rviz二次开发

1、创建catkin_ws工作区

#!/bin/bash
 
mkdir -p ~/catkin_ws/src
 
cd ~/catkin_ws/src
 
catkin_init_workspace
 
cd ~/catkin_ws/
 
catkin_make
 
source devel/setup.bash
 
source /opt/ros/kinetic/setup.bash

2、创建插件

#!/bin/bash
 
source /opt/ros/kinetic/setup.bash
 
#rviz_wxcollect_commander
rviz_plugin_name=rviz_wxcollect_commander
 
catkin_create_pkg ${rviz_plugin_name} roscpp rviz std_msgs
rm -rf ${rviz_plugin_name}/include
cd ${rviz_plugin_name}/src
touch ${rviz_plugin_name}.h ${rviz_plugin_name}.cpp
cd ../
touch >>plugin_description.xml

3、写插件逻辑，可以增加ui文件。

set(CMAKE_INCLUDE_CURRENT_DIR ON)
#这一句加上，不然找不到ui_xxxx.h
qt5_wrap_ui(ui_FILES src/rviz_wxcollect_commander.ui)

4、编译插件

catkin_ws目录下执行
source /opt/ros/kinetic/setup.sh
catkin_make
source devel/setup.bash #否则找不到插件

5、启动rviz

source /opt/ros/kinetic/setup.bash
rosrun rviz rviz