├── CMakeLists.txt
├── README.md
├── package.xml
├── qt_resources
    ├── arrows.qrc
    └── images
    │   ├── down.xpm
    │   ├── left.xpm
    │   ├── right.xpm
    │   └── up.xpm
└── src
    ├── ControlWindow.cpp
    ├── ControlWindow.h
    ├── RobotThread.cpp
    ├── RobotThread.h
    └── main.cpp


/CMakeLists.txt:
--------------------------------------------------------------------------------
 1 | cmake_minimum_required(VERSION 2.8.9)
 2 | project(ros_qt_controller)
 3 | find_package(catkin REQUIRED COMPONENTS roscpp)
 4 | find_package(Qt5Widgets REQUIRED)
 5 | find_package(Qt5Core REQUIRED)
 6 | 
 7 | catkin_package(
 8 |   CATKIN_DEPENDS roscpp geometry_msgs
 9 |   DEPENDS system-lib
10 | )
11 | 
12 | qt5_add_resources(QT_RESOURCES_CPP qt_resources/arrows.qrc)
13 | qt5_wrap_cpp(QT_MOC_HPP src/ControlWindow.h
14 | 						src/RobotThread.h)
15 | 
16 | include_directories(src ${catkin_INCLUDE_DIRS})
17 | include_directories(${Qt5Widgets_INCLUDE_DIRS})
18 | 
19 | add_executable(qt_ros_ctrl src/ControlWindow.cpp
20 | 						   src/RobotThread.cpp
21 | 						   src/main.cpp
22 | 						   ${QT_RESOURCES_CPP}
23 |               			   ${QT_MOC_HPP})
24 | 
25 | target_link_libraries(qt_ros_ctrl ${QT_LIBRARIES}
26 |             		  ${catkin_LIBRARIES} Qt5::Widgets)
27 | 
28 | install(TARGETS qt_ros_ctrl
29 |   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
30 | )


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
1 | Description
2 | ===========
3 | This is a simple controller built with ROS and Qt5 libraries. This is implemented here as a part of the ROS Complete Handbook.


--------------------------------------------------------------------------------
/package.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <package>
 3 |   <name>ros_qt_controller</name>
 4 |   <version>0.0.1</version>
 5 |   <description>Simple Robot Controller.</description>
 6 |   <license>BSD</license>
 7 |   <maintainer email="allen286@purdue.edu">Hunter Allen</maintainer>
 8 |   <author email="allen286@purdue.edu">Hunter Allen</author>
 9 | 
10 |   <buildtool_depend>catkin</buildtool_depend>
11 | 
12 |   <build_depend>geometry_msgs</build_depend>
13 |   <build_depend>roscpp</build_depend>
14 |   
15 |   <run_depend>geometry_msgs</run_depend>
16 |   <run_depend>roscpp</run_depend>
17 | </package>


--------------------------------------------------------------------------------
/qt_resources/arrows.qrc:
--------------------------------------------------------------------------------
1 | <!DOCTYPE RCC><RCC version="1.0">
2 | <qresource>
3 | 	<file>images/down.xpm</file>
4 | 	<file>images/left.xpm</file>
5 | 	<file>images/right.xpm</file>
6 | 	<file>images/up.xpm</file>
7 | </qresource>
8 | </RCC>


--------------------------------------------------------------------------------
/qt_resources/images/down.xpm:
--------------------------------------------------------------------------------
 1 | /* XPM */
 2 | static char * down_xpm[] = {
 3 | "50 50 42 1",
 4 | " 	c #CDCDCD",
 5 | ".	c #FFFFFF",
 6 | "+	c #C7C7C7",
 7 | "@	c #AAAAAA",
 8 | "#	c #959595",
 9 | "$	c #8F8F8F",
10 | "%	c #C1C1C1",
11 | "&	c #FDFDFD",
12 | "*	c #353535",
13 | "=	c #949494",
14 | "-	c #393939",
15 | ";	c #BBBBBB",
16 | ">	c #010101",
17 | ",	c #929292",
18 | "'	c #B2B2B2",
19 | ")	c #989898",
20 | "!	c #383838",
21 | "~	c #000000",
