聲明：本插件依賴于更新的qt5.9，不需安裝qt，安裝插件自行安裝qt。詳情見點擊打開鏈接

1、創建工程

最后點擊完成即可。

2，建好后右鍵點擊src，打開Terminal，執行指令建包catkin_create_qt_pkg btn

（預先安裝建包工具，指令：sudo apt-get install ros-indigo-qt-ros）

這就建立

這就建好一個包了，點擊左下角小錘子編譯一下，通過。

3、然后點擊project->run,添加節點如圖：

4，在UI界面拖放幾個按鈕，并改名字，右擊按鈕轉到槽，在主窗口cpp文件中寫入qnode.up（）;（因為qnode里面定義的是up和left）,另一按鈕同理。

5主要的是qnode.cpp文件，首先在頭文件中定義

然后寫qnode.cpp文件

/*** @file /src/qnode.cpp** @brief Ros communication central!** @date February 2011**//***************************************************************************** ** Includes *****************************************************************************/#include <ros/ros.h> #include <ros/network.h> #include <string>#include <std_msgs/String.h> #include <geometry_msgs/Twist.h>#include <sstream> #include "../include/btn/qnode.hpp"/***************************************************************************** ** Namespaces *****************************************************************************/namespace btn {/***************************************************************************** ** Implementation *****************************************************************************/QNode::QNode(int argc, char** argv ) :init_argc(argc),init_argv(argv){}QNode::~QNode() {if(ros::isStarted()) {ros::shutdown(); // explicitly needed since we use ros::start();ros::waitForShutdown();}wait(); }bool QNode::init() {ros::init(init_argc,init_argv,"btn");if ( ! ros::master::check() ) {return false;}ros::start(); // explicitly needed since our nodehandle is going out of scope.ros::NodeHandle n;// Add your ros communications here.chatter_publisher = n.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel", 1000);start();return true; }bool QNode::init(const std::string &master_url, const std::string &host_url) {std::map<std::string,std::string> remappings;remappings["__master"] = master_url;remappings["__hostname"] = host_url;ros::init(remappings,"btn");if ( ! ros::master::check() ) {return false;}ros::start(); // explicitly needed since our nodehandle is going out of scope.ros::NodeHandle n;// Add your ros communications here.chatter_publisher = n.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel", 1000);start();return true; }/*void QNode::run() {ros::Rate loop_rate(1);int count = 0;while ( ros::ok() ){geometry_msgs::Twist msg;msg.linear.x = 1.0;msg.angular.z = 0.0;chatter_publisher.publish(msg);// log(Info, msg.linear.x);// log(Info, msg.angular.z);logging_model.insertRows(logging_model.rowCount(),1);std::stringstream logging_model_msg;logging_model_msg << "[DEBUG] [" << ros::Time::now() << "]: " <<"linear = "<< msg.linear.x<<" angular = "<<msg.angular.z;QVariant new_row(QString(logging_model_msg.str().c_str()));logging_model.setData(logging_model.index(logging_model.rowCount()-1),new_row);Q_EMIT loggingUpdated(); // used to readjust the scrollbarros::spinOnce();loop_rate.sleep();++count;}*/void QNode::up() {ros::Rate loop_rate(1);if( ros::ok() ){geometry_msgs::Twist msg;msg.linear.x = 1.0;msg.angular.z = 0.0;chatter_publisher.publish(msg);ros::spinOnce();loop_rate.sleep();} }void QNode::left() {ros::Rate loop_rate(1);if ( ros::ok() ){geometry_msgs::Twist msg;msg.linear.x = 0.0;msg.angular.z = 1.0;chatter_publisher.publish(msg);ros::spinOnce();loop_rate.sleep();}//std::cout << "Ros shutdown, proceeding to close the gui." << std::endl;//Q_EMIT rosShutdown(); // used to signal the gui for a shutdown (useful to roslaunch) }void QNode::log( const LogLevel &level, const std::string &msg) {logging_model.insertRows(logging_model.rowCount(),1);std::stringstream logging_model_msg;switch ( level ) {case(Debug) : {ROS_DEBUG_STREAM(msg);logging_model_msg << "[DEBUG] [" << ros::Time::now() << "]: " << msg;break;}case(Info) : {ROS_INFO_STREAM(msg);logging_model_msg << "[INFO] [" << ros::Time::now() << "]: " << msg;break;}case(Warn) : {ROS_WARN_STREAM(msg);logging_model_msg << "[INFO] [" << ros::Time::now() << "]: " << msg;break;}case(Error) : {ROS_ERROR_STREAM(msg);logging_model_msg << "[ERROR] [" << ros::Time::now() << "]: " << msg;break;}case(Fatal) : {ROS_FATAL_STREAM(msg);logging_model_msg << "[FATAL] [" << ros::Time::now() << "]: " << msg;break;}}QVariant new_row(QString(logging_model_msg.str().c_str()));logging_model.setData(logging_model.index(logging_model.rowCount()-1),new_row);Q_EMIT loggingUpdated(); // used to readjust the scrollbar }} // namespace btn 最后，編譯運行就可以了，（首先加入turtlesim小烏龜的節點，然后啟動roscore歐）。點擊connect連接，就可以按鍵控制了。

PS：1、頭文件包含問題：

用插件創建或導入ROS package之后還需要修改.workspace文件，

在<IncludePaths>標簽下加入下面這行

<Directory>/opt/ros/indigo/include</Directory>

• 1

這樣就可以使得Qt找到ros頭文件，比如<ros/ros.h>?

2，connect前一定要、一定要在use environment variable前打鉤或者輸入ROS IP。

在此非常感謝我的小伙伴的幫助。

借鑒自：

1、http://blog.csdn.net/yaked/article/details/45342137

2、http://blog.csdn.net/u013453604/article/details/52186375

3、http://blog.csdn.net/qq_30460905/article/details/79034633

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