CMakeLists.txt

@@ -11,6 +11,7 @@ find_package(catkin REQUIRED COMPONENTS
   roscpp
   std_msgs
   cv_bridge
+  sensor_msgs
   image_transport
 )
 
@@ -122,16 +123,19 @@ set(CMAKE_INCLUDE_CURRENT_DIR ON)
 
 set(SOURCES
     src/include/qnode.hpp
-    src/include/roskeyboardteleopnode.h
+    src/include/joystick.h
 
     src/main/main.cpp
     src/main/mainwindow.cpp
     src/main/qnode.cpp
-    src/main/roskeyboardteleopnode.cpp
+    src/main/joystick.cpp
 
     src/ui/mainwindow.hpp
     src/ui/mainwindow.ui
+
 )
+
+QT5_add_resources(qrc_Files src/resources/images.qrc)
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
 include_directories(
@@ -140,7 +144,7 @@ include_directories(
     ${OpenCV_INCLUDE_DIRS}
 )
 
-add_executable(Air_Ground_CEC ${SOURCES})
+add_executable(Air_Ground_CEC ${SOURCES} ${qrc_Files})
 target_link_libraries(Air_Ground_CEC
     Qt5::Widgets
     ${catkin_LIBRARIES}

src/include/joystick.h

@@ -0,0 +1,55 @@
+#ifndef JOYSTICK_H
+#define JOYSTICK_H
+
+#include <QDebug>
+#include <QDrag>
+#include <QMouseEvent>
+#include <QPainter>
+#include <QTimer>
+#include <QWidget>
+#include <QtMath>
+class JoyStick : public QWidget {
+  Q_OBJECT
+
+ public:
+  JoyStick(QWidget *parent = 0);
+  ~JoyStick();
+  enum {
+    upleft = 0,
+    up,
+    upright,
+    left,
+    stop,
+    right,
+    downleft,
+    down,
+    downright
+  };
+ signals:
+  void keyNumchanged(int num);
+
+ protected:
+  void paintEvent(QPaintEvent *event) override;
+  void mouseMoveEvent(QMouseEvent *event) override;
+  void mouseReleaseEvent(QMouseEvent *event) override;
+  void mousePressEvent(QMouseEvent *event) override;
+  //  void resizeEvent(QResizeEvent *event)override;
+ private:
+  int mouseX;
+  int mouseY;
+  int JoyStickX;  //摇杆
+  int JoyStickY;
+  int JoyStickR;
+  int padX;  //底盘
+  int padY;
+  int padR;
+  double handPadDis;  //两圆圆心距离
+  bool mousePressed;
+  QTimer *tim;
+
+ private:
+  double Pointdis(int a, int b, int x, int y);  //两点距离
+  int getKeyNum();
+};
+
+#endif  // JoyStick_H

src/include/qnode.hpp

@@ -4,6 +4,8 @@
 #ifndef Q_MOC_RUN
 #include <ros/ros.h>
 #endif
+#include <iostream>
+
 #include <QImage>
 
 #include <opencv2/core/core.hpp>
@@ -17,6 +19,8 @@
 #include <geometry_msgs/Twist.h>
 #include <QThread>
 
+using namespace std;
+
 class QNode : public QThread{
     Q_OBJECT
 
@@ -25,13 +29,8 @@ public:
     virtual ~QNode();
     bool init();
     void SubAndPubTopic();
-    void KeyboardMove(char key);
+    void KeyboardMove(char key, float speed_linear, float speed_trun);
-    //void myCallback_img(const sensor_msgs::ImageConstPtr& msg);//camera callback function
-    //QImage image;
-
 
-//Q_SIGNALS:
-    //void loggingCamera();//发出设置相机图片信号
 
 private:
     int init_argc;
@@ -39,11 +38,7 @@ private:
 
     ros::Subscriber cmdVel_sub;
     ros::Publisher cmd_pub;
-    //ros::Publisher chatter_publisher;
-    //QStringList logging_model;
-    //image_transport::Subscriber image_sub;
 
-//cv::Mat img;
 };
 
