ROS melodic环境下QT工程搭建

爱被打了一巴掌 2022-10-25 11:25 328阅读 0赞

QT的下载与安装参照这篇文章：[https://blog.csdn.net/qq\_34911636/article/details/113185626?spm=1001.2014.3001.5501][https_blog.csdn.net_qq_34911636_article_details_113185626_spm_1001.2014.3001.5501]

安装完QT软件之后设置QT软件的快捷打开方式和安装QT-ROS插件相关依赖，具体步骤如下：

在usr/bin/路径下面创建qtcreator文件

sudo gedit /usr/bin/qtcreator

在qtcreator文件里面添加以下内容：

export QT_HOME=/xxxxx/xxxxx/QTxxx/Tools/QtCreator/bin
    
    $QT_HOME/qtcreator $*

其中/xxxxx/xxxxx/为具体的安装路径，比如我们上面举例的安装路径为/opt/，那么就把/xxxxx/xxxxx/替换为/opt/

更改qtcreator文件的可执行权限

sudo chmod 777 /usr/bin/qtcreator

然后在终端中输入qtcreator命令即可打开QT

安装依赖：

sudo apt-get install ros-melodic-qt-create
    sudo apt-get install ros-melodic-qt-build

（1） 创建ROS-QT功能包

创建ROS功能包

cd /root
    mkdir -p catkin_demo/src
    catkin_init_workspace
    cd ..
    catkin_make

创建ROS-QT功能包  
   //catkin\_create\_qt\_pkg命令用于创建带UI界面的QT-ROS功能包，依赖库根据需求填写如：catkin\_create\_qt\_pkg qtros rviz std\_msgs rospy roscpp

cd ~/catkin_demo/src
    catkin_create_qt_pkg qtros rviz std_msgs rospy roscpp
    cd ..
    catkin_make

执行catkin\_make命令之后会出现如下错误：

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzM0OTExNjM2_size_16_color_FFFFFF_t_70][]

出错的原因是没有找到对应的QT4版本，因为我们的功能包默认使用的是QT4版本，而我们安装的版本是QT5所以需要更改CMakeList.txt文件

1 CMakeList.txt文件中设置包含当前目录并添加C++11标准，向CMakeList.txt文件添加以下两个设置

set(CMAKE_INCLUDE_CURRENT_DIR ON)
    set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")

![20210308174140698.png][]

2 CMakeList.txt文件中添加QT库

find_package(Qt5 REQUIRED Core Widgets)
    set(QT_LIBRARIES Qt5::Widgets)

![20210308174439705.png][]

3 把CMakeList.txt文件中的rosbuild\_prepare\_qt4(QtCore QtGui)注释掉

![20210308174641885.png][]

4 把CMakeList.txt文件QT4......全部改成QT5

QT4_ADD_RESOURCES(QT_RESOURCES_CPP ${QT_RESOURCES})
    QT4_WRAP_UI(QT_FORMS_HPP ${QT_FORMS})
    QT4_WRAP_CPP(QT_MOC_HPP ${QT_MOC})
    改成如下：
    QT5_ADD_RESOURCES(QT_RESOURCES_CPP ${QT_RESOURCES})
    QT5_WRAP_UI(QT_FORMS_HPP ${QT_FORMS})
    QT5_WRAP_CPP(QT_MOC_HPP ${QT_MOC})

5 把ROS-QT功能包中main\_window.hpp头文件中的\#include <QtGui/QMainWindow> 改成\#include <QtWidgets/QMainWindow>

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzM0OTExNjM2_size_16_color_FFFFFF_t_70 1][]

#include <QtWidgets/QMainWindow>

基础ROS-QT功能包CMakeList.txt文件的设置参考如下：

##############################################################################
    # CMake
    ##############################################################################
    
    cmake_minimum_required(VERSION 2.8.0)
    project(qtros)
    set(CMAKE_INCLUDE_CURRENT_DIR ON)
    set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
    ##############################################################################
    # Catkin
    ##############################################################################
    
    # qt_build provides the qt cmake glue, roscpp the comms for a default talker
    find_package(catkin REQUIRED COMPONENTS rviz qt_build roscpp)
    find_package(Qt5 REQUIRED Core Widgets)
    set(QT_LIBRARIES Qt5::Widgets)
    include_directories(${catkin_INCLUDE_DIRS})
    # Use this to define what the package will export (e.g. libs, headers).
    # Since the default here is to produce only a binary, we don't worry about
    # exporting anything. 
    catkin_package()
    
    ##############################################################################
    # Qt Environment
    ##############################################################################
    
    # this comes from qt_build's qt-ros.cmake which is automatically 
    # included via the dependency call in package.xml
    #rosbuild_prepare_qt4(QtCore QtGui) # Add the appropriate components to the component list here
    
    ##############################################################################
    # Sections
    ##############################################################################
    
    file(GLOB QT_FORMS RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} ui/*.ui)
    file(GLOB QT_RESOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} resources/*.qrc)
    file(GLOB_RECURSE QT_MOC RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} FOLLOW_SYMLINKS include/qtros/*.hpp)
    
    QT5_ADD_RESOURCES(QT_RESOURCES_CPP ${QT_RESOURCES})
    QT5_WRAP_UI(QT_FORMS_HPP ${QT_FORMS})
    QT5_WRAP_CPP(QT_MOC_HPP ${QT_MOC})
    
    ##############################################################################
    # Sources
    ##############################################################################
    
    file(GLOB_RECURSE QT_SOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} FOLLOW_SYMLINKS src/*.cpp)
    