22 | "{	c #AFAFAF",
23 | "]	c #ACACAC",
24 | "^	c #181818",
25 | "/	c #ECECEC",
26 | "(	c #F0F0F0",
27 | "_	c #161616",
28 | ":	c #555555",
29 | "<	c #666666",
30 | "[	c #2C2C2C",
31 | "}	c #B7B7B7",
32 | "|	c #1D1D1D",
33 | "1	c #363636",
34 | "2	c #424242",
35 | "3	c #C2C2C2",
36 | "4	c #373737",
37 | "5	c #3F3F3F",
38 | "6	c #3A3A3A",
39 | "7	c #C3C3C3",
40 | "8	c #404040",
41 | "9	c #414141",
42 | "0	c #F2F2F2",
43 | "a	c #686868",
44 | "b	c #3B3B3B",
45 | "c	c #434343",
46 | " ................................................+",
47 | "@#..............................................$%",
48 | "&*=............................................$-.",
49 | ".;>,..........................................$>'.",
50 | "..*>)........................................$>!..",
51 | "..;~>{......................................]>~'..",
52 | "...*~^/....................................(_~!...",
53 | "...;~~:....................................<~~'...",
54 | "....[~~{..................................}>~!....",
55 | "....@~~^/................................(|~~'....",
56 | "....&1~~:................................<~~2.....",
57 | ".....;~~~{..............................}>~~3.....",
58 | "......1~~^/............................(|~~-......",
59 | "......;~~~:............................<~~~'......",
60 | ".......1~~~{..........................}>~~-.......",
61 | ".......;~~~^/........................(|~~~'.......",
62 | "........4~~~:........................<~~~-........",
63 | "........;~~~~{......................}>~~~'........",
64 | ".........4~~~^/....................(|~~~-.........",
65 | ".........;~~~~:....................<~~~~'.........",
66 | "..........4~~~~{..................}>~~~-..........",
67 | "..........;~~~~^/................(|~~~~'..........",
68 | "...........5~~~~:................<~~~~6...........",
69 | "...........7~~~~~{..............}>~~~~'...........",
70 | "............8~~~~^/............(|~~~~6............",
71 | "............7~~~~~:............<~~~~~'............",
72 | ".............8~~~~~{..........}>~~~~6.............",
73 | ".............7~~~~~^/........(|~~~~~'.............",
74 | "..............8~~~~~:........<~~~~~6..............",
75 | "..............7~~~~~~{......}>~~~~~'..............",
76 | "...............9~~~~~^/....(|~~~~~6...............",
77 | "...............7~~~~~~:....<~~~~~~'...............",
78 | "................9~~~~~~{..}>~~~~~6................",
79 | "................7~~~~~~^0(|~~~~~~'................",
80 | ".................9~~~~~~a<~~~~~~6.................",
81 | ".................7~~~~~~>>~~~~~~'.................",
82 | "..................2~~~~~~~~~~~~b..................",
83 | "..................7~~~~~~~~~~~~'..................",
84 | "...................2~~~~~~~~~~b...................",
85 | "...................7~~~~~~~~~~'...................",
86 | "....................2~~~~~~~~b....................",
87 | "....................7~~~~~~~~'....................",
88 | ".....................c~~~~~~b.....................",
89 | ".....................7~~~~~~'.....................",
90 | "......................c~~~~b......................",
91 | "......................7~~~~'......................",
92 | ".......................c~~b.......................",
93 | ".......................7~~;.......................",
94 | "........................4b........................",