 #endif

src/main/joystick.cpp

@@ -0,0 +1,105 @@
+#include "../include/joystick.h"
+
+#include <QDebug>
+JoyStick::JoyStick(QWidget* parent) : QWidget(parent) {
+  setPalette(QPalette(Qt::white));
+  resize(parent->width(), parent->height());
+  setMinimumSize(100, 100);
+  mouseX = width() / 2;
+  mouseY = height() / 2;
+  tim = new QTimer(this);
+  connect(tim, &QTimer::timeout, this,
+          [=] { emit keyNumchanged(getKeyNum()); });
+  //    connect(this,&JoyStick::keyNumchanged,this,[=](int num){
+  //        qDebug()<<num<<endl;
+  //    });
+}
+
+JoyStick::~JoyStick() {}
+void JoyStick::paintEvent(QPaintEvent*) {
+  QPainter painter(this);
+
+  int side = qMin(width(), height());
+
+  padR = side / 2;       //底盘半径
+  padX = padR;           //底盘圆心
+  padY = padR;           //底盘圆心
+  JoyStickR = padR / 4;  //摇杆圆半径
+  int JoyStickMaxR = padR - JoyStickR;
+  QColor JoyStickColor;
+  JoyStickColor.setRgb(85, 87, 83);
+  //加载底盘图像
+  //    painter.save();
+
+  //    painter.scale(side / 400.0, side / 400.0);//坐标会随窗口缩放
+  //    painter.drawPixmap(0, 0, QPixmap(":/image/pad.png"));
+  //    painter.restore();
+  //自绘底盘
+  painter.save();
+  QRadialGradient RadialGradient(padR, padR, padR * 3, padR,
+                                 padR);  //圆心2，半径1，焦点2
+  RadialGradient.setColorAt(0, QColor(255, 253, 253, 255));  //渐变
+  RadialGradient.setColorAt(1, QColor(255, 240, 245, 190));  //渐变
+  painter.setBrush(RadialGradient);
+  painter.setPen(Qt::NoPen);
+  painter.drawEllipse(QPoint(padR, padR), side / 2, side / 2);  //大圆盘
+  painter.restore();
+
+  // painter.drawText(20,20,tr("%1,%2,%3").arg(mouseX).arg(mouseY).arg(handPadDis));
+
+  if (!mousePressed) {  //鼠标没按下则摇杆恢复到底盘中心
+    mouseX = padX;
+    mouseY = padY;
+  }
+  handPadDis = Pointdis(padR, padR, mouseX, mouseY);
+  if (handPadDis <= JoyStickMaxR) {
+    JoyStickX = mouseX;
+    JoyStickY = mouseY;
+  } else {
+    JoyStickX = (int)(JoyStickMaxR * (mouseX - padX) / handPadDis + padX);
+    JoyStickY = (int)(JoyStickMaxR * (mouseY - padY) / handPadDis + padY);
+  }
+  // painter.drawText(200,200,tr("%1,%2,%3").arg(JoyStickX).arg(JoyStickY).arg(handPaddis));
+  painter.setPen(Qt::NoPen);
+  painter.setBrush(JoyStickColor);
+  painter.drawEllipse(QPoint(JoyStickX, JoyStickY), JoyStickR,
+                      JoyStickR);  //摇杆
+}
+void JoyStick::mouseMoveEvent(QMouseEvent* event) {
+  static bool r = false;
+  mouseX = event->pos().x();
+  mouseY = event->pos().y();
+  if (r == true) {
+    update();
+    r = false;
+  } else {
+    r = true;
+  }
+}
+void JoyStick::mouseReleaseEvent(QMouseEvent* event) {
+  mouseX = width() / 2;
+  mouseY = height() / 2;
+  tim->stop();
+  mousePressed = false;
+  emit keyNumchanged(JoyStick::stop);
+  update();
+}
+void JoyStick::mousePressEvent(QMouseEvent* event) {
+  mouseX = event->pos().x();
+  mouseY = event->pos().y();
+  tim->start(100);
+  mousePressed = true;
+  update();
+}
+
+double JoyStick::Pointdis(int a, int b, int x, int y) {
+  return sqrt((double)((x - a) * (x - a) + (y - b) * (y - b)));
+}
+int JoyStick::getKeyNum() {
+  int x, y;
+  int keynum;
+  x = (int)(JoyStickX * 3.0 / (padR * 2));
+  y = (int)(JoyStickY * 3.0 / (padR * 2));
+  keynum = 3 * y + x;
+  return keynum;
+}

src/main/main.cpp

@@ -22,3 +22,6 @@ int main(int argc, char** argv)
 
 
 
+/*
+ * find . "(" -name "*.cpp" -or -name "*.h" -or -name "*.hpp" -or -name "*.qrc" ")" -print | xargs wc -l
+ */

src/main/mainwindow.cpp

@@ -9,6 +9,7 @@ MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
 {
     qnode.init();
     ui->setupUi(this);
+    initUis();
     connections();
 }
 
