# ROS_QT_GUI

**Repository Path**: mengxiangyi/ROS_QT_GUI

## Basic Information

- **Project Name**: ROS_QT_GUI
- **Description**: Combine ros and qt library, and some other open-source libraries, to make the ROS develop more flexible.
- **Primary Language**: C++
- **License**: MIT
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 0
- **Created**: 2020-03-19
- **Last Updated**: 2020-12-19

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

## Author
- **Welin**  2018.02.23
- modified in 2018.10.31

## Overview
In the project, so many ways are provided to implement ROS-Qt GUI, namely rqt, such as qt4, qt5, pyqt4. Also ROS could be treated as a open-source library to extend some other module by using CMAKE, not just using catkin_make/rosbuild, to make the development more flexible.

## Description
* In this project, three approaches are provided to implement ROS&Qt GUI and another two projects for PyQt GUI.
* In the test_gui package, it just modified the example in catkin_create_qt_pkg depending on qt_build using Qt4 library.
* In the rqt_mypkg package, it is the C++ rqt_plugin test depending on rqt_gui_cpp.
* In the qt_ros_test package, it combines ROS with Qt5 library.

The above three are written in C++ programmer.
The following two below are written in Python.

* In the ros_pyqt package, it uses PyQt (PyQt4) to implement the GUI.
* In the pyqt_gui package, it uses PyQt and python_qt_binding to implement the GUI.


In the qt4rosgui package, it uses Qt4 libraries to implement the ROS-GUI **NOT** depends on qt-ros package (namely command *catkin_create_qt_pkg*).

In the librviz_test package, it uses librviz to build a visualizer tool for display using Qt4.

For more complicated examples, please see the package dyn_cfg_gui or ros_cv_gui, it is the implementation for rqt_reconfigure and some image processing by using OpenCV and Qt5. Also see [ROS_dynamic_reconfig](https://github.com/WelinLee/ROS_dynamic_reconfig "ROS_dynamic_reconfig"), [ros_cv_qt_gui](https://github.com/WelinLee/ros_cv_qt_gui) and [ros_opencv_pro](https://github.com/WelinLee/ROS_OPENCV_PRO) for detail.

## TODO
```sh
    $ mkdir -p catkin_ws/src
    $ cd catkin_ws/src
```

git clone the project from the corrent URL

```sh
    $ cd ..
    $ catkin_make
    $ source devel/setup.bash
```

Then, rosrun test_gui test_gui *or* rosrun qt_ros_test qt_ros_test_node *or* rosrun qt4rosgui qt4rosgui_node. The effect is below:

![ROS_QT_GUI](docs/images/test_gui.png)

To run the rqt_mypkg, just open rqt (rosrun rqt_gui rqt_gui), and the "rqt first C++ plugin" could be found in the Plugins menu. The effect is below:

![ROS_QT_GUI](docs/images/rqt_mypkg.png)

To run ros_pyqt *or* pyqt_gui, just using the command *python ros_pyqt* or *python pyqt_gui*. The effect is below:

![ROS_QT_GUI](docs/images/pyqt_gui.png)

If you have a mobile robot such as TurtleBot or else, the slam navigation status could be shown as below. Just run ros vizlib_test vizlib_test_node.

![ROS_QT_GUI](docs/images/librviz_gui.jpg)

Using rosrun dyn_cfg_gui dyn_cfg_gui command, the effect is shown below.

![ROS_QT_GUI](docs/images/rqt_recfg.png)

The ros&opencv example is also provided as shown below. 
```sh
    $ rosrun ros_cv_gui ros_cv_gui_node
```
![ROS_QT_GUI](docs/images/ros_cv_gui.png)



###**Especially**,
the ros_cmake package could be separated in a individual directory, not using catkin_make/rosbuild.
```sh
    $ mkdir build
    $ cd build
    $ cmake ..
    $ make
    $ ./ros_cmake     #the executable program
```
The effect is shown below, the topic has been subscribed. Remember to open roscore at first.

![ROS_QT_GUI](docs/images/ros_cmake.png)


Enjoy!