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（四）添加rviz自定义插件_rviz 插件

作者：盐析白兔 | 2024-05-25 20:34:51

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rviz 插件

一、创建工作空间

选择【New Project】创建项目。

。 选择【其他项目】，选择【ROS Workspace】，点击【Choose...】按钮

 写入【Name:】名称，选择【Workspace Path:】工作空间路径，点击【下一步】按钮。

点击【完成】按钮，完成工作空间的创建。

 

二、添加自定义消息

1.创建消息包以及文件

在工作空间src下创建存放消息的包，右击【src】，选择【添加新文件...】。

 选择【ROS】，选择【Package】，点击【Choose...】按钮。

写入【Name:】名称，写入【Catkin:】依赖，消息依赖于 std_msgs和message_generation。

点击【完成】按钮。

 

 找到创建的消息包【plugin_msg】文件夹，在此新建文件夹，名称为【msg】，目录结构如下：

 

右击【msg】，选择【添加新文件...】。

 

 选择【ROS】，选中【Basic msg file】，点击【Choose...】按钮。

 写入【名称:】，点击【下一步】按钮。

点击【完成】按钮。

 2.修改消息内容

修改ProgressBarMsg.msg内容：

  1. std_msgs/Header header
  2. string context
  3. uint32 value

std_msgs/Header header：

数据类型的标准元数据，通常用于在特定坐标系中传达时间戳数据。 

包含字段

uint32 seq //表示序列 ID

time stamp //表示时间戳

string frame_id //和frame有关，序列id

3.修改package.xml内容

添加编译时的依赖

<build_depend>message_generation</build_depend>

添加执行时的依赖

<exec_depend>message_runtime</exec_depend>

<exec_depend>message_generation</exec_depend>

  1. <?xml version="1.0"?>
  2. <package format="2">
  3.   <name>plugin_msg</name>
  4.   <version>0.1.0</version>
  5.   <description>The plugin_msg package</description>
  6.  
  7.   <!-- One maintainer tag required, multiple allowed, one person per tag -->
  8.   <!-- Example:  -->
  9.   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
  10.   <maintainer email="root@todo.todo">root</maintainer>
  11.  
  12.  
  13.   <!-- One license tag required, multiple allowed, one license per tag -->
  14.   <!-- Commonly used license strings: -->
  15.   <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
  16.   <license>Apache 2.0</license>
  17.  
  18.  
  19.   <!-- Url tags are optional, but multiple are allowed, one per tag -->
  20.   <!-- Optional attribute type can be: website, bugtracker, or repository -->
  21.   <!-- Example: -->
  22.   <!-- <url type="website">http://wiki.ros.org/plugin_msg</url> -->
  23.  
  24.  
  25.   <!-- Author tags are optional, multiple are allowed, one per tag -->
  26.   <!-- Authors do not have to be maintainers, but could be -->
  27.   <!-- Example: -->
  28.   <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
  29.  
  30.  
  31.   <!-- The *depend tags are used to specify dependencies -->
  32.   <!-- Dependencies can be catkin packages or system dependencies -->
  33.   <!-- Examples: -->
  34.   <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
  35.   <!--   <depend>roscpp</depend> -->
  36.   <!--   Note that this is equivalent to the following: -->
  37.   <!--   <build_depend>roscpp</build_depend> -->
  38.   <!--   <exec_depend>roscpp</exec_depend> -->
  39.   <!-- Use build_depend for packages you need at compile time: -->
  40.   <build_depend>message_generation</build_depend>
  41.   <!-- Use build_export_depend for packages you need in order to build against this package: -->
  42.   <!--   <build_export_depend>message_generation</build_export_depend> -->
  43.   <!-- Use buildtool_depend for build tool packages: -->
  44.   <!--   <buildtool_depend>catkin</buildtool_depend> -->
  45.   <!-- Use exec_depend for packages you need at runtime: -->
  46.   <exec_depend>message_runtime</exec_depend>
  47.   <exec_depend>message_generation</exec_depend>
  48.   <!-- Use test_depend for packages you need only for testing: -->
  49.   <!--   <test_depend>gtest</test_depend> -->
  50.   <!-- Use doc_depend for packages you need only for building documentation: -->
  51.   <!--   <doc_depend>doxygen</doc_depend> -->
  52.   <buildtool_depend>catkin</buildtool_depend>
  53.  
  54.  
  55.   <!-- The export tag contains other, unspecified, tags -->
  56.   <export>
  57.     <!-- Other tools can request additional information be placed here -->
  58.  
  59.   </export>
  60. </package>

4.修改CMakeLists.txt内容

catkin_package中添加依赖

CATKIN_DEPENDS message_runtime

  1. #指定项目所需的最低 CMake 版本。
  2. cmake_minimum_required(VERSION 3.0.2)
  3. #定义项目的名称
  4. project(plugin_msg)
  5.  
  6. #查找并导入外部依赖库。
  7. find_package(catkin REQUIRED COMPONENTS
  8.   std_msgs
  9.   message_generation #增加message编译时依赖模块到（message_generation）
  10. )
  11.  
  12. #增加自定义的msg文件
  13. add_message_files(
  14.   FILES
  15.   ProgressBarMsg.msg
  16. )
  17.  
  18. #生成msg需要依赖的消息以及服务
  19. generate_messages(
  20.   DEPENDENCIES
  21.   std_msgs
  22. )
  23.  
  24. #这用于指定包的依赖关系，由依赖于这个包的其他软件包使用。
  25. catkin_package(
  26. #  INCLUDE_DIRS include
  27. #  LIBRARIES custom_msg
  28.   CATKIN_DEPENDS message_runtime #增加message运行时依赖模块message_runtime
  29. #  DEPENDS system_lib
  30. )

 三、添加自定义插件（rviz::Display类型）

1.创建插件包以及文件

右击【src】，选择【添加新文件...】。

 

 选择【ROS】，选择【Package】，点击【Choose..】按钮。

 写入【Name:】包名称，写入【Catkin:】依赖，点击【下一步】按钮。

 

 点击【完成】按钮。

 

右击【progressBar_display】包下的【src】 ，选择【添加新文件...】。

 

选择【C++】，选择【C++ Class】，点击【Choose...】按钮。

 写入【Class name:】类名称，点击【下一步】按钮。

 点击【完成】按钮。

同上述相同步骤添加C++类ProgressBar_Visual。

创建完成之后，手动将progressbar_visual.h和progressbar_display.h两个头文件移动到功能包下的include文件夹下的progressBar_display文件夹下。