@@ -18,63 +19,255 @@ MainWindow::~MainWindow()
 }
 
 
+void MainWindow::initUis(){
+    setBtnStyles();
+
+
+    /*
+     * init
+     */
+
+    rock_widget = new JoyStick(ui->JoyStick_widget);
+    rock_widget->show();
+
+
+}
+
+
+void MainWindow::setBtnStyles(){
+    /*
+     * set PushButton state
+     */
+
+    ui->btn_main->setIcon(QIcon("://images/up.png"));
+    ui->btn_main->setText("mainWidget");
+    ui->btn_main->setStyleSheet(
+                "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;}");
+
+    ui->btn_uav->setStyleSheet(
+                "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;}");
+
+    ui->btn_ugv->setStyleSheet(
+                "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;}");
+
+    // 8 -> Forward: ↑
+    ui->pushButton_Forward->setShortcut(Qt::Key_8);
+    ui->pushButton_Forward->setStyleSheet(
+                "QPushButton{border-image: url(://images/up.png)}"
+                "QPushButton{border:none}"
+                "QPushButton:pressed{border-image: url(://images/up_2.png)}");
+    ui->pushButton_Forward->setFlat(true);
+
+    // 2 -> Back: ↓
+    ui->pushButton_Back->setShortcut(Qt::Key_2);
+    ui->pushButton_Back->setStyleSheet(
+                "QPushButton{border-image: url(://images/down.png)}"
+                "QPushButton{border:none}"
+                "QPushButton:pressed{border-image: url(://images/down_2.png)}");
+    ui->pushButton_Back->setFlat(true);
+
+    // 4 -> Left: ←
+    ui->pushButton_Left->setShortcut(Qt::Key_4);
+    ui->pushButton_Left->setStyleSheet(
+                "QPushButton{border-image: url(://images/left.png)}"
+                "QPushButton{border:none}"
+                "QPushButton:pressed{border-image: url(://images/left_2.png)}");
+    ui->pushButton_Left->setFlat(true);
+
+    // 6 -> Right: →
+    ui->pushButton_Right->setShortcut(Qt::Key_6);
+    ui->pushButton_Right->setStyleSheet(
+                "QPushButton{border-image: url(://images/right.png)}"
+                "QPushButton{border:none}"
+                "QPushButton:pressed{border-image: url(://images/right_2.png)}");
+    ui->pushButton_Right->setFlat(true);
+
+    // 7 -> Left_Forward: ↖
+    ui->pushButton_Left_Forward->setShortcut(Qt::Key_7);
+    ui->pushButton_Left_Forward->setStyleSheet(
+                "QPushButton{border-image: url(://images/up_left.png)}"
+                "QPushButton{border:none}"
+                "QPushButton:pressed{border-image: url(://images/up_left_2.png)}");
+    ui->pushButton_Left_Forward->setFlat(true);
+
+    // 9 -> Right_Forward: ↗
+    ui->pushButton_Right_Forward->setShortcut(Qt::Key_9);
+    ui->pushButton_Right_Forward->setStyleSheet(
+                "QPushButton{border-image: url(://images/up_right.png)}"
+                "QPushButton{border:none}"
+                "QPushButton:pressed{border-image: url(://images/up_right_2.png)}");
+    ui->pushButton_Right_Forward->setFlat(true);
+
+    // 1 -> Left_Back: ↙
+    ui->pushButton_Left_Back->setShortcut(Qt::Key_1);
+    ui->pushButton_Left_Back->setStyleSheet(
+                "QPushButton{border-image: url(://images/down_left.png)}"
+                "QPushButton{border:none}"
+                "QPushButton:pressed{border-image: url(://images/down_left_2.png)}");
+    ui->pushButton_Left_Back->setFlat(true);
+
+    // 3 -> Right_Back: ↘
+    ui->pushButton_Right_Back->setShortcut(Qt::Key_3);
+    ui->pushButton_Right_Back->setStyleSheet(
+                "QPushButton{border-image: url(://images/down_right.png)}"
+                "QPushButton{border:none}"
+                "QPushButton:pressed{border-image: url(://images/down_right_2.png)}");
+    ui->pushButton_Right_Back->setFlat(true);
+
+}
+
 
 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';
-    }
-    */
 
+    if (btn_name == "↙")
+        key = '1';
+    else if (btn_name == "↓")
+        key = '2';
+    else if (btn_name == "↘")
+        key = '3';
+    else if (btn_name == "←")
+        key = '4';
+    //else if (btn_name == "")
+      //  key = '5';
+    else if (btn_name == "→")
+        key = '6';
+    else if (btn_name == "↖")
+        key = '7';
+    else if (btn_name == "↑")
+        key = '8';
+    else if (btn_name == "↗")
+        key = '9';
 
-    qnode.KeyboardMove(key);
+    //速度
+    float liner = ui->horizontalSlider_linear->value() * 0.01;
+    float turn = ui->horizontalSlider_raw->value() * 0.01;
+    //bool is_rage_mode = ui->checkBox_rage_mode->isChecked();
+    //std::cout<<liner<<" "<<turn<<std::endl;
+    qnode.KeyboardMove(key, liner, turn);
 
 }
 
-void MainWindow::connections(){
+
-    //绑定速度控制按钮
+void MainWindow::slot_rockKeyChange(int key){
-    ui->pushButton_W->setShortcut(Qt::Key_W);
+    //速度
-    connect(ui->pushButton_W, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
+    float liner = ui->horizontalSlider_linear->value() * 0.01;
-    ui->pushButton_S->setShortcut(Qt::Key_S);
+    float turn = ui->horizontalSlider_raw->value() * 0.01;
-    connect(ui->pushButton_S, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
+    switch (key) {
-    ui->pushButton_A->setShortcut(Qt::Key_A);
+    case upleft:
-    connect(ui->pushButton_A, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
+        qnode.KeyboardMove('7', liner, turn);
-    ui->pushButton_D->setShortcut(Qt::Key_D);
+        break;
-    connect(ui->pushButton_D, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
+    case up:
-    connect(ui->pushButton_shift, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
+        qnode.KeyboardMove('8', liner, turn);
-    //
+        break;
-    //QObject::connect(&qnode, SIGNAL(loggingCamera()), this, SLOT(slot_updateCamera()));
+    case upright:
+        qnode.KeyboardMove('9', liner, turn);
+        break;
+    case left:
+        qnode.KeyboardMove('4', liner, turn);
+        break;
+    case right:
+        qnode.KeyboardMove('6', liner, turn);
+        break;
+    case downleft:
+        qnode.KeyboardMove('1', liner, turn);
+        break;
+    case down:
+        qnode.KeyboardMove('2', liner, turn);
+        break;
+    case downright:
+        qnode.KeyboardMove('3', liner, turn);
+        break;
+    }
+
 }
 