    ##############################################################################
    # Binaries
    ##############################################################################
    
    add_executable(qtros ${QT_SOURCES} ${QT_RESOURCES_CPP} ${QT_FORMS_HPP} ${QT_MOC_HPP})
    target_link_libraries(qtros ${QT_LIBRARIES} ${catkin_LIBRARIES})
    install(TARGETS qtros RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

改完之后在cd ~/catkin\_demo目录下执行catkin\_make命令，执行catkin\_make命令之后设置一下环境变量source devel/setup.bash

然后在终端中输入：

![20210308175645664.png][]

即可成功运行程序：

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzM0OTExNjM2_size_16_color_FFFFFF_t_70 2][]

(2) 在终端中输入：qtcreator，打开QT软件

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzM0OTExNjM2_size_16_color_FFFFFF_t_70 3][]

（3）点击“文件”->“打开文件或项目”出现如下对话框，找到工作空间catkin\_ws/src目录的CMakeList.txt，选择”CMakeList.txt“并点击”打开“

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzM0OTExNjM2_size_16_color_FFFFFF_t_70 4][]

(3)打开”CMakeList.txt“文件之后出现如下界面，在该界面中主要关注Imported Kit-temporary里的Build选项，Build选项的路径一定要选择在当前编译工作空间下的Build目录，设置完路径之后点击右下方的“Configure Project ”编译项目

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzM0OTExNjM2_size_16_color_FFFFFF_t_70 5][]

项目成功编译之后在左边的Project会出现完整当前的工作空间如下所示：

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzM0OTExNjM2_size_16_color_FFFFFF_t_70 6][]

(5)（（5）-（8）这4个步骤不是必须的，如果第（4）步项目编译成功则直接跳到第（9）步，如果项目没有成功展开则需要设置（5）-（8）步骤）如果Project没有出现上图所示完整的项目文件，则说明工程没有正常的建立，需要继续进行下一步执行相应的设置。

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzM0OTExNjM2_size_16_color_FFFFFF_t_70 7][]

(6)点击左边的”Project“，出现如下的界面，然后点击左上角"Manage Kits"

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzM0OTExNjM2_size_16_color_FFFFFF_t_70 8][]

(7) 在"Manage Kits"设置里面创建新的Kit如下所示，点击"Add"创建新的Kit然后修改一下''Name''，新的Kit命名为"demo"(名字可以任意取)，设置完成之后点击"OK"

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzM0OTExNjM2_size_16_color_FFFFFF_t_70 9][]

(8)创建完新的Kit，在Project目录下可以看到新建的Kit，然后我们选择demo->Build，查看Build directory中的路径是否是当前工作空间目录下的build，如果不是需要把路径设置为当前工作空间下的build，......./catkin\_xxx/build

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzM0OTExNjM2_size_16_color_FFFFFF_t_70 10][]

(9)完成上述的设置之后在“Edit”目录的Project里可以看到完整的功能包如下所示：qtros就是在工作空间catkin\_demo下所建立的QT-ROS功能包，/root目录下显示的文件夹就是工作空间catkin\_demo，然后点击左下角"绿色三角型"进行项目编译

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzM0OTExNjM2_size_16_color_FFFFFF_t_70 11][]

[https_blog.csdn.net_qq_34911636_article_details_113185626_spm_1001.2014.3001.5501]: https://blog.csdn.net/qq_34911636/article/details/113185626?spm=1001.2014.3001.5501
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzM0OTExNjM2_size_16_color_FFFFFF_t_70]: /images/20221024/a8dda5fe6a9c4ecd912223c5f3e6f19a.png
[20210308174140698.png]: /images/20221024/62492bbad75c416793ddf3fc2ee3af6f.png
[20210308174439705.png]: /images/20221024/bee50d532c4b4247b410a719d7ee949d.png
[20210308174641885.png]: /images/20221024/48cc9a91d177412699184f2f3426337b.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzM0OTExNjM2_size_16_color_FFFFFF_t_70 1]: /images/20221024/dee67c08fa9543979f1866b73623266c.png
[20210308175645664.png]: /images/20221024/154f311c151545daba8c0ff38af87207.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzM0OTExNjM2_size_16_color_FFFFFF_t_70 2]: /images/20221024/ce0c293ab74346e79244ef3480c29a0a.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzM0OTExNjM2_size_16_color_FFFFFF_t_70 3]: /images/20221024/e4c2f66b11c44ac5ab47b6c84fc34713.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzM0OTExNjM2_size_16_color_FFFFFF_t_70 4]: /images/20221024/05e5cb0adcdc4a4eb7c8bb9f4f5248cd.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzM0OTExNjM2_size_16_color_FFFFFF_t_70 5]: /images/20221024/bb09ac86128442f1bb3fea7b73fda99c.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzM0OTExNjM2_size_16_color_FFFFFF_t_70 6]: /images/20221024/0db490a65591413983e145d57c50634a.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzM0OTExNjM2_size_16_color_FFFFFF_t_70 7]: /images/20221024/c3f42321b9b54de69e80e5b9b4dc9fc2.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzM0OTExNjM2_size_16_color_FFFFFF_t_70 8]: /images/20221024/9351707f60804a7283987e9181e02a7e.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzM0OTExNjM2_size_16_color_FFFFFF_t_70 9]: /images/20221024/32927be3c3ae442f8fac4cdd6701dd64.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzM0OTExNjM2_size_16_color_FFFFFF_t_70 10]: /images/20221024/24abaaac66f04f10aad696c6dbd7545e.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzM0OTExNjM2_size_16_color_FFFFFF_t_70 11]: /images/20221024/0f153217e690450f9346d37d7d12dd87.png