95 | "........................};........................"};
96 | 


--------------------------------------------------------------------------------
/qt_resources/images/left.xpm:
--------------------------------------------------------------------------------
 1 | /* XPM */
 2 | static char * left_xpm[] = {
 3 | "50 50 42 1",
 4 | " 	c #FFFFFF",
 5 | ".	c #C1C1C1",
 6 | "+	c #C7C7C7",
 7 | "@	c #B2B2B2",
 8 | "#	c #393939",
 9 | "$	c #8F8F8F",
10 | "%	c #383838",
11 | "&	c #010101",
12 | "*	c #000000",
13 | "=	c #C2C2C2",
14 | "-	c #424242",
15 | ";	c #161616",
16 | ">	c #ACACAC",
17 | ",	c #666666",
18 | "'	c #F0F0F0",
19 | ")	c #1D1D1D",
20 | "!	c #B7B7B7",
21 | "~	c #3A3A3A",
22 | "{	c #3B3B3B",
23 | "]	c #BBBBBB",
24 | "^	c #373737",
25 | "/	c #686868",
26 | "(	c #F2F2F2",
27 | "_	c #C3C3C3",
28 | ":	c #434343",
29 | "<	c #181818",
30 | "[	c #AFAFAF",
31 | "}	c #555555",
32 | "|	c #ECECEC",
33 | "1	c #414141",
34 | "2	c #404040",
35 | "3	c #3F3F3F",
36 | "4	c #363636",
37 | "5	c #FDFDFD",
38 | "6	c #AAAAAA",
39 | "7	c #2C2C2C",
40 | "8	c #989898",
41 | "9	c #353535",
42 | "0	c #929292",
43 | "a	c #949494",
44 | "b	c #959595",
45 | "c	c #CDCDCD",
46 | "                                                .+",
47 | "                                              @#$ ",
48 | "                                            @%&$  ",
49 | "                                          @%*&$   ",
50 | "                                        @%**&$    ",
51 | "                                      =-***;>     ",
52 | "                                    @#***&,'      ",
53 | "                                  @#****)!        ",
54 | "                                @#****&,'         ",
55 | "                              @#*****)!           ",
56 | "                            @#*****&,'            ",
57 | "                          @~******)!              ",
58 | "                        @~******&,'               ",
59 | "                      @~*******)!                 ",
60 | "                    @~*******&,'                  ",
61 | "                  @~********)!                    ",
62 | "                @~********&,'                     ",
63 | "              @~*********)!                       ",
64 | "            @{*********&,'                        ",
65 | "          @{**********)!                          ",
66 | "        @{**********&,'                           ",
67 | "      @{***********)!                             ",
68 | "    @{***********&,'                              ",
69 | "  ]{************)!                                ",
70 | "]{************&,'                                 ",
71 | "!^************&/(                                 ",
72 | "  _:************<[                                ",
73 | "    _:************}|                              ",
74 | "      _:***********<[                             ",
75 | "        _-***********}|                           ",
76 | "          _-**********<[                          ",
77 | "            _-**********}|                        ",
78 | "              _1*********<[                       ",
79 | "                _1*********}|                     ",
80 | "                  _1********<[                    ",
81 | "                    _2********}|                  ",
82 | "                      _2*******<[                 ",