+void MainWindow::connections(){
+    QObject::connect(ui->btn_main, &QPushButton::clicked, this, [=](){
+        ui->stackedWidget_main->setCurrentIndex(0);
+    });
+    QObject::connect(ui->btn_uav, &QPushButton::clicked, this, [=](){
+        ui->stackedWidget_main->setCurrentIndex(1);
+    });
+    QObject::connect(ui->btn_ugv, &QPushButton::clicked, this, [=](){
+        ui->stackedWidget_main->setCurrentIndex(2);
+    });
+    /*
+     * 绑定速度控制按钮
+     */
+
+    // 8 -> Forward: ↑
+    connect(ui->pushButton_Forward, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
+    // 2 -> Back: ↓
+    connect(ui->pushButton_Back, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
+    // 4 -> Left: ←
+    connect(ui->pushButton_Left, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
+    // 6 -> Right: →
+    connect(ui->pushButton_Right, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
+    // 7 -> Left_Forward: ↖
+    connect(ui->pushButton_Left_Forward, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
+    // 9 -> Right_Forward: ↗
+    connect(ui->pushButton_Right_Forward, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
+    // 1 -> Left_Back: ↙
+    connect(ui->pushButton_Left_Back, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
+    // 3 -> Right_Back: ↘
+    connect(ui->pushButton_Right_Back, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
+
+    connect(rock_widget, SIGNAL(keyNumchanged(int)), this,
+            SLOT(slot_rockKeyChange(int)));
 
-/*
+    //绑定slider的函数
-void MainWindow::slot_dispalyCamera(const QImage &image){
+    connect(ui->horizontalSlider_raw, SIGNAL(valueChanged(int)), this,
-    qimage_mutex.lock();
+            SLOT(Slider_raw_valueChanged(int)));
-    qimage = image.copy();
+    connect(ui->horizontalSlider_linear, SIGNAL(valueChanged(int)), this,
-    ui->UGV_Vedio->setPixmap(QPixmap::fromImage(qimage));
+            SLOT(Slider_linear_valueChanged(int)));
-    ui->UGV_Vedio->resize(ui->UGV_Vedio->pixmap()->size());
-    qimage_mutex.unlock();
 }
 
-void MainWindow::slot_updateCamera()
+//滑动条处理槽函数
-{
+void MainWindow::Slider_raw_valueChanged(int v) {
-  slot_dispalyCamera(qnode.image);
+  ui->label_raw->setText(QString::number(v));
+}
+//滑动条处理槽函数
+void MainWindow::Slider_linear_valueChanged(int v) {
+  ui->label_linear->setText(QString::number(v));
 }
-*/
 
 

src/main/qnode.cpp

@@ -30,37 +30,35 @@ void QNode::SubAndPubTopic(){
     cmd_pub = n.advertise<geometry_msgs::Twist>("cmd_vel", 1);
 }
 
-void QNode::KeyboardMove(char key){
+void QNode::KeyboardMove(char key, float speed_linear, float speed_trun){
     std::map<char, std::vector<float>> moveBindings {
-        // {'key', {speed, turn}}
+        // {'key', {x, y, z, th}}
-        {'w', {1, 0}}, {'s', {-1, 0}}, {'a', {0, 1}}, {'d', {0, -1}},
+        {'7', {1, 1, 0, 1}},  {'8', {1, 0, 0, 0}},  {'9', {1, -1, 0, -1}},
-        {'W', {1, 0}}, {'S', {-1, 0}}, {'A', {0, 1}}, {'D', {0, -1}}
+        {'4', {0, 0, 0, 1}}, {'5', {0, 0, 0, 0}},   {'6', {0, 0, 0, -1}},
+        {'1', {-1, 1, 0, 1}}, {'2', {-1, 0, 0, 0}}, {'3', {-1, -1, 0, -1}}
     };
 
     float x = moveBindings[key][0];
-    float z = moveBindings[key][1];
+    float y = moveBindings[key][1];
+    float z = moveBindings[key][2];
+    float th = moveBindings[key][3];
+
+    //计算线速度和角速度
+    float speed = speed_linear;
+    float turn = speed_trun;
+
+
 
     geometry_msgs::Twist twist;
-    twist.linear.x = x;
+    twist.linear.x = x * speed;
-    twist.angular.z = z;
+    twist.linear.y = y * speed;
+    twist.linear.z = z * speed;
+
+    twist.angular.x = 0;
+    twist.angular.y = 0;
+    twist.angular.z = th * turn;
+
     cmd_pub.publish(twist);
     ros::spinOnce();
 }
 