此时目录结构如下：

2.添加类代码

progressbar_visual.h

  1. #ifndef PROGRESSBAR_VISUAL_H
  2. #define PROGRESSBAR_VISUAL_H
  3.  
  4. #include <OGRE/OgreVector3.h>
  5. #include <OGRE/OgreSceneNode.h>
  6. #include <OGRE/OgreSceneManager.h>
  7. #include <OGRE/OgreBillboard.h>
  8. #include <OGRE/OgreBillboardSet.h>
  9. #include <rviz/properties/string_property.h>
  10. #include <rviz/ogre_helpers/movable_text.h>
  11. #include <rviz/ogre_helpers/shape.h>
  12. #include <rviz/display_context.h>
  13.  
  14. #include "plugin_msg/ProgressBarMsg.h"
  15.  
  16. namespace Ogre
  17. {
  18.     class Vector3;
  19.     class Quaternion;
  20.     class BillboardSet;
  21.     class SceneManager;
  22.     class SceneNode;
  23.     class ColourValue;
  24. }
  25.  
  26. namespace rviz
  27. {
  28.     class MovableText;
  29.     class Shape;
  30.     class IntProperty;
  31. }
  32.  
  33. namespace progressBar_plugin {
  34.  
  35. class ProgressBar_Visual
  36. {
  37. public:
  38.     ProgressBar_Visual(Ogre::SceneManager* SceneManager, Ogre::SceneNode* ParentNode);
  39.  
  40.     virtual ~ProgressBar_Visual();
  41.  
  42.     void setMessage(const plugin_msg::ProgressBarMsg::ConstPtr& Msg);
  43.     void createProgressBarShape(double PowerRatio);
  44.  
  45.     void setFramePosition(const Ogre::Vector3& Position);
  46.     void setFrameOrientation(const Ogre::Quaternion& Orientation);
  47.  
  48.     void setTextColor(const Ogre::ColourValue& Color);
  49.     void setTextColor(float Red, float Green, float Blue, float Alpha);
  50.     void setBackgroundColor(float Red, float Green, float Blue, float Alpha);
  51.     void setProgressBarColor(float Red, float Green, float Blue, float Alpha);
  52.     void setHeaderColor(float Red, float Green, float Blue, float Alpha);
  53.  
  54.     void setTextSize(float Size);
  55.     void setGraphSize(float Size);
  56.  
  57.     void setOffsets(const Ogre::Vector3& Offsets);
  58.     void setOrientation(const Ogre::Vector3& Orientation);
  59.  
  60. private:
  61.     float size_{ 1.0 };
  62.     std::shared_ptr<Ogre::Vector3> base_pose_{ nullptr };
  63.     std::shared_ptr<Ogre::Vector3> offsets_{ nullptr };
  64.     std::shared_ptr<Ogre::Vector3> orientation_{ nullptr };
  65.     // the object implementing the actual text
  66.     std::shared_ptr<rviz::MovableText> progressBar_info_{ nullptr };
  67.     // the object of ProgressBar shape
  68.     std::vector<std::shared_ptr<rviz::Shape>> ProgressBar_shape_;
  69.  
  70.     // a SceneNode whose pose is set to match the coordinate frame of the plugin_msg::ProgressBarMsg message header
  71.     Ogre::SceneNode* frame_node_{ nullptr };
  72.  
  73.     // the SceneManager, kept here only so the destructor can ask it to destroy the `frame_node_`
  74.     Ogre::SceneManager* scene_manager_{ nullptr };
  75.  
  76.     Ogre::ColourValue background_color;
  77.     Ogre::ColourValue ProgressBar_color;
  78.     Ogre::ColourValue header_color;
  79. };
  80.  
  81. }
  82.  
  83.  
  84. #endif // PROGRESSBAR_VISUAL_H