83 | "                        _2*******}|               ",
84 | "                          _3******<[              ",
85 | "                            ]^******}|            ",
86 | "                              ]^*****<[           ",
87 | "                                ]^*****}|         ",
88 | "                                  ]4****<[        ",
89 | "                                    ]4****}|      ",
90 | "                                      ]4***<[     ",
91 | "                                       567**&8    ",
92 | "                                          ]9*&0   ",
93 | "                                            ]9&a  ",
94 | "                                              ]9b ",
95 | "                                               56c"};
96 | 


--------------------------------------------------------------------------------
/qt_resources/images/right.xpm:
--------------------------------------------------------------------------------
 1 | /* XPM */
 2 | static char * right_xpm[] = {
 3 | "50 50 42 1",
 4 | " 	c #C7C7C7",
 5 | ".	c #C1C1C1",
 6 | "+	c #FFFFFF",
 7 | "@	c #8F8F8F",
 8 | "#	c #393939",
 9 | "$	c #B2B2B2",
10 | "%	c #010101",
11 | "&	c #383838",
12 | "*	c #000000",
13 | "=	c #ACACAC",
14 | "-	c #161616",
15 | ";	c #424242",
16 | ">	c #C2C2C2",
17 | ",	c #F0F0F0",
18 | "'	c #666666",
19 | ")	c #B7B7B7",
20 | "!	c #1D1D1D",
21 | "~	c #3A3A3A",
22 | "{	c #3B3B3B",
23 | "]	c #BBBBBB",
24 | "^	c #F2F2F2",
25 | "/	c #686868",
26 | "(	c #373737",
27 | "_	c #AFAFAF",
28 | ":	c #181818",
29 | "<	c #434343",
30 | "[	c #C3C3C3",
31 | "}	c #ECECEC",
32 | "|	c #555555",
33 | "1	c #414141",
34 | "2	c #404040",
35 | "3	c #3F3F3F",
36 | "4	c #363636",
37 | "5	c #989898",
38 | "6	c #2C2C2C",
39 | "7	c #AAAAAA",
40 | "8	c #FDFDFD",
41 | "9	c #929292",
42 | "0	c #353535",
43 | "a	c #949494",
44 | "b	c #959595",
45 | "c	c #CDCDCD",
46 | " .++++++++++++++++++++++++++++++++++++++++++++++++",
47 | "+@#$++++++++++++++++++++++++++++++++++++++++++++++",
48 | "++@%&$++++++++++++++++++++++++++++++++++++++++++++",
49 | "+++@%*&$++++++++++++++++++++++++++++++++++++++++++",
50 | "++++@%**&$++++++++++++++++++++++++++++++++++++++++",
51 | "+++++=-***;>++++++++++++++++++++++++++++++++++++++",
52 | "++++++,'%***#$++++++++++++++++++++++++++++++++++++",
53 | "++++++++)!****#$++++++++++++++++++++++++++++++++++",
54 | "+++++++++,'%****#$++++++++++++++++++++++++++++++++",
55 | "+++++++++++)!*****#$++++++++++++++++++++++++++++++",
56 | "++++++++++++,'%*****#$++++++++++++++++++++++++++++",
57 | "++++++++++++++)!******~$++++++++++++++++++++++++++",
58 | "+++++++++++++++,'%******~$++++++++++++++++++++++++",
59 | "+++++++++++++++++)!*******~$++++++++++++++++++++++",
60 | "++++++++++++++++++,'%*******~$++++++++++++++++++++",
61 | "++++++++++++++++++++)!********~$++++++++++++++++++",
62 | "+++++++++++++++++++++,'%********~$++++++++++++++++",
63 | "+++++++++++++++++++++++)!*********~$++++++++++++++",
64 | "++++++++++++++++++++++++,'%*********{$++++++++++++",
65 | "++++++++++++++++++++++++++)!**********{$++++++++++",
66 | "+++++++++++++++++++++++++++,'%**********{$++++++++",
67 | "+++++++++++++++++++++++++++++)!***********{$++++++",
68 | "++++++++++++++++++++++++++++++,'%***********{$++++",
69 | "++++++++++++++++++++++++++++++++)!************{]++",
70 | "+++++++++++++++++++++++++++++++++,'%************{]",