-/*
-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!");
-    Q_EMIT loggingCamera();
-  }
-catch (cv_bridge::Exception& e)
-  {
-    ROS_ERROR("Could not convert from '%s' to 'bgr8'.", msg->encoding.c_str());
-  }
-}
-*/

src/resources/images.qrc

@@ -0,0 +1,20 @@
+<RCC>
+    <qresource prefix="/">
+        <file>images/down.png</file>
+        <file>images/down_2.png</file>
+        <file>images/down_left.png</file>
+        <file>images/down_left_2.png</file>
+        <file>images/down_right.png</file>
+        <file>images/down_right_2.png</file>
+        <file>images/left.png</file>
+        <file>images/left_2.png</file>
+        <file>images/right.png</file>
+        <file>images/right_2.png</file>
+        <file>images/up.png</file>
+        <file>images/up_2.png</file>
+        <file>images/up_left.png</file>
+        <file>images/up_left_2.png</file>
+        <file>images/up_right.png</file>
+        <file>images/up_right_2.png</file>
+    </qresource>
+</RCC>

src/ui/Triplet/1.txt

@@ -0,0 +1 @@
+test

src/ui/mainwindow.hpp

@@ -6,6 +6,7 @@
 #include <QMutex>
 
 #include "ui_mainwindow.h"
+#include "../include/joystick.h"
 #include "../include/qnode.hpp"
 
 namespace Ui {
@@ -19,18 +20,39 @@ class MainWindow : public QMainWindow
 public:
     explicit MainWindow(int argc, char **argv, QWidget *parent = 0);
     ~MainWindow();
+    enum {
+        upleft = 0,
+        up,
+        upright,
+        left,
+        stop,
+        right,
+        downleft,
+        down,
+        downright
+      };
+
+
 
 public slots:
     void slot_keyboard_control();
-    //void slot_updateCamera();
+    //void slot_command_control(int linear, int angular);
-    //void slot_dispalyCamera(const QImage& image);
+    void slot_rockKeyChange(int);
+    void Slider_raw_valueChanged(int v);
+    void Slider_linear_valueChanged(int v);
+
+
 
 private:
     Ui::MainWindow *ui;
-    void connections();
     QNode qnode;
-    //QImage qimage;
+    JoyStick *rock_widget;
-    //mutable QMutex qimage_mutex;
+
+    void initUis();
+    void setBtnStyles();
+    void connections();
+
+
 
 };
 