progressbar_visual.cpp

  1. #include "progressBar_display/progressbar_visual.h"
  2.  
  3. namespace progressBar_plugin
  4. {
  5.  
  6. ProgressBar_Visual::ProgressBar_Visual(Ogre::SceneManager *SceneManager, Ogre::SceneNode *ParentNode)
  7. {
  8.     scene_manager_ = SceneManager;
  9.  
  10.     frame_node_ = ParentNode->createChildSceneNode();
  11.  
  12.     progressBar_info_.reset(new rviz::MovableText("?\%"));
  13.     progressBar_info_->setCharacterHeight(0.5);
  14.     frame_node_->attachObject(progressBar_info_.get());
  15.  
  16.     //create shape of ProgressBar
  17.     base_pose_ = std::make_shared<Ogre::Vector3>(Ogre::Vector3::ZERO);
  18.     offsets_ = std::make_shared<Ogre::Vector3>(Ogre::Vector3::ZERO);
  19.     orientation_ = std::make_shared<Ogre::Vector3>(Ogre::Vector3(float(0.0), float(90.0), float(0.0)));
  20.  
  21.     background_color = Ogre::ColourValue(1, 0.5, 0.5, 0.5);
  22.     ProgressBar_color = Ogre::ColourValue(1, 1, 0.5, 1);
  23.     header_color = Ogre::ColourValue(0.5, 1, 1, 1);
  24.     createProgressBarShape(1.0);
  25. }
  26.  
  27. ProgressBar_Visual::~ProgressBar_Visual()
  28. {
  29.     scene_manager_->destroySceneNode(frame_node_);
  30. }
  31.  
  32. void ProgressBar_Visual::setMessage(const plugin_msg::ProgressBarMsg::ConstPtr &Msg)
  33. {
  34.     int h = 0;
  35.     int v = 0;
  36.     progressBar_info_->setTextAlignment((rviz::MovableText::HorizontalAlignment)h, (rviz::MovableText::VerticalAlignment)v);
  37.     rviz::StringProperty text("text", (std::to_string(Msg->value) + "\%").c_str());
  38.     progressBar_info_->setCaption(text.getStdString());
  39.     progressBar_info_->setLineSpacing(0.5);
  40. }
  41.  
  42. void ProgressBar_Visual::createProgressBarShape(double PowerRatio)
  43. {
  44.     for (auto& it : ProgressBar_shape_)
  45.     {
  46.         it.reset();
  47.     }
  48.     ProgressBar_shape_.clear();
  49.     ProgressBar_shape_.resize(3);
  50.  
  51.     Ogre::Matrix3 mat;
  52.     mat.FromEulerAnglesXYZ(Ogre::Degree(orientation_->x), Ogre::Degree(orientation_->y), Ogre::Degree(orientation_->z));
  53.     Ogre::Quaternion orientation;
  54.     orientation.FromRotationMatrix(mat);
  55.  
  56.     //background
  57.     ProgressBar_shape_[0].reset(new rviz::Shape(rviz::Shape::Cylinder,scene_manager_));
  58.     ProgressBar_shape_[0]->setScale(Ogre::Vector3(float(0.5 * size_),float(3 * size_),float(0.5 * size_)));
  59.     ProgressBar_shape_[0]->setPosition(Ogre::Vector3(base_pose_->x + offsets_->x,
  60.                                                 base_pose_->y + offsets_->y,
  61.                                                 base_pose_->z + offsets_->z));
  62.     ProgressBar_shape_[0]->setOrientation(orientation);
  63.     ProgressBar_shape_[0]->setColor(background_color);
  64.  
  65.     //ProgressBar
  66.     float length = 2.8 * size_;
  67.     //ProgressBar center pos
  68.     Ogre::Vector3 ProgressBar_vec3(0.0,- float(0.5 * length *(1 - PowerRatio)),0.0);
  69.     Ogre::Vector3 ProgressBar_pos = orientation * ProgressBar_vec3;
  70.     ProgressBar_shape_[1].reset(new rviz::Shape(rviz::Shape::Cylinder,scene_manager_));
  71.     ProgressBar_shape_[1]->setScale(Ogre::Vector3(float(0.3 * size_),length * PowerRatio,float(0.3 * size_)));
  72.     ProgressBar_shape_[1]->setPosition(Ogre::Vector3(base_pose_->x + ProgressBar_pos.x + offsets_->x,
  73.                                                 base_pose_->y + ProgressBar_pos.y + offsets_->y,
  74.                                                 base_pose_->z + ProgressBar_pos.z + offsets_->z));
  75.     ProgressBar_shape_[1]->setOrientation(orientation);
  76.     ProgressBar_shape_[1]->setColor(ProgressBar_color);
  77.  
  78.     //header
  79.     float head_length = 0.1 * size_ * 0.5;
  80.     //header center pos
  81.     Ogre::Vector3 head_vec3(0.0,- float(0.5 * length *(1 - 2 * PowerRatio)) + head_length * 0.5,0.0);
  82.     Ogre::Vector3 head_pos = orientation * head_vec3;
  83.     ProgressBar_shape_[2].reset(new rviz::Shape(rviz::Shape::Cube,scene_manager_));
  84.     ProgressBar_shape_[2]->setScale(Ogre::Vector3(float(0.3 * size_),head_length,float(0.3 * size_)));
  85.     ProgressBar_shape_[2]->setPosition(Ogre::Vector3(base_pose_->x + head_pos.x + offsets_->x,
  86.                                                 base_pose_->y + head_pos.y + offsets_->y,
  87.                                                 base_pose_->z + head_pos.z + offsets_->z));
  88.     ProgressBar_shape_[2]->setOrientation(orientation);
  89.     ProgressBar_shape_[2]->setColor(header_color);
  90. }
  91.  
  92. void ProgressBar_Visual::setFramePosition(const Ogre::Vector3 &Position)
  93. {
  94.     *base_pose_ = Position;
  95.     frame_node_->setPosition(Position);
  96. }
  97.  
  98. void ProgressBar_Visual::setFrameOrientation(const Ogre::Quaternion &Orientation)
  99. {
  100.     frame_node_->setOrientation(Orientation);
  101. }
  102.  
  103. void ProgressBar_Visual::setTextColor(const Ogre::ColourValue &Color)
  104. {
  105.     progressBar_info_->setColor(Color);
  106. }
  107.  
  108. void ProgressBar_Visual::setTextColor(float Red, float Green, float Blue, float Alpha)
  109. {
  110.     setTextColor(Ogre::ColourValue(Red, Green, Blue, Alpha));
  111. }
  112.  
  113. void ProgressBar_Visual::setBackgroundColor(float Red, float Green, float Blue, float Alpha)
  114. {
  115.     background_color = Ogre::ColourValue(Red, Green, Blue, Alpha);
  116. }
  117.  
  118. void ProgressBar_Visual::setProgressBarColor(float Red, float Green, float Blue, float Alpha)
  119. {
  120.     ProgressBar_color = Ogre::ColourValue(Red, Green, Blue, Alpha);
  121. }
  122.  
  123. void ProgressBar_Visual::setHeaderColor(float Red, float Green, float Blue, float Alpha)
  124. {
  125.     header_color = Ogre::ColourValue(Red, Green, Blue, Alpha);
  126. }
  127.  
  128. void ProgressBar_Visual::setTextSize(float Size)
  129. {
  130.     progressBar_info_->setCharacterHeight(Size);
  131. }
  132.  
  133. void ProgressBar_Visual::setGraphSize(float Size)
  134. {
  135.     size_ = Size;
  136. }
  137.  
  138. void ProgressBar_Visual::setOffsets(const Ogre::Vector3 &Offsets)
  139. {
  140.     *offsets_ = Offsets;
  142.     progressBar_info_->setLocalTranslation(Ogre::Vector3(-offsets_->y, offsets_->z, -offsets_->x));
  143. }
  144.  
  145. void ProgressBar_Visual::setOrientation(const Ogre::Vector3 &Orientation)
  146. {
  147.     *orientation_ = Orientation;
  148. }
  149.  
  150. }

progressbar_display.h

  1. #ifndef PROGRESSBAR_DISPLAY_H
  2. #define PROGRESSBAR_DISPLAY_H
  3.  
  4. #ifndef Q_MOC_RUN
  5. #include <boost/circular_buffer.hpp>
  6.  
  7. #include <rviz/message_filter_display.h>
  8. #include <rviz/panel_dock_widget.h>
  9.  
  10. #include "plugin_msg/ProgressBarMsg.h"
  11. #endif
  12.  
  13. namespace Ogre
  14. {
  15.     class SceneNode;
  16.     class ColourValue;
  17. }
  18.  
  19. namespace rviz
  20. {
  21.     class ColorProperty;
  22.     class FloatProperty;
  23.     class IntProperty;
  24.     class VectorProperty;
  25.     class BoolProperty;
  26.     class StringProperty;
  27. }
  28.  
  29. namespace progressBar_plugin {
  30.  
  31. class ProgressBar_Visual;
  32.  
  33. class ProgressBar_Display: public rviz::MessageFilterDisplay<plugin_msg::ProgressBarMsg>
  34. {
  35.     Q_OBJECT
  36. public:
  37.     ProgressBar_Display();
  38.     virtual ~ProgressBar_Display();
  39.  
  40. protected:
  41.     virtual void onInitialize();
  42.     // a helper function to clear this display back to the initial state
  43.     virtual void reset();
  44.  
  45. private Q_SLOTS:
  46.     // these Qt slots get connected to signals indicating changes in the user-editable properties
  47.     void updateTextColorAndAlpha();
  48.     void updateBackgroundrColor();
  49.     void updateProgressBarColor();
  50.     void updateHeaderColor();
  51.     void updateHistoryLength();
  52.     void updateTextSize();
  53.     void updateGraphSize();
  54.     void updateOffsets();
  55.     void updateOrientation();
  56.  
  57. private:
  58.     // function to handle an incoming ROS message
  59.     void processMessage(const plugin_msg::ProgressBarMsg::ConstPtr& Msg);
  60.  
  61. private:
  62.     // storage for the list of visuals. It is a circular buffer,
  63.     // where data gets popped from the front (oldest) and pushed to the back (newest)
  64.     boost::circular_buffer<std::shared_ptr<ProgressBar_Visual>> visuals_;
  65.  
  66.     // user-editable property variables
  67.     rviz::ColorProperty* text_color_property_;
  68.     rviz::FloatProperty* text_alpha_property_;
  69.     rviz::ColorProperty* background_color_property_;
  70.     rviz::ColorProperty* progressBar_color_property_;
  71.     rviz::ColorProperty* header_color_property_;
  72.     rviz::IntProperty* history_length_property_;
  73.     rviz::FloatProperty* text_size_property_;
  74.     rviz::FloatProperty* graph_size_property_;
  75.     rviz::VectorProperty* offsets_property_;
  76.     rviz::VectorProperty* orientation_property_;
  77.  
  78. };
  79.  
  80. }
  81.  
  82.  
  83. #endif // PROGRESSBAR_DISPLAY_H