71 | "+++++++++++++++++++++++++++++++++^/%************()",
72 | "++++++++++++++++++++++++++++++++_:************<[++",
73 | "++++++++++++++++++++++++++++++}|************<[++++",
74 | "+++++++++++++++++++++++++++++_:***********<[++++++",
75 | "+++++++++++++++++++++++++++}|***********;[++++++++",
76 | "++++++++++++++++++++++++++_:**********;[++++++++++",
77 | "++++++++++++++++++++++++}|**********;[++++++++++++",
78 | "+++++++++++++++++++++++_:*********1[++++++++++++++",
79 | "+++++++++++++++++++++}|*********1[++++++++++++++++",
80 | "++++++++++++++++++++_:********1[++++++++++++++++++",
81 | "++++++++++++++++++}|********2[++++++++++++++++++++",
82 | "+++++++++++++++++_:*******2[++++++++++++++++++++++",
83 | "+++++++++++++++}|*******2[++++++++++++++++++++++++",
84 | "++++++++++++++_:******3[++++++++++++++++++++++++++",
85 | "++++++++++++}|******(]++++++++++++++++++++++++++++",
86 | "+++++++++++_:*****(]++++++++++++++++++++++++++++++",
87 | "+++++++++}|*****(]++++++++++++++++++++++++++++++++",
88 | "++++++++_:****4]++++++++++++++++++++++++++++++++++",
89 | "++++++}|****4]++++++++++++++++++++++++++++++++++++",
90 | "+++++_:***4]++++++++++++++++++++++++++++++++++++++",
91 | "++++5%**678+++++++++++++++++++++++++++++++++++++++",
92 | "+++9%*0]++++++++++++++++++++++++++++++++++++++++++",
93 | "++a%0]++++++++++++++++++++++++++++++++++++++++++++",
94 | "+b0]++++++++++++++++++++++++++++++++++++++++++++++",
95 | "c78+++++++++++++++++++++++++++++++++++++++++++++++"};
96 | 


--------------------------------------------------------------------------------
/qt_resources/images/up.xpm:
--------------------------------------------------------------------------------
 1 | /* XPM */
 2 | static char * up_xpm[] = {
 3 | "50 50 42 1",
 4 | " 	c #FFFFFF",
 5 | ".	c #B7B7B7",
 6 | "+	c #BBBBBB",
 7 | "@	c #373737",
 8 | "#	c #3B3B3B",
 9 | "$	c #C3C3C3",
10 | "%	c #000000",
11 | "&	c #434343",
12 | "*	c #B2B2B2",
13 | "=	c #424242",
14 | "-	c #010101",
15 | ";	c #414141",
16 | ">	c #686868",
17 | ",	c #666666",
18 | "'	c #3A3A3A",
19 | ")	c #181818",
20 | "!	c #F2F2F2",
21 | "~	c #F0F0F0",
22 | "{	c #1D1D1D",
23 | "]	c #AFAFAF",
24 | "^	c #555555",
25 | "/	c #ECECEC",
26 | "(	c #404040",
27 | "_	c #3F3F3F",
28 | ":	c #393939",
29 | "<	c #363636",
30 | "[	c #C2C2C2",
31 | "}	c #FDFDFD",
32 | "|	c #AAAAAA",
33 | "1	c #2C2C2C",
34 | "2	c #383838",
35 | "3	c #353535",
36 | "4	c #161616",
37 | "5	c #ACACAC",
38 | "6	c #989898",
39 | "7	c #8F8F8F",
40 | "8	c #929292",
41 | "9	c #949494",
42 | "0	c #959595",
43 | "a	c #C1C1C1",
44 | "b	c #CDCDCD",
45 | "c	c #C7C7C7",
46 | "                        .+                        ",
47 | "                        @#                        ",
48 | "                       $%%+                       ",
49 | "                       &%%#                       ",
50 | "                      $%%%%*                      ",
51 | "                      &%%%%#                      ",
52 | "                     $%%%%%%*                     ",
53 | "                     &%%%%%%#                     ",
54 | "                    $%%%%%%%%*                    ",
55 | "                    =%%%%%%%%#                    ",
56 | "                   $%%%%%%%%%%*                   ",
57 | "                   =%%%%%%%%%%#                   ",
58 | "                  $%%%%%%%%%%%%*                  ",
