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46 lines
823 B
46 lines
823 B
#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 <iostream>
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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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using namespace std;
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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, float speed_linear, float speed_trun);
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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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};
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#endif
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