progressbar_display.cpp

  1. #include "progressBar_display/progressbar_display.h"
  2. #include "progressBar_display/progressbar_visual.h"
  3.  
  4. #include <OGRE/OgreSceneNode.h>
  5. #include <OGRE/OgreSceneManager.h>
  6.  
  7. #include <rviz/window_manager_interface.h>
  8. #include <rviz/visualization_manager.h>
  9. #include <rviz/properties/color_property.h>
  10. #include <rviz/properties/float_property.h>
  11. #include <rviz/properties/int_property.h>
  12. #include <rviz/properties/vector_property.h>
  13. #include <rviz/properties/bool_property.h>
  14. #include <rviz/properties/string_property.h>
  15. #include <pluginlib/class_list_macros.h>
  16.  
  17. namespace progressBar_plugin
  18. {
  19. ProgressBar_Display::ProgressBar_Display()
  20. {
  21.     text_color_property_ = new rviz::ColorProperty("Text Color", QColor(138, 226, 52),
  22.                                                    "Color of progressBar info text.",
  23.                                                    this, SLOT(updateTextColorAndAlpha()));
  24.  
  25.     text_alpha_property_ = new rviz::FloatProperty("Text Alpha", 1.0,
  26.                                                     "0 is fully transparent, 1.0 is fully opaque.",
  27.                                                    this, SLOT(updateTextColorAndAlpha()));
  28.  
  29.     text_size_property_ = new rviz::FloatProperty("Text Size", 0.5,
  30.                                                   "Character size of progressBar info text.",
  31.                                                   this, SLOT(updateTextSize()));
  32.  
  33.     background_color_property_ = new rviz::ColorProperty("Background Color", QColor(255,128,128),
  34.                                                          "Color of progressBar background.",
  35.                                                          this, SLOT(updateBackgroundrColor()));
  36.  
  37.     progressBar_color_property_ = new rviz::ColorProperty("ProgressBar Color", QColor(255,255,128),
  38.                                                      "Color of progressBar.",
  39.                                                      this, SLOT(updateProgressBarColor()));
  40.  
  41.     header_color_property_ = new rviz::ColorProperty("Header Color", QColor(128,255,255),
  42.                                                      "Color of progressBar header.",
  43.                                                      this, SLOT(updateHeaderColor()));
  44.  
  45.     graph_size_property_ = new rviz::FloatProperty("Graph Size", 1.0,
  46.                                                    "Character size of progressBar graph.",
  47.                                                    this, SLOT(updateGraphSize()));
  48.  
  49.  
  50.     history_length_property_ = new rviz::IntProperty("History Length", 1,
  51.                                                      "Number of prior measurements to display.",
  52.                                                      this, SLOT(updateHistoryLength()));
  53.     history_length_property_->setMin(1);
  54.     history_length_property_->setMax(100000);
  55.  
  56.     offsets_property_ = new rviz::VectorProperty("Offsets", Ogre::Vector3::ZERO,
  57.                                                  "Offsets to frame",
  58.                                                  this, SLOT(updateOffsets()));
  59.  
  60.     orientation_property_ = new rviz::VectorProperty("Orientation", Ogre::Vector3(float(0.0), float(90.0), float(0.0)),
  61.                                                      "Orientation of progressBar symbol",
  62.                                                      this, SLOT(updateOrientation()));
  63. }
  64.  
  65. ProgressBar_Display::~ProgressBar_Display()
  66. {
  67.  
  68. }
  69.  
  70. // after the top-level rviz::Display::initialize() does its own setup,
  71. // it calls the subclass's onInitialize() function
  72. // this is where all the workings of the class is instantiated
  73. // make sure to also call the immediate super-class's onInitialize() function,
  74. // since it does important stuff setting up the message filter
  75. //
  76. // note that "MFDClass" is a typedef of `MessageFilterDisplay<message type>`,
  77. // to save typing that long templated class name every time the superclass needs to be refered
  78. void ProgressBar_Display::onInitialize()
  79. {
  80.     MFDClass::onInitialize();
  81.     updateTextColorAndAlpha();
  82.     updateHistoryLength();
  83.     updateTextSize();
  84.     updateGraphSize();
  85.     updateOffsets();
  86.     updateOrientation();
  87. }
  88.  
  89. // clear the visuals by deleting their objects
  90. void ProgressBar_Display::reset()
  91. {
  92.     MFDClass::reset();
  93.     visuals_.clear();
  94. }
  95.  
  96. // set the current color and alpha values for each visual
  97. void ProgressBar_Display::updateTextColorAndAlpha()
  98. {
  99.     float alpha = text_alpha_property_->getFloat();
  100.     Ogre::ColourValue color = text_color_property_->getOgreColor();
  101.  
  102.     for (size_t i = 0; i < visuals_.size(); ++i)
  103.     {
  104.         visuals_[i]->setTextColor(color.r, color.g, color.b, alpha);
  105.     }
  106. }
  107.  
  108. void ProgressBar_Display::updateBackgroundrColor()
  109. {
  110.     Ogre::ColourValue color = background_color_property_->getOgreColor();
  111.  
  112.     for (size_t i = 0; i < visuals_.size(); ++i)
  113.     {
  114.         visuals_[i]->setBackgroundColor(color.r, color.g, color.b, 0.5);
  115.     }
  116. }
  117.  
  118. void ProgressBar_Display::updateProgressBarColor()
  119. {
  120.     Ogre::ColourValue color = progressBar_color_property_->getOgreColor();
  121.  
  122.     for (size_t i = 0; i < visuals_.size(); ++i)
  123.     {
  124.         visuals_[i]->setProgressBarColor(color.r, color.g, color.b, 1);
  125.     }
  126. }
  127.  
  128. void ProgressBar_Display::updateHeaderColor()
  129. {
  130.     Ogre::ColourValue color = header_color_property_->getOgreColor();
  131.  
  132.     for (size_t i = 0; i < visuals_.size(); ++i)
  133.     {
  134.         visuals_[i]->setHeaderColor(color.r, color.g, color.b, 1);
  135.     }
  136. }
  137.  
  138. // set the number of past visuals to show
  139. void ProgressBar_Display::updateHistoryLength()
  140. {
  141.     visuals_.rset_capacity(history_length_property_->getInt());
  142. }
  143.  
  144. void ProgressBar_Display::updateTextSize()
  145. {
  146.     for (size_t i = 0; i < visuals_.size(); ++i)
  147.     {
  148.         visuals_[i]->setTextSize(text_size_property_->getFloat());
  149.     }
  150. }
  151.  
  152. void ProgressBar_Display::updateGraphSize()
  153. {
  154.     for (size_t i = 0; i < visuals_.size(); ++i)
  155.     {
  156.         visuals_[i]->setGraphSize(graph_size_property_->getFloat());
  157.     }
  158. }
  159.  
  160. void ProgressBar_Display::updateOffsets()
  161. {
  162.     for (size_t i = 0; i < visuals_.size(); ++i)
  163.     {
  164.         visuals_[i]->setOffsets(offsets_property_->getVector());
  165.     }
  166. }
  167.  
  168. void ProgressBar_Display::updateOrientation()
  169. {
  170.     for (size_t i = 0; i < visuals_.size(); ++i)
  171.     {
  172.         visuals_[i]->setOrientation(orientation_property_->getVector());
  173.     }
  174. }
  175.  
  176. void ProgressBar_Display::processMessage(const plugin_msg::ProgressBarMsg::ConstPtr& Msg)
  177. {
  178.     // call the rviz::FrameManager to get the transform from the fixed frame to the frame in the header of this progressBar message
  179.     // if it fails, do nothing and return
  180.     Ogre::Quaternion orientation;
  181.     Ogre::Vector3 position;
  182.     if (!context_->getFrameManager()->getTransform(Msg->header.frame_id,Msg->header.stamp, position, orientation))
  183.     {
  184.         ROS_DEBUG("error transforming from frame '%s' to frame '%s'",
  185.                   Msg->header.frame_id.c_str(), qPrintable(fixed_frame_));
  186.         return;
  187.     }
  188.  
  189.     // keeping a circular buffer of visual pointers
  190.     // this gets the next one, or creates and stores it if the buffer is not full
  191.     std::shared_ptr<ProgressBar_Visual> visual;
  192.     if (visuals_.full())
  193.     {
  194.         visual = visuals_.front();
  195.     }
  196.     else
  197.     {
  198.         visual.reset(new ProgressBar_Visual(context_->getSceneManager(), scene_node_));
  199.     }
  200.  
  201.     // set or update the contents of the chosen visual
  202.     float alpha = text_alpha_property_->getFloat();
  203.     Ogre::ColourValue color = text_color_property_->getOgreColor();
  204.     visual->setTextColor(color.r, color.g, color.b, alpha);
  205.  
  206.     color = background_color_property_->getOgreColor();
  207.     visual->setBackgroundColor(color.r, color.g, color.b, 0.5);
  208.  
  209.     color = progressBar_color_property_->getOgreColor();
  210.     visual->setProgressBarColor(color.r, color.g, color.b, 1);
  211.  
  212.     color = header_color_property_->getOgreColor();
  213.     visual->setHeaderColor(color.r, color.g, color.b, 1);
  214.  
  215.     visual->createProgressBarShape(Msg->value / 100.0);
  216.     visual->setMessage(Msg);
  217.     visual->setFramePosition(position);
  218.     visual->setFrameOrientation(orientation);
  219.  
  220.     // send it to the end of the circular buffer
  221.     visuals_.push_back(visual);
  222. }
  223. #include <pluginlib/class_list_macros.h>
  224. PLUGINLIB_EXPORT_CLASS(progressBar_plugin::ProgressBar_Display, rviz::Display)
  225.  
  226. }
注册插件