59 | "                  =%%%%%%%%%%%%#                  ",
60 | "                 $%%%%%%--%%%%%%*                 ",
61 | "                 ;%%%%%%>,%%%%%%'                 ",
62 | "                $%%%%%%)!~{%%%%%%*                ",
63 | "                ;%%%%%%]  .-%%%%%'                ",
64 | "               $%%%%%%^    ,%%%%%%*               ",
65 | "               ;%%%%%)/    ~{%%%%%'               ",
66 | "              $%%%%%%]      .-%%%%%*              ",
67 | "              (%%%%%^        ,%%%%%'              ",
68 | "             $%%%%%)/        ~{%%%%%*             ",
69 | "             (%%%%%]          .-%%%%'             ",
70 | "            $%%%%%^            ,%%%%%*            ",
71 | "            (%%%%)/            ~{%%%%'            ",
72 | "           $%%%%%]              .-%%%%*           ",
73 | "           _%%%%^                ,%%%%'           ",
74 | "          +%%%%)/                ~{%%%%*          ",
75 | "          @%%%%]                  .-%%%:          ",
76 | "         +%%%%^                    ,%%%%*         ",
77 | "         @%%%)/                    ~{%%%:         ",
78 | "        +%%%%]                      .-%%%*        ",
79 | "        @%%%^                        ,%%%:        ",
80 | "       +%%%)/                        ~{%%%*       ",
81 | "       <%%%]                          .-%%:       ",
82 | "      +%%%^                            ,%%%*      ",
83 | "      <%%)/                            ~{%%:      ",
84 | "     +%%%]                              .-%%[     ",
85 | "    }<%%^                                ,%%=     ",
86 | "    |%%)/                                ~{%%*    ",
87 | "    1%%]                                  .-%2    ",
88 | "   +%%^                                    ,%%*   ",
89 | "   3%)/                                    ~4%2   ",
90 | "  +%-]                                      5-%*  ",
91 | "  3-6                                        7-2  ",
92 | " +-8                                          7-* ",
93 | "}39                                            7: ",
94 | "|0                                              7a",
95 | "b                                                c"};
96 | 


--------------------------------------------------------------------------------
/src/ControlWindow.cpp:
--------------------------------------------------------------------------------
  1 | #include "ControlWindow.h"
  2 | 
  3 | namespace server{
  4 | ControlWindow::ControlWindow(int argc, char **argv, QWidget *parent)
  5 |     : QWidget(parent),
  6 |       m_RobotThread(argc, argv)
  7 | {
  8 |     /** Set up the Controls **/
  9 |     p_upButton = new QPushButton();
 10 |     p_downButton = new QPushButton();
 11 |     p_leftButton = new QPushButton();
 12 |     p_rightButton = new QPushButton();
 13 |     p_stopButton = new QPushButton(tr("&Stop"));
 14 |     p_quitButton = new QPushButton(tr("&Quit"));
 15 | 
 16 |     QPalette palette = p_rightButton->palette();
 17 |     palette.setColor(QPalette::Button,QColor(255,255,255));
 18 |     p_rightButton->setAutoFillBackground(true);
 19 |     p_rightButton->setFlat(true);
 20 |     p_rightButton->setPalette(palette);
 21 |     p_rightButton->setIcon(QIcon(":/images/right.xpm"));
 22 |     p_rightButton->setIconSize(QSize(50, 50));
 23 | 
 24 |     palette = p_leftButton->palette();
