ROS Qt5 librviz人机交互界面开发四（添加rviz显示界面）

一，实现效果

实现效果：

二，核心代码

创建librviz界面类：
qrviz_widget.h

#ifndef QRVIZ_WIDGET_H
#define QRVIZ_WIDGET_H

#include <QWidget>
#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>
namespace Ui {
class QRviz_widget;
}

class QRviz_widget : public QWidget
{
Q_OBJECT

public:
explicit QRviz_widget(QWidget *parent = 0);
~QRviz_widget();

private:
Ui::QRviz_widget *ui;
};

#endif // QRVIZ_WIDGET_H

qrviz_widget.cpp

主要就是向layout添加rviz的panel

#include "../include/cyrobot_monitor/qrviz_widget.h"
#include "ui_qrviz_widget.h"

QRviz_widget::QRviz_widget(QWidget *parent) :
QWidget(parent),
ui(new Ui::QRviz_widget)
{
ui->setupUi(this);
int argc;
char **argv;
ros::init(argc,argv,"QRviz",ros::init_options::AnonymousName);
//创建rviz容器
rviz::RenderPanel *render_panel_=new rviz::RenderPanel;
//设置鼠标形状
render_panel_->setCursor(Qt::PointingHandCursor);
//向layout添加widget
ui->verticalLayout->addWidget(render_panel_);
//初始化rviz控制对象
rviz::VisualizationManager* 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();

rviz::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(125,125,125));
manager_->startUpdate();
}

QRviz_widget::~QRviz_widget()
{
delete ui;
}

新建widget对象：

<code class="prism language-cpp has-numbering">qrviz<span class="token operator">=</span><span class="token keyword">new</span> <span class="token function">QRviz_widget</span><span class="token punctuation">(</span>ui<span class="token punctuation">.</span>widget_rviz<span class="token punctuation">)</span><span class="token punctuation">;</span>
qrviz<span class="token operator">-</span><span class="token operator">></span><span class="token function">showFullScreen</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
qrviz<span class="token operator">-</span><span class="token operator">></span><span class="token function">show</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;
</span></code>

其中，为了实现鼠标放大缩小移动的功能，本来以为需要自己监听鼠标事件，读了读rviz源码，发现这一行代码就能实现：

//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_);

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:

蒋程扬的部落格

<code class="prism language-cpp has-numbering"></code>

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