#include <pluginlib/class_list_macros.h>

PLUGINLIB_EXPORT_CLASS(progressBar_plugin::ProgressBar_Display, rviz::Display)

3.添加plugin_description.xml文件

内容如下：

  1. <library path="lib/libprogressBar_display">
  2.   <class name="progressBar_plugin/ProgressBar"
  3.          type="progressBar_plugin::ProgressBar_Display"
  4.          base_class_type="rviz::Display">
  5.     <description>
  6.       display progressBar information
  7.     </description>
  8.   </class>
  9. </library>

plugin_description.xml文件各字段含义 ：

path：动态链接库路径
name：插件名称
type：插件的完整类型
base_class_type：插件完整类型父类
description：功能描述

4.修改package.xml文件

修改内容如下：

  1. <?xml version="1.0"?>
  2. <package format="2">
  3.   <name>progressBar_display</name>
  4.   <version>0.1.0</version>
  5.   <description>The progressBar_display package</description>
  6.  
  7.   <!-- One maintainer tag required, multiple allowed, one person per tag -->
  8.   <!-- Example:  -->
  9.   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
  10.   <maintainer email="root@todo.todo">root</maintainer>
  11.  
  12.  
  13.   <!-- One license tag required, multiple allowed, one license per tag -->
  14.   <!-- Commonly used license strings: -->
  15.   <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
  16.   <license>Apache 2.0</license>
  17.  
  18.  
  19.   <!-- Url tags are optional, but multiple are allowed, one per tag -->
  20.   <!-- Optional attribute type can be: website, bugtracker, or repository -->
  21.   <!-- Example: -->
  22.   <!-- <url type="website">http://wiki.ros.org/progressBar_display</url> -->
  23.  
  24.  
  25.   <!-- Author tags are optional, multiple are allowed, one per tag -->
  26.   <!-- Authors do not have to be maintainers, but could be -->
  27.   <!-- Example: -->
  28.   <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
  29.  
  30.  
  31.   <!-- The *depend tags are used to specify dependencies -->
  32.   <!-- Dependencies can be catkin packages or system dependencies -->
  33.   <!-- Examples: -->
  34.   <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
  35.   <!--   <depend>roscpp</depend> -->
  36.   <!--   Note that this is equivalent to the following: -->
  37.   <!--   <build_depend>roscpp</build_depend> -->
  38.   <!--   <exec_depend>roscpp</exec_depend> -->
  39.   <!-- Use build_depend for packages you need at compile time: -->
  40.   <!--   <build_depend>message_generation</build_depend> -->
  41.   <!-- Use build_export_depend for packages you need in order to build against this package: -->
  42.   <!--   <build_export_depend>message_generation</build_export_depend> -->
  43.   <!-- Use buildtool_depend for build tool packages: -->
  44.   <!--   <buildtool_depend>catkin</buildtool_depend> -->
  45.   <!-- Use exec_depend for packages you need at runtime: -->
  46.   <!--   <exec_depend>message_runtime</exec_depend> -->
  47.   <!-- Use test_depend for packages you need only for testing: -->
  48.   <!--   <test_depend>gtest</test_depend> -->
  49.   <!-- Use doc_depend for packages you need only for building documentation: -->
  50.   <!--   <doc_depend>doxygen</doc_depend> -->
  51.   <buildtool_depend>catkin</buildtool_depend>
  52.  
  53.   <build_depend>qtbase5-dev</build_depend>
  54.   <build_depend>rviz</build_depend>
  55.  
  56.   <exec_depend>libqt5-core</exec_depend>
  57.   <exec_depend>libqt5-gui</exec_depend>
  58.   <exec_depend>libqt5-widgets</exec_depend>
  59.   <exec_depend>rviz</exec_depend>
  60.  
  61.   <build_depend>plugin_msg</build_depend>
  62.   <build_export_depend>plugin_msg</build_export_depend>
  63.   <exec_depend>plugin_msg</exec_depend>
  64.  
  65.  
  66.   <!-- The export tag contains other, unspecified, tags -->
  67.   <export>
  68.     <!-- Other tools can request additional information be placed here -->
  69.     <rviz plugin="${prefix}/plugin_description.xml"/>
  70.   </export>
  71. </package>

5.修改CMakeLists.txt文件

修改内容如下：

  1. #指定项目所需的最低 CMake 版本。
  2. cmake_minimum_required(VERSION 3.0.2)
  3. #定义项目的名称
  4. project(progressBar_display)
  5.  
  6. #查找并导入外部依赖库
  7. find_package(catkin REQUIRED COMPONENTS
  8.   rviz
  9.   plugin_msg
  10. )
  11.  
  12. ## This plugin includes Qt widgets, so we must include Qt like so:
  13. find_package(Qt5 REQUIRED Core Widgets)
  14. set(QT_LIBRARIES Qt5::Widgets)
  15.  
  16. #添加头文件搜索路径，编译器使用这些目录来查找头文件,第一个参数“include”表示包中的include/目录也是路径的一部分。
  17. include_directories(
  18.   include
  19.   ${catkin_INCLUDE_DIRS}
  20. )
  21.  
  22. ## I prefer the Qt signals and slots to avoid defining "emit", "slots",
  23. ## etc because they can conflict with boost signals, so define QT_NO_KEYWORDS here.
  24. add_definitions(-DQT_NO_KEYWORDS)
  25.  
  26. # 设置相关变量
  27. # 自动添加当前目录至路径中
  28. set(CMAKE_INCLUDE_CURRENT_DIR ON)
  29. # 自动生成moc文件,自动运行moc
  30. set(CMAKE_AUTOMOC ON)
  31. # 自动运行uic
  32. #set(CMAKE_AUTOUIC ON)
  33. # 自动运行rcc
  34. set(CMAKE_AUTORCC ON)
  35.  
  36.  
  37. #用来匹配指定路径下所有符合通配符条件的文件的命令。具体来说，GLOB_RECURSE 是递归查找目录下的所有文件，file() 命令则可以用来获取文件列表。
  38. file(GLOB_RECURSE SOURCE_CPP
  39.  "${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp"
  40. )
  41. file(GLOB_RECURSE SOURCE_H
  42.   "${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}/*.h"
  43. )
  44.  
  45. #生成库
  46. add_library(${PROJECT_NAME}
  47.   ${SOURCE_H}
  48.   ${SOURCE_CPP}
  49. )
  50.  
  51. #在定义消息类型时，编译的库依赖这些动态生成的代码
  52. add_dependencies(${PROJECT_NAME} plugin_msg_generate_messages_cpp)
  53.  
  54. #设置链接库，需要用到系统或者第三方库函数时候进行配置，第一个参数是可执行文件名，后面依次写入需要链接的库
  55. #设置生成库依赖的库
  56. target_link_libraries(${PROJECT_NAME}
  57.   ${catkin_LIBRARIES}
  58.   ${QT_LIBRARIES}
  59. )

四、添加自定义插件（rviz::Panel类型）

1.创建插件包以及文件

创建名为progressBar_panel的插件包，以及名为ProgressBar_Panel的c++类，步骤同上。

创建带有UI界面的类步骤如下：

选择【Qt】，选择【Qt设计师界面类】，点击【Choose...】按钮。

 选择【Widget】，点击【下一步】按钮

 输入【类名：】，点击【下一步】按钮。

 点击【完成】按钮。

 同上将.h文件移到include下的progressBar_panel文件夹下。在src和include的同级目录下创建ui文件夹，将.ui文件移到ui文件夹下。

此时目录结构如下：

 2.添加类代码

ui界面

界面如下：

 panel_widget.h

  1. #ifndef PANEL_WIDGET_H
  2. #define PANEL_WIDGET_H
  3.  
  4. #include <QWidget>
  5.  
  6. namespace Ui {
  7. class Panel_Widget;
  8. }
  9.  
  10. namespace progressBar_panel {
  11.  
  12. class Panel_Widget : public QWidget
  13. {
  14.     Q_OBJECT
  15.  
  16. public:
  17.     explicit Panel_Widget(QWidget *parent = 0);
  18.     ~Panel_Widget();
  19.  
  20. Q_SIGNALS:
  21.     void sigToUpdateTopicAndProgressBarValue(QString topic,float value);
  22.  
  23. private:
  24.     Ui::Panel_Widget *ui;
  25. };
  26.  
  27. }
  28.  
  29. #endif // PANEL_WIDGET_H

panel_widget.cpp

  1. #include "progressBar_panel/panel_widget.h"
  2. #include "ui_panel_widget.h"
  3.  
  4. namespace progressBar_panel {
  5.  
  6. Panel_Widget::Panel_Widget(QWidget *parent) :
  7.     QWidget(parent),
  8.     ui(new Ui::Panel_Widget)
  9. {
  10.     ui->setupUi(this);
  11.  
  12.     connect(ui->topic_name,&QLineEdit::editingFinished,this,[=](){
  13.         Q_EMIT sigToUpdateTopicAndProgressBarValue(ui->topic_name->text(),ui->progressBar_value->text().toFloat());
  14.     });
  15.     connect(ui->progressBar_value,&QLineEdit::editingFinished,this,[=](){
  16.         Q_EMIT sigToUpdateTopicAndProgressBarValue(ui->topic_name->text(),ui->progressBar_value->text().toFloat());
  17.     });
  18.     connect(ui->pushButton_add,&QPushButton::clicked,this,[=](){
  19.         ui->progressBar_value->setText(QString::number(ui->progressBar_value->text().toFloat() + 5));
  20.         Q_EMIT sigToUpdateTopicAndProgressBarValue(ui->topic_name->text(),ui->progressBar_value->text().toFloat());
  21.         if(ui->progressBar_value->text().toFloat() == 100)
  22.             ui->progressBar_value->setText("0");
  23.     });
  24. }
  25.  
  26. Panel_Widget::~Panel_Widget()
  27. {
  28.     delete ui;
  29. }
  30.  
  31. }

progressbar_panel.h

  1. #ifndef PROGRESSBAR_PANEL_H
  2. #define PROGRESSBAR_PANEL_H
  3.  
  4. #include <rviz/panel.h>
  5. #include <ros/ros.h>
  6. #include <rviz/panel.h>
  7.  
  8. #include "panel_widget.h"
  9. #include "plugin_msg/ProgressBarMsg.h"
  10.  
  11. namespace progressBar_panel {
  12.  
  13. class ProgressBar_Panel: public rviz::Panel
  14. {
  15. public:
  16.     ProgressBar_Panel(QWidget* parent = 0 );
  17.  
  18.     virtual void load( const rviz::Config& config );
  19.     virtual void save( rviz::Config config ) const;
  20.  
  21. public Q_SLOTS:
  22.     void updateTopicAndProgressBarValue(QString topic,float value);
  23.  
  24. private:
  25.     Panel_Widget *panel_widget;
  26.  
  27.     // The current name of the output topic.
  28.     QString output_topic_;
  29.  
  30.     // The ROS publisher for the command velocity.
  31.     ros::Publisher progressBar_publisher_;
  32.  
  33.     // The ROS node handle.
  34.     ros::NodeHandle nh_;
  35. };
  36.  
  37. }
  38.  
  39. #endif // PROGRESSBAR_PANEL_H

progressbar_panel.cpp

  1. #include "progressBar_panel/progressbar_panel.h"
  2.  
  3. #include <rviz/properties/bool_property.h>
  4. #include <rviz/properties/float_property.h>
  5. #include <rviz/properties/string_property.h>
  6. #include <rviz/window_manager_interface.h>
  7. #include <rviz/display_context.h>
  8. #include <QVBoxLayout>
  9. #include <QDebug>
  10. #include <QDateTime>
  11.  
  12. namespace progressBar_panel
  13. {
  14.  
  15. ProgressBar_Panel::ProgressBar_Panel(QWidget* parent): rviz::Panel( parent )
  16. {
  17.     panel_widget = new Panel_Widget;
  18.     connect(panel_widget,&Panel_Widget::sigToUpdateTopicAndProgressBarValue,this,&ProgressBar_Panel::updateTopicAndProgressBarValue);
  19.     QVBoxLayout* layout = new QVBoxLayout;
  20.     layout->addWidget(panel_widget);
  21.     setLayout(layout);
  22. }
  23.  
  24. void ProgressBar_Panel::load(const rviz::Config &config)
  25. {
  26.     rviz::Panel::load( config );
  27. }
  28.  
  29. void ProgressBar_Panel::save(rviz::Config config) const
  30. {
  31.     rviz::Panel::save( config );
  32. }
  33.  
  34. void ProgressBar_Panel::updateTopicAndProgressBarValue(QString topic, float value)
  35. {
  36.     if( topic != output_topic_ )
  37.     {
  38.         output_topic_ = topic;
  39.         // If the topic is the empty string, don't publish anything.
  40.         if( output_topic_ == "" )
  41.         {
  42.             progressBar_publisher_.shutdown();
  43.         }
  44.         else
  45.         {
  46.             // The old ``velocity_publisher_`` is destroyed by this assignment,
  47.             // and thus the old topic advertisement is removed.  The call to
  48.             // nh_advertise() says we want to publish data on the new topic
  49.             // name.
  50.             progressBar_publisher_ = nh_.advertise<plugin_msg::ProgressBarMsg>( output_topic_.toStdString(), 1 );
  51.         }
  52.         // rviz::Panel defines the configChanged() signal.  Emitting it
  53.         // tells RViz that something in this panel has changed that will
  54.         // affect a saved config file.  Ultimately this signal can cause
  55.         // QWidget::setWindowModified(true) to be called on the top-level
  56.         // rviz::VisualizationFrame, which causes a little asterisk ("*")
  57.         // to show in the window's title bar indicating unsaved changes.
  58.         Q_EMIT configChanged();
  59.     }
  60.  
  61.  
  62.     if( ros::ok() && progressBar_publisher_ )
  63.     {
  64.         plugin_msg::ProgressBarMsg msg;
  65.         msg.header.frame_id = "map";//output_topic_.toStdString();
  66.         msg.header.stamp = ros::Time(QDateTime::currentSecsSinceEpoch());
  67.         msg.value = value;
  68.         progressBar_publisher_.publish( msg );
  69.         //qDebug()<<"publisher msg";
  70.     }
  71.  
  72. }
  73.  
  74. }
  75.  
  76. // 声明此类是一个rviz的插件
  77. #include <pluginlib/class_list_macros.h>
  78. PLUGINLIB_EXPORT_CLASS(progressBar_panel::ProgressBar_Panel,rviz::Panel )

 3.添加plugin_description.xml文件

内容如下：

  1. <library path="lib/libprogressBar_panel">
  2.   <class name="progressBar_panel/ProgressBarPanel"
  3.          type="progressBar_panel::ProgressBar_Panel"
  4.          base_class_type="rviz::Panel">
  5.     <description>
  6.       panel progressBar information
  7.     </description>
  8.   </class>
  9. </library>