 25 |     palette.setColor(QPalette::Button,QColor(255,255,255));
 26 |     p_leftButton->setAutoFillBackground(true);
 27 |     p_leftButton->setFlat(true);
 28 |     p_leftButton->setPalette(palette);
 29 |     p_leftButton->setIcon(QIcon(":/images/left.xpm"));
 30 |     p_leftButton->setIconSize(QSize(50, 50));
 31 | 
 32 |     palette = p_upButton->palette();
 33 |     palette.setColor(QPalette::Button,QColor(255,255,255));
 34 |     p_upButton->setAutoFillBackground(true);
 35 |     p_upButton->setFlat(true);
 36 |     p_upButton->setPalette(palette);
 37 |     p_upButton->setIcon(QIcon(":/images/up.xpm"));
 38 |     p_upButton->setIconSize(QSize(50, 50));
 39 | 
 40 |     palette = p_downButton->palette();
 41 |     palette.setColor(QPalette::Button,QColor(255,255,255));
 42 |     p_downButton->setAutoFillBackground(true);
 43 |     p_downButton->setFlat(true);
 44 |     p_downButton->setPalette(palette);
 45 |     p_downButton->setIcon(QIcon(":/images/down.xpm"));
 46 |     p_downButton->setIconSize(QSize(50, 50));
 47 | 
 48 |     /** Set up the Position Display **/
 49 |     leftLayout = new QVBoxLayout();
 50 |     p_xLayout = new QHBoxLayout();
 51 |     p_yLayout = new QHBoxLayout();
 52 |     p_aLayout = new QHBoxLayout();
 53 | 
 54 |     p_xLabel = new QLabel();
 55 |     p_xLabel->setText(tr("X:"));
 56 |     p_xDisplay = new QLineEdit();
 57 |     p_xDisplay->setText(tr("0.0"));
 58 | 
 59 |     p_yLabel = new QLabel();
 60 |     p_yLabel->setText(tr("Y:"));
 61 |     p_yDisplay = new QLineEdit();
 62 |     p_yDisplay->setText(tr("0.0"));
 63 | 
 64 |     p_aLabel = new QLabel();
 65 |     p_aLabel->setText(tr("Theta: "));
 66 |     p_aDisplay = new QLineEdit();
 67 |     p_aDisplay->setText(tr("0.0"));
 68 | 
 69 |     p_xLayout->addWidget(p_xLabel);
 70 |     p_xLayout->addWidget(p_xDisplay);
 71 |     p_yLayout->addWidget(p_yLabel);
 72 |     p_yLayout->addWidget(p_yDisplay);
 73 |     p_aLayout->addWidget(p_aLabel);
 74 |     p_aLayout->addWidget(p_aDisplay);
 75 | 
 76 |     leftLayout->addLayout(p_xLayout);
 77 |     leftLayout->addLayout(p_yLayout);
 78 |     leftLayout->addLayout(p_aLayout);
 79 | 
 80 |     /** Set up the Layouts **/
 81 |     rightLayout = new QVBoxLayout();
 82 |     layout = new QHBoxLayout();
 83 |     layout2 = new QHBoxLayout();
 84 |     layout3 = new QHBoxLayout();
 85 |     layout4 = new QHBoxLayout();
 86 | 
 87 |     mainLayout = new QHBoxLayout();
 88 | 
 89 |     layout->addWidget(p_upButton);
 90 |     layout2->addWidget(p_leftButton);
 91 |     layout2->addWidget(p_stopButton);
 92 |     layout2->addWidget(p_rightButton);
 93 |     layout3->addWidget(p_downButton);
 94 |     layout4->addWidget(p_quitButton, 6);
 95 | 
 96 |     rightLayout->addLayout(layout);
 97 |     rightLayout->addLayout(layout2);
 98 |     rightLayout->addLayout(layout3);
 99 |     rightLayout->addLayout(layout4);
100 | 
101 |     mainLayout->addLayout(leftLayout);
102 |     mainLayout->addLayout(rightLayout);
103 |     setLayout(mainLayout);
104 | 
105 |     show();
106 | 
107 |     setWindowTitle(tr("Control Window"));
108 | 
109 |     connect(p_quitButton,  &QPushButton::clicked, this, &ControlWindow::close);
110 |     connect(p_upButton,    &QPushButton::clicked, this, &ControlWindow::goForward);
111 |     connect(p_leftButton,  &QPushButton::clicked, this, &ControlWindow::goLeft);
