一,实现效果:
二,核心代码
如果按照本人前几篇博客的话进程的话,就很容易实现这个功能了,主要就是用manager添加一个display:
核心代码:
//显示激光雷达
void QRviz::Display_LaserScan(bool enable,QString topic)
{
if(laser_==NULL) {
laser_=manager_->createDisplay("rviz/LaserScan","QLaser",enable);
ROS_ASSERT(laser_);
laser_->subProp("Topic")->setValue(topic);
} else {
delete laser_;
laser_=manager_->createDisplay("rviz/LaserScan","QLaser",enable);
ROS_ASSERT(laser_);
laser_->subProp("Topic")->setValue(topic);
}
qDebug()<<"topic:"<<topic;
laser_->setEnabled(enable);
manager_->startUpdate();
}
qrviz.hpp
#ifndef QRVIZ_H
#define QRVIZ_H
#include <QVBoxLayout>
#include <rviz/visualization_manager.h>
#include <rviz/render_panel.h>
#include <rviz/display.h>
#include <rviz/tool_manager.h>
#include <rviz/visualization_manager.h>
#include <rviz/render_panel.h>
#include <rviz/display.h>
#include<rviz/tool_manager.h>
#include <rviz_visual_tools/rviz_visual_tools.h>
#include <QThread>
#include <QDebug>
class QRviz:public QThread
{
Q_OBJECT
public:
QRviz(QVBoxLayout *layout,QString node_name);
void run();
void createDisplay(QString display_name,QString topic_name);
//显示Grid
void Display_Grid(bool enable,QString Reference_frame,int Plan_Cell_count,QColor color=QColor(125,125,125));
//显示map
void Display_Map(bool enable,QString topic,double Alpha,QString Color_Scheme);
//设置全局显示属性
void SetGlobalOptions(QString frame_name,QColor backColor,int frame_rate);
//显示激光雷达点云
void Display_LaserScan(bool enable,QString topic);
private:
rviz::RenderPanel *render_panel_;
rviz::VisualizationManager *manager_;
rviz::Display* grid_=NULL ;
rviz::Display* map_=NULL ;
rviz::Display* laser_=NULL ;
QVBoxLayout *layout;
QString nodename;
// rviz::VisualizationManager *manager_=NULL;
// rviz::RenderPanel *render_panel_;
};
#endif // QRVIZ_H
qrviz.cpp
#include "../include/cyrobot_monitor/qrviz.hpp"
QRviz::QRviz(QVBoxLayout *layout,QString node_name)
{
int argc;
char **argv;
this->layout=layout;
this->nodename=node_name;
ros::init(argc,argv,"QRviz",ros::init_options::AnonymousName);
//创建rviz容器
render_panel_=new rviz::RenderPanel;
//向layout添加widget
layout->addWidget(render_panel_);
//初始化rviz控制对象
manager_=new rviz::VisualizationManager(render_panel_);
//初始化camera 这行代码实现放大 缩小 平移等操作
render_panel_->initialize(manager_->getSceneManager(),manager_);
// //工具管理
// rviz::ToolManager* tool_man;
// connect( tool_man, SIGNAL( toolAdded( Tool* )), this, SLOT( addTool( Tool* )));
// connect( tool_man, SIGNAL( toolRemoved( Tool* )), this, SLOT( removeTool( Tool* )));
// connect( tool_man, SIGNAL( toolRefreshed( Tool* )), this, SLOT( refreshTool( Tool* )));
// connect( tool_man, SIGNAL( toolChanged( Tool* )), this, SLOT( indicateToolIsCurrent( Tool* )));
manager_->initialize();
manager_->removeAllDisplays();
}
//显示grid
void QRviz::Display_Grid(bool enable,QString Reference_frame,int Plan_Cell_count,QColor color)
{
if(grid_==NULL) {
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(color);
grid_->subProp( "Reference Frame" )->setValue(Reference_frame);
grid_->subProp("Plane Cell Count")->setValue(Plan_Cell_count);
} else {
delete grid_;
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(color);
grid_->subProp( "Reference Frame" )->setValue(Reference_frame);
grid_->subProp("Plane Cell Count")->setValue(Plan_Cell_count);
}
grid_->setEnabled(enable);
manager_->startUpdate();
}
//显示map
void QRviz::Display_Map(bool enable,QString topic,double Alpha,QString Color_Scheme)
{
if(!enable&&map_) {
map_->setEnabled(false);
return ;
}
if(map_==NULL) {
map_=manager_->createDisplay("rviz/Map","QMap",true);
ROS_ASSERT(map_);
map_->subProp("Topic")->setValue(topic);
map_->subProp("Alpha")->setValue(Alpha);
map_->subProp("Color Scheme")->setValue(Color_Scheme);
} else {
ROS_ASSERT(map_);
qDebug()<<"asdasdasd:"<<topic<<Alpha;
delete map_;
map_=manager_->createDisplay("rviz/Map","QMap",true);
ROS_ASSERT(map_);
map_->subProp("Topic")->setValue(topic);
map_->subProp("Alpha")->setValue(Alpha);
map_->subProp("Color Scheme")->setValue(Color_Scheme);
}
map_->setEnabled(enable);
manager_->startUpdate();
}
//显示激光雷达
void QRviz::Display_LaserScan(bool enable,QString topic)
{
if(laser_==NULL) {
laser_=manager_->createDisplay("rviz/LaserScan","QLaser",enable);
ROS_ASSERT(laser_);
laser_->subProp("Topic")->setValue(topic);
} else {
delete laser_;
laser_=manager_->createDisplay("rviz/LaserScan","QLaser",enable);
ROS_ASSERT(laser_);
laser_->subProp("Topic")->setValue(topic);
}
qDebug()<<"topic:"<<topic;
laser_->setEnabled(enable);
manager_->startUpdate();
}
//设置全局显示
void QRviz::SetGlobalOptions(QString frame_name,QColor backColor,int frame_rate)
{
manager_->setFixedFrame(frame_name);
manager_->setProperty("Background Color",backColor);
manager_->setProperty("Frame Rate",frame_rate);
manager_->startUpdate();
}
void QRviz::createDisplay(QString display_name,QString topic_name)
{
}
void QRviz::run()
{
}
三,完整开源项目
在我自己学习的过程中目前发现没有相关类似完整开源项目,为了帮助其他人少走弯路,我决定将自己的完整项目开源:
github
转载自: