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c2d15bf178
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d26d56759c
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#ifndef Air_Ground_CEC_QNODE_HPP_
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#define Air_Ground_CEC_QNODE_HPP_
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#ifndef Q_MOC_RUN
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#include <ros/ros.h>
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#endif
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#include <QImage>
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#include <opencv2/core/core.hpp>
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#include <opencv2/highgui/highgui.hpp>
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#include <opencv2/imgproc/imgproc.hpp>
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#include <std_msgs/String.h>
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#include <ros/network.h>
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#include <cv_bridge/cv_bridge.h>
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#include <image_transport/image_transport.h>
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#include <geometry_msgs/Twist.h>
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#include <QThread>
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class QNode : public QThread{
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Q_OBJECT
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public:
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QNode(int argc, char **argv);
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virtual ~QNode();
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bool init();
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void SubAndPubTopic();
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void KeyboardMove(char key);
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//void myCallback_img(const sensor_msgs::ImageConstPtr& msg);//camera callback function
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//QImage image;
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//Q_SIGNALS:
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//void loggingCamera();//发出设置相机图片信号
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private:
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int init_argc;
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char **init_argv;
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ros::Subscriber cmdVel_sub;
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ros::Publisher cmd_pub;
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//ros::Publisher chatter_publisher;
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//QStringList logging_model;
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//image_transport::Subscriber image_sub;
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//cv::Mat img;
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};
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#endif
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@ -1,24 +0,0 @@
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#include "../ui/mainwindow.hpp"
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#include <QApplication>
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#include <ros/ros.h>
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int main(int argc, char** argv)
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{
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QApplication app(argc, argv);
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MainWindow CEC(0,0,0);
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CEC.show();
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return app.exec();
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return(0);
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}
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#include "../include/qnode.hpp"
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#include "sensor_msgs/image_encodings.h"
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QNode::QNode(int argc, char **argv) : init_argc(argc), init_argv(argv){
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}
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QNode::~QNode() {
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if (ros::isStarted()) {
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ros::shutdown(); // explicitly needed since we use ros::start();
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ros::waitForShutdown();
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}
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wait();
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}
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bool QNode::init() {
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ros::init(init_argc,init_argv,"Air_Ground_CEC",
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ros::init_options::AnonymousName | ros::init_options::NoSigintHandler);
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SubAndPubTopic();
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return true;
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}
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void QNode::SubAndPubTopic(){
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ros::NodeHandle n;
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cmd_pub = n.advertise<geometry_msgs::Twist>("cmd_vel", 1);
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}
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void QNode::KeyboardMove(char key){
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std::map<char, std::vector<float>> moveBindings {
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// {'key', {speed, turn}}
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{'w', {1, 0}}, {'s', {-1, 0}}, {'a', {0, 1}}, {'d', {0, -1}},
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{'W', {1, 0}}, {'S', {-1, 0}}, {'A', {0, 1}}, {'D', {0, -1}}
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};
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float x = moveBindings[key][0];
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float z = moveBindings[key][1];
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geometry_msgs::Twist twist;
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twist.linear.x = x;
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twist.angular.z = z;
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cmd_pub.publish(twist);
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ros::spinOnce();
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}
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/*
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void QNode::myCallback_img(const sensor_msgs::ImageConstPtr &msg)
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{
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try
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{
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cv_bridge::CvImageConstPtr cv_ptr = cv_bridge::toCvShare(msg, sensor_msgs::image_encodings::RGB8);
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img = cv_ptr->image;
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image = QImage(img.data,img.cols,img.rows,img.step[0],QImage::Format_RGB888);//change to QImage format
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ROS_INFO("I'm setting picture in mul_t callback function!");
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Q_EMIT loggingCamera();
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}
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catch (cv_bridge::Exception& e)
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{
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ROS_ERROR("Could not convert from '%s' to 'bgr8'.", msg->encoding.c_str());
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}
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}
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*/
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@ -1,275 +0,0 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<ui version="4.0">
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<class>MainWindow</class>
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<widget class="QMainWindow" name="MainWindow">
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>0</y>
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<width>1600</width>
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<height>900</height>
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</rect>
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</property>
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<property name="windowTitle">
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<string>MainWindow</string>
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</property>
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<widget class="QWidget" name="centralwidget">
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<widget class="QWidget" name="layoutWidget">
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<property name="geometry">
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<rect>
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<x>1160</x>
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<y>240</y>
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<width>314</width>
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<height>164</height>
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</rect>
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</property>
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<layout class="QGridLayout" name="gridLayout">
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<item row="0" column="1">
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<widget class="QPushButton" name="pushButton_W">
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<property name="minimumSize">
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<size>
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<width>100</width>
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<height>50</height>
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</size>
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</property>
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<property name="maximumSize">
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<size>
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<width>100</width>
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<height>50</height>
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</size>
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</property>
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<property name="font">
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<font>
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<pointsize>15</pointsize>
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</font>
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</property>
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<property name="text">
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<string>前</string>
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</property>
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</widget>
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</item>
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<item row="1" column="2">
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<widget class="QPushButton" name="pushButton_D">
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<property name="minimumSize">
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<size>
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<width>100</width>
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<height>50</height>
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</size>
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</property>
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<property name="maximumSize">
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<size>
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<width>100</width>
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<height>50</height>
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</size>
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</property>
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<property name="font">
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<font>
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<pointsize>15</pointsize>
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</font>
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</property>
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<property name="text">
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<string>右</string>
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</property>
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</widget>
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</item>