src/ui/mainwindow.ui

@@ -6,36 +6,100 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>1600</width>
+    <width>1440</width>
-    <height>900</height>
+    <height>810</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>MainWindow</string>
   </property>
+  <property name="styleSheet">
+   <string notr="true"/>
+  </property>
   <widget class="QWidget" name="centralwidget">
-   <widget class="QWidget" name="layoutWidget">
+   <layout class="QVBoxLayout" name="verticalLayout">
+    <item>
+     <widget class="QStackedWidget" name="stackedWidget_main">
+      <property name="currentIndex">
+       <number>2</number>
+      </property>
+      <widget class="QWidget" name="mainWidget">
+       <widget class="QLabel" name="label_2">
+        <property name="geometry">
+         <rect>
+          <x>780</x>
+          <y>200</y>
+          <width>311</width>
+          <height>151</height>
+         </rect>
+        </property>
+        <property name="text">
+         <string>Main Widget</string>
+        </property>
+       </widget>
+      </widget>
+      <widget class="QWidget" name="UAVWidget">
+       <widget class="QLabel" name="label">
+        <property name="geometry">
+         <rect>
+          <x>830</x>
+          <y>280</y>
+          <width>271</width>
+          <height>121</height>
+         </rect>
+        </property>
+        <property name="text">
+         <string>UAV Widget</string>
+        </property>
+       </widget>
+      </widget>
+      <widget class="QWidget" name="UGVWidget">
+       <widget class="QWidget" name="">
         <property name="geometry">
          <rect>
-      <x>1160</x>
+          <x>1000</x>
-      <y>240</y>
+          <y>30</y>
-      <width>314</width>
+          <width>407</width>
-      <height>164</height>
+          <height>680</height>
          </rect>
         </property>
-    <layout class="QGridLayout" name="gridLayout">
+        <layout class="QVBoxLayout" name="verticalLayout_2">
-     <item row="0" column="1">
+         <item>
-      <widget class="QPushButton" name="pushButton_W">
+          <widget class="QStackedWidget" name="stackedWidget_ros_control">
+           <widget class="QWidget" name="keyboard_control">
+            <layout class="QHBoxLayout" name="horizontalLayout_3">
+             <item>
+              <layout class="QVBoxLayout" name="verticalLayout_3">
+               <item>
+                <spacer name="verticalSpacer_3">
+                 <property name="orientation">
+                  <enum>Qt::Vertical</enum>
+                 </property>
+                 <property name="sizeType">
+                  <enum>QSizePolicy::Preferred</enum>
+                 </property>
+                 <property name="sizeHint" stdset="0">
+                  <size>
+                   <width>20</width>
+                   <height>20</height>
+                  </size>
+                 </property>
+                </spacer>
+               </item>
+               <item>
+                <layout class="QHBoxLayout" name="horizontalLayout_2">
+                 <item>
+                  <widget class="QPushButton" name="pushButton_Left_Forward">
                    <property name="minimumSize">
                     <size>
-         <width>100</width>
+                     <width>64</width>
-         <height>50</height>
+                     <height>64</height>
                     </size>
                    </property>
                    <property name="maximumSize">
                     <size>
-         <width>100</width>
+                     <width>64</width>
-         <height>50</height>
+                     <height>64</height>
                     </size>
                    </property>
                    <property name="font">
@@ -44,22 +108,22 @@
                     </font>
                    </property>
                    <property name="text">
-        <string>前</string>
+                    <string>↖</string>
                    </property>
                   </widget>
                  </item>
-     <item row="1" column="2">
+                 <item>
-      <widget class="QPushButton" name="pushButton_D">
+                  <widget class="QPushButton" name="pushButton_Forward">
                    <property name="minimumSize">
                     <size>
-         <width>100</width>
+                     <width>64</width>
-         <height>50</height>
+                     <height>64</height>
                     </size>
                    </property>
                    <property name="maximumSize">
                     <size>
-         <width>100</width>
+                     <width>64</width>
-         <height>50</height>
+                     <height>64</height>
                     </size>
                    </property>
                    <property name="font">
@@ -67,23 +131,26 @@
                      <pointsize>15</pointsize>
                     </font>
                    </property>
+                   <property name="styleSheet">
+                    <string notr="true">QPushButton{border-image: url(://images/up.png);}</string>
+                   </property>
                    <property name="text">
-        <string>右</string>
+                    <string>↑</string>
                    </property>
                   </widget>
                  </item>
-     <item row="1" column="0">
+                 <item>
-      <widget class="QPushButton" name="pushButton_A">
+                  <widget class="QPushButton" name="pushButton_Right_Forward">
                    <property name="minimumSize">
                     <size>
-         <width>100</width>
+                     <width>64</width>
-         <height>50</height>
+                     <height>64</height>
                     </size>
                    </property>
                    <property name="maximumSize">
                     <size>
-         <width>100</width>
+                     <width>64</width>
-         <height>50</height>
+                     <height>64</height>
                     </size>
                    </property>
                    <property name="font">
@@ -92,22 +159,26 @@
                     </font>
                    </property>
                    <property name="text">
-        <string>左</string>
+                    <string>↗</string>
                    </property>
                   </widget>
                  </item>
-     <item row="2" column="1">
+                </layout>
-      <widget class="QPushButton" name="pushButton_S">
+               </item>
+               <item>
+                <layout class="QHBoxLayout" name="horizontalLayout_18">
+                 <item>
+                  <widget class="QPushButton" name="pushButton_Left">
                    <property name="minimumSize">
                     <size>
-         <width>100</width>
+                     <width>64</width>
-         <height>50</height>
+                     <height>64</height>
                     </size>
                    </property>
                    <property name="maximumSize">
                     <size>
-         <width>100</width>
+                     <width>64</width>
-         <height>50</height>
+                     <height>64</height>
                     </size>
                    </property>
                    <property name="font">
@@ -116,22 +187,44 @@
                     </font>
                    </property>
                    <property name="text">
-        <string>后</string>
+                    <string>←</string>
                    </property>
                   </widget>
                  </item>
-     <item row="1" column="1">
+                 <item>
-      <widget class="QPushButton" name="pushButton_shift">
+                  <widget class="QCheckBox" name="checkBox_use_all">
+                   <property name="minimumSize">
+                    <size>
+                     <width>90</width>
+                     <height>64</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>90</width>
+                     <height>64</height>
+                    </size>
+                   </property>
+                   <property name="text">
+                    <string>全向模式（k）</string>
+                   </property>
+                   <property name="shortcut">
+                    <string>K</string>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <widget class="QPushButton" name="pushButton_Right">
                    <property name="minimumSize">
                     <size>
-         <width>100</width>
+                     <width>64</width>
-         <height>50</height>
+                     <height>64</height>
