
+ pub_ = n_.advertise("cmd_vel", 1);
+
+ ros::NodeHandle n_private("~");
+ n_private.param("walk_vel", walk_vel_, 0.5);
+ n_private.param("run_vel", run_vel_, 1.0);
+ n_private.param("yaw_rate", yaw_rate_, 1.0);
+ n_private.param("yaw_rate_run", yaw_rate_run_, 1.5);
+ }
+
+ ~SmartCarKeyboardTeleopNode() { }
+ void keyboardLoop();
+
+ void stopRobot()
+ {
+ cmdvel_.linear.x = 0.0;
+ cmdvel_.angular.z = 0.0;
+ pub_.publish(cmdvel_);
+ }
+};
+
+SmartCarKeyboardTeleopNode* tbk;
+int kfd = 0;
+struct termios cooked, raw;
+bool done;
+
+int main(int argc, char** argv)
+{
+ ros::init(argc,argv,"tbk", ros::init_options::AnonymousName | ros::init_options::NoSigintHandler);
+ SmartCarKeyboardTeleopNode tbk;
+
+ boost::thread t = boost::thread(boost::bind(&SmartCarKeyboardTeleopNode::keyboardLoop, &tbk));
+
+ ros::spin();
+
+ t.interrupt();
+ t.join();
+ tbk.stopRobot();
+ tcsetattr(kfd, TCSANOW, &cooked);
+
+ return(0);
+}
+
+void SmartCarKeyboardTeleopNode::keyboardLoop()
+{
+ char c;
+ double max_tv = walk_vel_;
+ double max_rv = yaw_rate_;
+ bool dirty = false;
+ int speed = 0;
+ int turn = 0;
+
+ // get the console in raw mode
+ tcgetattr(kfd, &cooked);
+ memcpy(&raw, &cooked, sizeof(struct termios));
+ raw.c_lflag &=~ (ICANON | ECHO);
+ raw.c_cc[VEOL] = 1;
+ raw.c_cc[VEOF] = 2;
+ tcsetattr(kfd, TCSANOW, &raw);
+
+ puts("Reading from keyboard");
+ puts("Use WASD keys to control the robot");
+ puts("Press Shift to move faster");
+
+ struct pollfd ufd;
+ ufd.fd = kfd;
+ ufd.events = POLLIN;
+
+ for(;;)
+ {
+ boost::this_thread::interruption_point();
+
+ // get the next event from the keyboard
+ int num;
+
+ if ((num = poll(&ufd, 1, 250)) < 0)
+ {
+ perror("poll():");
+ return;
+ }
+ else if(num > 0)
+ {
+ if(read(kfd, &c, 1) < 0)
+ {
+ perror("read():");
+ return;
+ }
+ }
+ else
+ {
+ if (dirty == true)
+ {
+ stopRobot();
+ dirty = false;
+ }
+
+ continue;
+ }
+
+ switch(c)
+ {
+ case KEYCODE_W:
+ max_tv = walk_vel_;
+ speed = 1;
+ turn = 0;
+ dirty = true;
+ break;
+ case KEYCODE_S:
+ max_tv = walk_vel_;
+ speed = -1;
+ turn = 0;
+ dirty = true;
+ break;
+ case KEYCODE_A:
+ max_rv = yaw_rate_;
+ speed = 0;
+ turn = 1;
+ dirty = true;
+ break;
+ case KEYCODE_D:
+ max_rv = yaw_rate_;
+ speed = 0;
+ turn = -1;
+ dirty = true;
+ break;
+
+ case KEYCODE_W_CAP:
+ max_tv = run_vel_;
+ speed = 1;
+ turn = 0;
+ dirty = true;
+ break;
+ case KEYCODE_S_CAP:
+ max_tv = run_vel_;
+ speed = -1;
+ turn = 0;
+ dirty = true;
+ break;
+ case KEYCODE_A_CAP:
+ max_rv = yaw_rate_run_;
+ speed = 0;
+ turn = 1;
+ dirty = true;
+ break;
+ case KEYCODE_D_CAP:
+ max_rv = yaw_rate_run_;
+ speed = 0;
+ turn = -1;
+ dirty = true;
+ break;
+ default:
+ max_tv = walk_vel_;
+ max_rv = yaw_rate_;
+ speed = 0;
+ turn = 0;
+ dirty = false;
+ }
+ cmdvel_.linear.x = speed * max_tv;
+ cmdvel_.angular.z = turn * max_rv;
+ pub_.publish(cmdvel_);
+ }
+}
diff --git a/src/mainwindow.cpp b/src/mainwindow.cpp
new file mode 100644
index 0000000..443597b
--- /dev/null
+++ b/src/mainwindow.cpp
@@ -0,0 +1,14 @@
+#include "mainwindow.hpp"
+#include "ui_mainwindow.h"
+
+MainWindow::MainWindow(QWidget *parent) :
+ QMainWindow(parent),
+ ui(new Ui::MainWindow)
+{
+ ui->setupUi(this);
+}
+
+MainWindow::~MainWindow()
+{
+ delete ui;
+}
diff --git a/src/mainwindow.hpp b/src/mainwindow.hpp
new file mode 100644
index 0000000..3671e71
--- /dev/null
+++ b/src/mainwindow.hpp
@@ -0,0 +1,30 @@
+#ifndef MAINWINDOW_H
+#define MAINWINDOW_H
+
+#include
+#include "ui_mainwindow.h"
+//#include "qnode.hpp"
+#include
+#include
+
+namespace Ui {
+class MainWindow;
+}
+
+class MainWindow : public QMainWindow
+{
+ Q_OBJECT
+
+public:
+ explicit MainWindow(QWidget *parent = nullptr);
+ ~MainWindow();
+ void updateLogcamera();
+ void displayCamera(const QImage& image);
+private:
+ Ui::MainWindow *ui;
+ //QNode qnode;
+ QImage qimage_;
+ mutable QMutex qinmage_mutex_;
+};
+
+#endif // MAINWINDOW_H
diff --git a/src/mainwindow.ui b/src/mainwindow.ui
new file mode 100644
index 0000000..2c99f46
--- /dev/null
+++ b/src/mainwindow.ui
@@ -0,0 +1,45 @@
+
+
+ MainWindow
+
+
+
+ 0
+ 0
+ 800
+ 600
+
+
+
+ MainWindow
+
+
+
+
+
+ 110
+ 50
+ 67
+ 17
+
+
+
+ TextLabel
+
+
+
+
+
+
+
+
+
diff --git a/src/qnode.cpp b/src/qnode.cpp
new file mode 100644
index 0000000..8b13789
--- /dev/null
+++ b/src/qnode.cpp
@@ -0,0 +1 @@
+
diff --git a/src/qnode.hpp b/src/qnode.hpp
new file mode 100644
index 0000000..b144f17
--- /dev/null
+++ b/src/qnode.hpp
@@ -0,0 +1,8 @@
+#include
+#include
+#include
+#include
+#include
+#include
+
+