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<item row="1" column="0">
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<widget class="QPushButton" name="pushButton_A">
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<property name="minimumSize">
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<size>
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<width>100</width>
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<height>50</height>
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</size>
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</property>
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<property name="maximumSize">
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<size>
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<width>100</width>
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<height>50</height>
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</size>
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</property>
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<property name="font">
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<font>
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<pointsize>15</pointsize>
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</font>
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</property>
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<property name="text">
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<string>左</string>
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QPushButton" name="pushButton_S">
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<property name="minimumSize">
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<size>
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<width>100</width>
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<height>50</height>
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</size>
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</property>
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<property name="maximumSize">
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<size>
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<width>100</width>
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<height>50</height>
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</size>
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</property>
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<property name="font">
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<font>
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<pointsize>15</pointsize>
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</font>
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</property>
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<property name="text">
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<string>后</string>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QPushButton" name="pushButton_shift">
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<property name="minimumSize">
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<size>
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<width>100</width>
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<height>50</height>
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</size>
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</property>
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<property name="maximumSize">
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<size>
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<width>100</width>
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<height>50</height>
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</size>
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</property>
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<property name="font">
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<font>
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<pointsize>15</pointsize>
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</font>
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</property>
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<property name="text">
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<string>加速</string>
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</property>
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</widget>
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</item>
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</layout>
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</widget>
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<widget class="QLabel" name="UGV_Vedio">
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<property name="geometry">
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<rect>
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<x>610</x>
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<y>60</y>
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<width>321</width>
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<height>211</height>
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</rect>
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</property>
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<property name="text">
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<string>TextLabel</string>
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</property>
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</widget>
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<widget class="QWidget" name="layoutWidget">
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<property name="geometry">
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<rect>
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<x>60</x>
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<y>30</y>
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<width>502</width>
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<height>654</height>
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</rect>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout">
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<item>
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<widget class="QLabel" name="UAV_Vedio">
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<property name="minimumSize">
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<size>
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<width>500</width>
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<height>300</height>
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</size>
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</property>
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<property name="maximumSize">
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<size>
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<width>500</width>
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<height>300</height>
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</size>
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</property>
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<property name="mouseTracking">
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<bool>false</bool>
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</property>
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<property name="styleSheet">
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<string notr="true"/>
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</property>
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<property name="text">
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<string>UAV_VEDIO</string>
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</property>
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<property name="scaledContents">
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<bool>false</bool>
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</property>
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</widget>
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</item>
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<item>
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<spacer name="verticalSpacer">
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<property name="orientation">
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<enum>Qt::Vertical</enum>
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</property>
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<property name="sizeHint" stdset="0">
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<size>
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<width>20</width>
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<height>40</height>
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</size>
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</property>
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</spacer>
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</item>
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<item>
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<widget class="QLabel" name="UAV_Path">
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<property name="minimumSize">
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<size>
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<width>500</width>
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<height>300</height>
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</size>
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</property>
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<property name="maximumSize">
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<size>
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<width>500</width>
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<height>300</height>
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</size>
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</property>
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<property name="text">
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<string>PATH</string>
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</property>
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</widget>
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</item>
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</layout>
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</widget>
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<widget class="QLabel" name="StreamReceive">
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<property name="geometry">
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<rect>
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<x>720</x>
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<y>500</y>
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<width>431</width>
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<height>301</height>
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</rect>
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</property>
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<property name="text">
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<string/>
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</property>
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</widget>
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<widget class="QPushButton" name="PLAY">
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<property name="geometry">
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<rect>
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<x>1250</x>
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<y>570</y>
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<width>89</width>
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<height>25</height>
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</rect>
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</property>
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<property name="text">
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<string>PLAY</string>
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</property>
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</widget>
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</widget>
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<widget class="QMenuBar" name="menubar">
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>0</y>
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<width>1600</width>
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<height>27</height>
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</rect>
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</property>
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</widget>
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<widget class="QStatusBar" name="statusbar"/>
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</widget>
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<resources/>
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<connections/>
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</ui>
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