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ROS知识：librviz库的调用实践

2022-06-23 11:53:00 【无水先生】

一、说明

必须明确一个概念：rviz是个啥？它是一个显示工具，只限于观看，内部没有物理量虚拟。不过rviz有一些ros通信的能力，可以和用户定制节点进行通信（变量传递），并显示出来。

本实验告诉大家，如何实现用户定义的窗口显示？

二、环境设置

2.1 定制工作空间

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin_init_workspace

2.2 包生成

注意：包生成的最大难点就是【如何确定依赖包？】这个问题我也很困惑，一个笨方法就是多看看教程中每个包的package.xml文件，增加见识。

cd ~/catkin_ws/src

生成教程包

catkin_create_pkg  librviz_tutorial  qtbase5-dev  roscpp  rviz libqt5-core libqt5-gui libqt5-widgets

三、原始代码文件

3.1 头文件-myviz.h

 
#ifndef MYVIZ_H
#define MYVIZ_H

#include <QWidget>

namespace rviz
{
class Display;
class RenderPanel;
class VisualizationManager;
}

// BEGIN_TUTORIAL
// Class "MyViz" implements the top level widget for this example.
class MyViz: public QWidget
{
Q_OBJECT
public:
  MyViz( QWidget* parent = 0 );
  virtual ~MyViz();

private Q_SLOTS:
  void setThickness( int thickness_percent );
  void setCellSize( int cell_size_percent );

private:
  rviz::VisualizationManager* manager_;
  rviz::RenderPanel* render_panel_;
  rviz::Display* grid_;
};
// END_TUTORIAL
#endif // MYVIZ_H

3.2 执行文件myiz.cpp



#include <QColor>
#include <QSlider>
#include <QLabel>
#include <QGridLayout>
#include <QVBoxLayout>

#include "rviz/visualization_manager.h"
#include "rviz/render_panel.h"
#include "rviz/display.h"

#include "myviz.h"

// BEGIN_TUTORIAL
// Constructor for MyViz.  This does most of the work of the class.
MyViz::MyViz( QWidget* parent )
  : QWidget( parent )
{
  // Construct and lay out labels and slider controls.
  QLabel* thickness_label = new QLabel( "Line Thickness" );
  QSlider* thickness_slider = new QSlider( Qt::Horizontal );
  thickness_slider->setMinimum( 1 );
  thickness_slider->setMaximum( 100 );
  QLabel* cell_size_label = new QLabel( "Cell Size" );
  QSlider* cell_size_slider = new QSlider( Qt::Horizontal );
  cell_size_slider->setMinimum( 1 );
  cell_size_slider->setMaximum( 100 );
  QGridLayout* controls_layout = new QGridLayout();
  controls_layout->addWidget( thickness_label, 0, 0 );
  controls_layout->addWidget( thickness_slider, 0, 1 );
  controls_layout->addWidget( cell_size_label, 1, 0 );
  controls_layout->addWidget( cell_size_slider, 1, 1 );

  // Construct and lay out render panel.
  render_panel_ = new rviz::RenderPanel();
  QVBoxLayout* main_layout = new QVBoxLayout;
  main_layout->addLayout( controls_layout );
  main_layout->addWidget( render_panel_ );

  // Set the top-level layout for this MyViz widget.
  setLayout( main_layout );

  // Make signal/slot connections.
  connect( thickness_slider, SIGNAL( valueChanged( int )), this, SLOT( setThickness( int )));
  connect( cell_size_slider, SIGNAL( valueChanged( int )), this, SLOT( setCellSize( int )));

  // Next we initialize the main RViz classes.
  //
  // The VisualizationManager is the container for Display objects,
  // holds the main Ogre scene, holds the ViewController, etc.  It is
  // very central and we will probably need one in every usage of
  // librviz.
  manager_ = new rviz::VisualizationManager( render_panel_ );
  render_panel_->initialize( manager_->getSceneManager(), manager_ );
  manager_->initialize();
  manager_->startUpdate();

  // Create a Grid display.
  grid_ = manager_->createDisplay( "rviz/Grid", "adjustable grid", true );
  ROS_ASSERT( grid_ != NULL );

  // Configure the GridDisplay the way we like it.
  grid_->subProp( "Line Style" )->setValue( "Billboards" );
  grid_->subProp( "Color" )->setValue( QColor( Qt::yellow ) );

  // Initialize the slider values.
  thickness_slider->setValue( 25 );
  cell_size_slider->setValue( 10 );
}

// Destructor.
MyViz::~MyViz()
{
  delete manager_;
}

// This function is a Qt slot connected to a QSlider's valueChanged()
// signal.  It sets the line thickness of the grid by changing the
// grid's "Line Width" property.
void MyViz::setThickness( int thickness_percent )
{
  if( grid_ != NULL )
  {
    grid_->subProp( "Line Style" )->subProp( "Line Width" )->setValue( thickness_percent / 100.0f );
  }
}

// This function is a Qt slot connected to a QSlider's valueChanged()
// signal.  It sets the cell size of the grid by changing the grid's
// "Cell Size" Property.
void MyViz::setCellSize( int cell_size_percent )
{
  if( grid_ != NULL )
  {
    grid_->subProp( "Cell Size" )->setValue( cell_size_percent / 10.0f );
  }
}

3.3 主文件main.cpp


// BEGIN_TUTORIAL

// The main() for this "myviz" example is very simple, it just
// initializes ROS, creates a QApplication, creates the top-level
// widget (of type "MyViz"), shows it, and runs the Qt event loop.

#include <QApplication>
#include <ros/ros.h>
#include "myviz.h"

int main(int argc, char **argv)
{
  if( !ros::isInitialized() )
  {
    ros::init( argc, argv, "myviz", ros::init_options::AnonymousName );
  }

  QApplication app( argc, argv );

  MyViz* myviz = new MyViz();
  myviz->show();

  app.exec();

  delete myviz;
}