ROS QT environment construction

download Qt

• S1：sudo apt-get install qtcreator The installed version may be too long , So the official website is installed :https://download.qt.io/archive/qt/
• S2： Choose the version https://download.qt.io/archive/qt/5.9/5.9.9/： qt-opensource-linux-x64-5.9.9.run
• S3： Enter the installation directory , Change execution permission ：chmod a+x qt-opensource-linux-x64-5.9.9.run
• S4： Double click installation , always next, Installation component selection Desktop gcc 64-bit that will do , Other on-demand installations
• S5： Then double-click... Under the installation directory Qtreator It's ready to run , But for convenience , So add to the environment variable sudo nano /usr/bin/qtcreator
  Add the following ：

  #!/bin/sh
  export QT_HOME=/home/guyue/Qt5.9.9/Tools/QtCreator/bin
  $QT_HOME/qtcreator $*
  

  ctrl+o write in ,ctrl+x sign out
• S6： Add execute permission ：sudo chmod a+x /usr/bin/qtcreator
• S7： Terminal operation ：qtcreator

ROS rely on

• S1： Installation dependency

  sudo apt-get install ros-melodic-qt-create
  
  sudo apt-get install ros-melodic-qt-build
  
  # sudo apt-get install qtmultimedia5-dev
  

• S2： establish Qt Function pack

  catkin_create_qt_pkg  Function package name   rely on 1  rely on 2
  
  #  Example ：
  cd ~/am_ws/src
  catkin_create_qt_pkg class1_ros_qt_demo roscpp rviz
  

• S3.1： here catkin_make Will report a mistake , Make the following changes ：
  

  # 1/  Settings include the current directory ：
  set(CMAKE_INCLUDE_CURRENT_DIR ON)
  
  
  # 2/  add to qt library ：
  find_package(Qt5 REQUIRED Core Widgets)
  set(QT_LIBRARIES Qt5::Widgets)
  
  
  # 3/  Delete ：
  
  rosbuild_prepare_qt4(QtCore QtGui)
  
  
  # 4/  change 
  # QT4_ADD_RESOURCES(QT_RESOURCES_CPP) ${QT_RESOURCES})
  # QT4_WRAP_UI(QT_FORMS_HPP ${QT_FORMS})
  # QT4_WRAP_CPP(QT_MOC_HPP ${QT_MOC})
  
  #  Change it to ：
  QT5_ADD_RESOURCES(QT_RESOURCES_CPP) ${QT_RESOURCES})
  QT5_WRAP_UI(QT_FORMS_HPP ${QT_FORMS})
  QT5_WRAP_CPP(QT_MOC_HPP ${QT_MOC})
  

  Specific in CMakeList.txt Refer to the following figure for the changes in ：

  

• S3.2： An error will be reported when compiling again , You need to change ~/am_ws/src/class1_ros_qt_demo/include/class1_ros_qt_demo/main_window.hpp file , take ：#include <QtGui/QMainWindow>, Change it to ：#include <QtWidgets/QMainWindow>

• S4： Then everything is normal and the test can be carried out

test

• S1： Run the following commands , The screen appears ：

  rosrun class1_ros_qt_demo class1_ros_qt_demo
  

  

• S2： function roscore, Click... On the above interface connect, Connect

Qt compile ROS engineering

• S1： To configure Qt Of ROS Environmental Science
  Use Qt Open workspace /src Under the CmakeList.txt;
  To configure build The directory is a workspace /build;
  And then click Configure Project
  Note that the workspace is open src Under the CmakeList, Not the feature pack
  

• S1.2： If the project does not open properly
  
  

• S1.3： Header files are in <Headers> Inside , Click to open the header file , Press F4 Key to switch between the header file and the corresponding cpp file

• S2： Run configuration
  Click on project, And then choose run, stay run configure Settings that need to be run , If it is empty , You can click on the add Button to add
  

• S3： Then click the green icon to run

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Reference resources

• Video reference Gu Yueju ：
  

• Note reference ：https://blog.csdn.net/weixin_51524504/article/details/121465413