                     </size>
                    </property>
                    <property name="maximumSize">
                     <size>
-         <width>100</width>
+                     <width>64</width>
-         <height>50</height>
+                     <height>64</height>
                     </size>
                    </property>
                    <property name="font">
@@ -139,110 +232,571 @@
                      <pointsize>15</pointsize>
                     </font>
                    </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
                    <property name="text">
-        <string>加速</string>
+                    <string>→</string>
                    </property>
                   </widget>
                  </item>
                 </layout>
-   </widget>
+               </item>
-   <widget class="QLabel" name="UGV_Vedio">
+               <item>
-    <property name="geometry">
+                <layout class="QHBoxLayout" name="horizontalLayout_19">
-     <rect>
+                 <item>
-      <x>610</x>
+                  <widget class="QPushButton" name="pushButton_Left_Back">
-      <y>60</y>
+                   <property name="minimumSize">
-      <width>321</width>
+                    <size>
-      <height>211</height>
+                     <width>64</width>
-     </rect>
+                     <height>64</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>64</width>
+                     <height>64</height>
+                    </size>
+                   </property>
+                   <property name="font">
+                    <font>
+                     <pointsize>15</pointsize>
+                    </font>
                    </property>
                    <property name="text">
-     <string>TextLabel</string>
+                    <string>↙</string>
                    </property>
                   </widget>
-   <widget class="QWidget" name="">
+                 </item>
-    <property name="geometry">
-     <rect>
-      <x>60</x>
-      <y>30</y>
-      <width>502</width>
-      <height>654</height>
-     </rect>
-    </property>
-    <layout class="QVBoxLayout" name="verticalLayout">
                  <item>
-      <widget class="QLabel" name="UAV_Vedio">
+                  <widget class="QPushButton" name="pushButton_Back">
                    <property name="minimumSize">
                     <size>
-         <width>500</width>
+                     <width>64</width>
-         <height>300</height>
+                     <height>64</height>
                     </size>
                    </property>
                    <property name="maximumSize">
                     <size>
-         <width>500</width>
+                     <width>64</width>
-         <height>300</height>
+                     <height>64</height>
                     </size>
                    </property>
-       <property name="mouseTracking">
+                   <property name="font">
-        <bool>false</bool>
+                    <font>
+                     <pointsize>15</pointsize>
+                    </font>
                    </property>
                    <property name="styleSheet">
-        <string notr="true"/>
+                    <string notr="true">QPushButton{border-image: url(://images/down.png);}
+QPushButton{border:none;}
+QPushButton:pressed{border-image: url(://images/down_2.png);}</string>
                    </property>
                    <property name="text">
-        <string>UAV_VEDIO</string>
+                    <string>↓</string>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <widget class="QPushButton" name="pushButton_Right_Back">
+                   <property name="minimumSize">
+                    <size>
+                     <width>64</width>
+                     <height>64</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>64</width>
+                     <height>64</height>
+                    </size>
+                   </property>
+                   <property name="font">
+                    <font>
+                     <pointsize>15</pointsize>
+                    </font>
                    </property>
-       <property name="scaledContents">
+                   <property name="text">
-        <bool>false</bool>
+                    <string>↘</string>
                    </property>
                   </widget>
                  </item>
+                </layout>
+               </item>
                <item>
                 <spacer name="verticalSpacer">
                  <property name="orientation">
                   <enum>Qt::Vertical</enum>
                  </property>
+                 <property name="sizeType">
+                  <enum>QSizePolicy::Fixed</enum>
+                 </property>
+                 <property name="sizeHint" stdset="0">
+                  <size>
+                   <width>20</width>
+                   <height>30</height>
+                  </size>
+                 </property>
+                </spacer>
+               </item>
+               <item>
+                <layout class="QHBoxLayout" name="horizontalLayout">
+                 <item>
+                  <spacer name="horizontalSpacer">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeType">
+                    <enum>QSizePolicy::Fixed</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>10</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item>
+                  <layout class="QHBoxLayout" name="horizontalLayout_21">
+                   <item>
+                    <widget class="QLabel" name="label_linear_">
+                     <property name="text">
+                      <string>线速度(cm/s)：</string>
+                     </property>
+                    </widget>
+                   </item>
+                   <item>
+                    <widget class="QSlider" name="horizontalSlider_linear">
+                     <property name="maximum">
+                      <number>100</number>
+                     </property>
+                     <property name="singleStep">
+                      <number>1</number>
+                     </property>
+                     <property name="value">
+                      <number>50</number>
+                     </property>
+                     <property name="orientation">
+                      <enum>Qt::Horizontal</enum>
+                     </property>
+                    </widget>
+                   </item>
+                   <item>
+                    <widget class="QLabel" name="label_linear">
+                     <property name="text">
+                      <string>50</string>
+                     </property>
+                    </widget>
+                   </item>
+                  </layout>
+                 </item>
+                 <item>
+                  <spacer name="horizontalSpacer_2">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeType">
+                    <enum>QSizePolicy::Fixed</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>20</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                </layout>
+               </item>
+               <item>
+                <layout class="QHBoxLayout" name="horizontalLayout_20">
+                 <item>
+                  <spacer name="horizontalSpacer_3">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeType">
+                    <enum>QSizePolicy::Fixed</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>10</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item>
+                  <widget class="QLabel" name="label_raw_">
+                   <property name="text">
+                    <string>角速度(cm/s)：</string>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <widget class="QSlider" name="horizontalSlider_raw">
+                   <property name="maximum">
+                    <number>100</number>
+                   </property>
+                   <property name="value">
+                    <number>100</number>
+                   </property>
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <widget class="QLabel" name="label_raw">
+                   <property name="text">
+                    <string>100</string>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <spacer name="horizontalSpacer_4">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeType">
+                    <enum>QSizePolicy::Fixed</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>20</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                </layout>
+               </item>
+               <item>
+                <spacer name="verticalSpacer_2">