4.修改package.xml文件

修改内容如下：

  1. <?xml version="1.0"?>
  2. <package format="2">
  3.   <name>progressBar_panel</name>
  4.   <version>0.1.0</version>
  5.   <description>The progressBar_panel package</description>
  6.  
  7.   <!-- One maintainer tag required, multiple allowed, one person per tag -->
  8.   <!-- Example:  -->
  9.   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
  10.   <maintainer email="root@todo.todo">root</maintainer>
  11.  
  12.  
  13.   <!-- One license tag required, multiple allowed, one license per tag -->
  14.   <!-- Commonly used license strings: -->
  15.   <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
  16.   <license>Apache 2.0</license>
  17.  
  18.  
  19.   <!-- Url tags are optional, but multiple are allowed, one per tag -->
  20.   <!-- Optional attribute type can be: website, bugtracker, or repository -->
  21.   <!-- Example: -->
  22.   <!-- <url type="website">http://wiki.ros.org/progressBar_panel</url> -->
  23.  
  24.  
  25.   <!-- Author tags are optional, multiple are allowed, one per tag -->
  26.   <!-- Authors do not have to be maintainers, but could be -->
  27.   <!-- Example: -->
  28.   <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
  29.  
  30.  
  31.   <!-- The *depend tags are used to specify dependencies -->
  32.   <!-- Dependencies can be catkin packages or system dependencies -->
  33.   <!-- Examples: -->
  34.   <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
  35.   <!--   <depend>roscpp</depend> -->
  36.   <!--   Note that this is equivalent to the following: -->
  37.   <!--   <build_depend>roscpp</build_depend> -->
  38.   <!--   <exec_depend>roscpp</exec_depend> -->
  39.   <!-- Use build_depend for packages you need at compile time: -->
  40.   <!--   <build_depend>message_generation</build_depend> -->
  41.   <!-- Use build_export_depend for packages you need in order to build against this package: -->
  42.   <!--   <build_export_depend>message_generation</build_export_depend> -->
  43.   <!-- Use buildtool_depend for build tool packages: -->
  44.   <!--   <buildtool_depend>catkin</buildtool_depend> -->
  45.   <!-- Use exec_depend for packages you need at runtime: -->
  46.   <!--   <exec_depend>message_runtime</exec_depend> -->
  47.   <!-- Use test_depend for packages you need only for testing: -->
  48.   <!--   <test_depend>gtest</test_depend> -->
  49.   <!-- Use doc_depend for packages you need only for building documentation: -->
  50.   <!--   <doc_depend>doxygen</doc_depend> -->
  51.   <buildtool_depend>catkin</buildtool_depend>
  52.  
  53.   <build_depend>qtbase5-dev</build_depend>
  54.   <build_depend>rviz</build_depend>
  55.  
  56.   <exec_depend>libqt5-core</exec_depend>
  57.   <exec_depend>libqt5-gui</exec_depend>
  58.   <exec_depend>libqt5-widgets</exec_depend>
  59.   <exec_depend>rviz</exec_depend>
  60.  
  61.   <build_depend>custom_msg</build_depend>
  62.   <build_export_depend>custom_msg</build_export_depend>
  63.   <exec_depend>custom_msg</exec_depend>
  64.  
  65.  
  66.   <!-- The export tag contains other, unspecified, tags -->
  67.   <export>
  68.     <!-- Other tools can request additional information be placed here -->
  69.     <rviz plugin="${prefix}/plugin_description.xml"/>
  70.   </export>
  71. </package>

5.修改CMakeLists.txt文件

修改内容如下：

  1. #指定项目所需的最低 CMake 版本。
  2. cmake_minimum_required(VERSION 3.0.2)
  3. #定义项目的名称
  4. project(progressBar_panel)
  5.  
  6. #查找并导入外部依赖库
  7. find_package(catkin REQUIRED COMPONENTS
  8.   rviz
  9.   plugin_msg
  10. )
  11.  
  12. ## This plugin includes Qt widgets, so we must include Qt.
  13. ## We'll use the version that rviz used so they are compatible.
  14. if(rviz_QT_VERSION VERSION_LESS "5")
  15.   message(STATUS "Using Qt4 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
  16.   find_package(Qt4 ${rviz_QT_VERSION} EXACT REQUIRED QtCore QtGui)
  17.   ## pull in all required include dirs, define QT_LIBRARIES, etc.
  18.   include(${QT_USE_FILE})
  19.   macro(qt_wrap_ui)
  20.     qt4_wrap_ui(${ARGN})
  21.   endmacro()
  22. else()
  23.   message(STATUS "Using Qt5 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
  24.   find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets)
  25.   ## make target_link_libraries(${QT_LIBRARIES}) pull in all required dependencies
  26.   set(QT_LIBRARIES Qt5::Widgets)
  27.   macro(qt_wrap_ui)
  28.     qt5_wrap_ui(${ARGN})
  29.   endmacro()
  30. endif()
  31.  
  32. #添加头文件搜索路径，编译器使用这些目录来查找头文件,第一个参数“include”表示包中的include/目录也是路径的一部分。
  33. include_directories(
  34.   include
  35.   ${catkin_INCLUDE_DIRS}
  36. )
  37.  
  38. ## I prefer the Qt signals and slots to avoid defining "emit", "slots",
  39. ## etc because they can conflict with boost signals, so define QT_NO_KEYWORDS here.
  40. add_definitions(-DQT_NO_KEYWORDS)
  41.  
  42. ## I prefer the Qt signals and slots to avoid defining "emit", "slots",
  43. ## etc because they can conflict with boost signals, so define QT_NO_KEYWORDS here.
  44. add_definitions(-DQT_NO_KEYWORDS)
  45.  
  46. # 设置相关变量
  47. # 自动添加当前目录至路径中
  48. set(CMAKE_INCLUDE_CURRENT_DIR ON)
  49. # 自动生成moc文件,自动运行moc
  50. set(CMAKE_AUTOMOC ON)
  51. # 自动运行uic
  52. #set(CMAKE_AUTOUIC ON)
  53. # 自动运行rcc
  54. set(CMAKE_AUTORCC ON)
  55.  
  56. qt_wrap_ui(UIC_FILES
  57.   ui/panel_widget.ui
  58. )
  59.  
  60. #用来匹配指定路径下所有符合通配符条件的文件的命令。具体来说，GLOB_RECURSE 是递归查找目录下的所有文件，file() 命令则可以用来获取文件列表。
  61. file(GLOB_RECURSE SOURCE_CPP
  62.  "${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp"
  63. )
  64. file(GLOB_RECURSE SOURCE_H
  65.   "${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}/*.h"
  66. )
  67.  
  68. #生成库
  69. add_library(${PROJECT_NAME}
  70.   ${SOURCE_H}
  71.   ${SOURCE_CPP}
  72.   ${UIC_FILES}
  73. )
  74.  
  75. #在定义消息类型时，编译的库依赖这些动态生成的代码
  76. add_dependencies(${PROJECT_NAME} plugin_msg_generate_messages_cpp)
  77.  
  78. #设置链接库，需要用到系统或者第三方库函数时候进行配置，第一个参数是可执行文件名，后面依次写入需要链接的库
  79. #设置生成库依赖的库
  80. target_link_libraries(${PROJECT_NAME}
  81.   ${catkin_LIBRARIES}
  82.   ${QT_LIBRARIES}
  83. )

五、编译

在工作空间下打开终端，输入命令

catkin_make

六 、运行

在终端输入命令，设置环境

source devel/setup.bash

在打开rviz之前需另开一个终端打开ros环境

roscore

 输入命令打开rviz可视化工具

rviz

七 、rviz的使用

1.打开Panel类型插件

点击菜单栏的【Panel】选项，点击【Add New Panel】按钮。

 选择【progressBar_panel】下的【ProgressBarPanel】插件，点击【OK】按钮。

此时在rviz中显示出该插件。

 

 2.添加Display类型插件

点击【Displays】视口的【Add】按钮。

选择【progressBar_display】下的【ProgressBar】插件，点击【OK】按钮。

 此时在rviz的Displays视口显示该插件。

 

3.插件的使用

 首先在Panel插件中输入一个topic name（推送的话题名称）。

 在Display插件中选择订阅的话题，如下图：

 

 此时修改slider value的值即可看到并修改中间部分的进度条。

需要注意的是：

推送的消息中会设置frame id，本次设置的为map，所以不需修改此值，如果推送的消息中不为map，需要一致。

 

资源链接

https://download.csdn.net/download/m0_67254672/88225745?spm=1001.2014.3001.5501

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