+                 <property name="orientation">
+                  <enum>Qt::Vertical</enum>
+                 </property>
+                 <property name="sizeType">
+                  <enum>QSizePolicy::Fixed</enum>
+                 </property>
                  <property name="sizeHint" stdset="0">
                   <size>
                    <width>20</width>
-         <height>40</height>
+                   <height>30</height>
                   </size>
                  </property>
                 </spacer>
                </item>
                <item>
-      <widget class="QLabel" name="UAV_Path">
+                <layout class="QHBoxLayout" name="horizontalLayout_24">
+                 <item>
+                  <spacer name="horizontalSpacer_5">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeType">
+                    <enum>QSizePolicy::Expanding</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>40</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item>
+                  <widget class="QWidget" name="JoyStick_widget" native="true">
                    <property name="minimumSize">
                     <size>
-         <width>500</width>
+                     <width>200</width>
-         <height>300</height>
+                     <height>200</height>
                     </size>
                    </property>
-       <property name="maximumSize">
+                   <layout class="QHBoxLayout" name="horizontalLayout_25"/>
+                  </widget>
+                 </item>
+                 <item>
+                  <spacer name="horizontalSpacer_6">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeType">
+                    <enum>QSizePolicy::Expanding</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>40</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                </layout>
+               </item>
+               <item>
+                <spacer name="verticalSpacer_4">
+                 <property name="orientation">
+                  <enum>Qt::Vertical</enum>
+                 </property>
+                 <property name="sizeHint" stdset="0">
+                  <size>
+                   <width>385</width>
+                   <height>21</height>
+                  </size>
+                 </property>
+                </spacer>
+               </item>
+              </layout>
+             </item>
+            </layout>
+           </widget>
+           <widget class="QWidget" name="system_control"/>
+          </widget>
+         </item>
+         <item>
+          <layout class="QHBoxLayout" name="horizontalLayout_menu_2">
+           <property name="spacing">
+            <number>0</number>
+           </property>
+           <item>
+            <spacer name="horizontalSpacer_7">
+             <property name="orientation">
+              <enum>Qt::Horizontal</enum>
+             </property>
+             <property name="sizeType">
+              <enum>QSizePolicy::Fixed</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>10</width>
+               <height>20</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+           <item>
+            <widget class="QPushButton" name="pushButton">
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>45</height>
+              </size>
+             </property>
+             <property name="text">
+              <string>system</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QPushButton" name="pushButton_2">
+             <property name="minimumSize">
               <size>
-         <width>500</width>
+               <width>0</width>
-         <height>300</height>
+               <height>45</height>
               </size>
              </property>
              <property name="text">
-        <string>PATH</string>
+              <string>keyboard</string>
              </property>
             </widget>
            </item>
+           <item>
+            <spacer name="horizontalSpacer_8">
+             <property name="orientation">
+              <enum>Qt::Horizontal</enum>
+             </property>
+             <property name="sizeType">
+              <enum>QSizePolicy::Fixed</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>20</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+          </layout>
+         </item>
         </layout>
        </widget>
       </widget>
-  <widget class="QMenuBar" name="menubar">
+     </widget>
-   <property name="geometry">
+    </item>
-    <rect>
+    <item>
-     <x>0</x>
+     <layout class="QHBoxLayout" name="horizontalLayout_menu">
-     <y>0</y>
+      <property name="spacing">
-     <width>1600</width>
+       <number>0</number>
-     <height>22</height>
+      </property>
-    </rect>
+      <item>
+       <widget class="QPushButton" name="btn_main">
+        <property name="minimumSize">
+         <size>
+          <width>0</width>
+          <height>60</height>
+         </size>
+        </property>
+        <property name="styleSheet">
+         <string notr="true"/>
+        </property>
+        <property name="text">
+         <string/>
+        </property>
+        <property name="iconSize">
+         <size>
+          <width>32</width>
+          <height>32</height>
+         </size>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="btn_uav">
+        <property name="minimumSize">
+         <size>
+          <width>0</width>
+          <height>60</height>
+         </size>
+        </property>
+        <property name="styleSheet">
+         <string notr="true"/>
+        </property>
+        <property name="text">
+         <string/>
+        </property>
+        <property name="iconSize">
+         <size>
+          <width>32</width>
+          <height>32</height>
+         </size>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="btn_ugv">
+        <property name="minimumSize">
+         <size>
+          <width>0</width>
+          <height>60</height>
+         </size>
+        </property>
+        <property name="cursor">
+         <cursorShape>ArrowCursor</cursorShape>
+        </property>
+        <property name="styleSheet">
+         <string notr="true"/>
+        </property>
+        <property name="text">
+         <string/>
+        </property>
+        <property name="icon">
+         <iconset theme="://images/toolbar_dash.png">
+          <normaloff>../../../../../catkin_ws/src/Ros_Qt5_Gui_App/ui</normaloff>../../../../../catkin_ws/src/Ros_Qt5_Gui_App/ui</iconset>
+        </property>
+        <property name="iconSize">
+         <size>
+          <width>32</width>
+          <height>32</height>
+         </size>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="btn_map">
+        <property name="minimumSize">
+         <size>
+          <width>0</width>
+          <height>60</height>
+         </size>
+        </property>
+        <property name="cursor">
+         <cursorShape>PointingHandCursor</cursorShape>
+        </property>
+        <property name="styleSheet">
+         <string notr="true">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;
+}</string>
+        </property>
+        <property name="text">
+         <string/>
+        </property>
+        <property name="icon">
+         <iconset theme="://images/toolbar_map.png">
+          <normaloff>../../../../../catkin_ws/src/Ros_Qt5_Gui_App/ui</normaloff>../../../../../catkin_ws/src/Ros_Qt5_Gui_App/ui</iconset>
         </property>
+        <property name="iconSize">
+         <size>
+          <width>32</width>
+          <height>32</height>
+         </size>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="btn_other">
+        <property name="minimumSize">
+         <size>
+          <width>0</width>
+          <height>60</height>
+         </size>
+        </property>
+        <property name="cursor">
+         <cursorShape>PointingHandCursor</cursorShape>
+        </property>
+        <property name="styleSheet">
+         <string notr="true">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;
+}</string>
+        </property>
+        <property name="text">
+         <string/>
+        </property>
+        <property name="icon">
+         <iconset theme="://images/toolbar_other.png">
+          <normaloff>../../../../../catkin_ws/src/Ros_Qt5_Gui_App/ui</normaloff>../../../../../catkin_ws/src/Ros_Qt5_Gui_App/ui</iconset>
+        </property>
+        <property name="iconSize">
+         <size>
+          <width>32</width>
+          <height>32</height>
+         </size>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </item>
+   </layout>
   </widget>
-  <widget class="QStatusBar" name="statusbar"/>
  </widget>
  <resources/>
  <connections/>