112 |     connect(p_rightButton, &QPushButton::clicked, this, &ControlWindow::goRight);
113 |     connect(p_downButton,  &QPushButton::clicked, this, &ControlWindow::goBackward);
114 |     connect(p_stopButton,  &QPushButton::clicked, this, &ControlWindow::halt);
115 |     
116 |     connect(&m_RobotThread, &RobotThread::newPose, this, &ControlWindow::updatePoseDisplay);
117 |     m_RobotThread.init();
118 | }//end constructor
119 | 
120 | void ControlWindow::goForward(){m_RobotThread.SetSpeed(0.25, 0);}
121 | void ControlWindow::goBackward(){m_RobotThread.SetSpeed(-0.25, 0);}
122 | void ControlWindow::goRight(){m_RobotThread.SetSpeed(0, -PI / 6.0);}
123 | void ControlWindow::goLeft(){m_RobotThread.SetSpeed(0, PI / 6.0);}
124 | void ControlWindow::halt(){ m_RobotThread.SetSpeed(0, 0); }
125 | 
126 | void ControlWindow::updatePoseDisplay(double x, double y, double theta)
127 | {
128 |     QString xPose, yPose, aPose;
129 |     xPose.setNum(x);
130 |     yPose.setNum(y);
131 |     aPose.setNum(theta);
132 | 
133 |     p_xDisplay->setText(xPose);
134 |     p_yDisplay->setText(yPose);
135 |     p_aDisplay->setText(aPose);
136 | }//update the display.
137 | }//end namespace
138 | 
139 | 


--------------------------------------------------------------------------------
/src/ControlWindow.h:
--------------------------------------------------------------------------------
 1 | #ifndef CONTROL_WINDOW_H
 2 | #define CONTROL_WINDOW_H
 3 | #include <QtWidgets>
 4 | #include <QPushButton>
 5 | #include <QString>
 6 | #include <QVBoxLayout>
 7 | #include <QHBoxLayout>
 8 | #include <QLabel>
 9 | #include <QTextStream>
10 | #include <QLineEdit>
11 | #include <QPalette>
12 | #include <QIcon>
13 | #include "RobotThread.h"
14 | 
15 | namespace server{
16 | #define PI 3.14159265359
17 | 
18 | class ControlWindow : public QWidget
19 | {
20 |     Q_OBJECT
21 | 
22 | public:
23 |     ControlWindow(int argc, char** argv, QWidget * parent = 0);
24 | 
25 |     Q_SLOT void updatePoseDisplay(double x, double y, double theta);
26 | private:
27 |     Q_SLOT void goForward();
28 |     Q_SLOT void goBackward();
29 |     Q_SLOT void goLeft();
30 |     Q_SLOT void goRight();
31 |     Q_SLOT void halt();
32 | 
33 |     QPushButton *p_upButton;
34 |     QPushButton *p_downButton;
35 |     QPushButton *p_leftButton;
36 |     QPushButton *p_rightButton;
37 |     QPushButton *p_stopButton;
38 |     QPushButton *p_quitButton;
39 | 
40 |     QVBoxLayout *rightLayout;
41 |     QHBoxLayout *layout;
42 |     QHBoxLayout *layout2;
43 |     QHBoxLayout *layout3;
44 |     QHBoxLayout *layout4;
45 | 
46 |     QVBoxLayout *leftLayout;
47 |     QHBoxLayout *p_xLayout;
48 |     QHBoxLayout *p_yLayout;
49 |     QHBoxLayout *p_aLayout;
50 | 
51 |     QLabel *p_xLabel;
52 |     QLabel *p_yLabel;
53 |     QLabel *p_aLabel;
54 |     QLabel *p_scanLabel;
55 | 
56 |     QLineEdit *p_xDisplay;
57 |     QLineEdit *p_yDisplay;
58 |     QLineEdit *p_aDisplay;
59 | 
60 |     QHBoxLayout *mainLayout;
61 |     QPushButton *closeButton;
62 | 
63 |     RobotThread m_RobotThread;
64 | };//end class ControlWindow
65 | }//end namespace
66 | #endif
67 | 
68 | 


--------------------------------------------------------------------------------
/src/RobotThread.cpp:
--------------------------------------------------------------------------------
 1 | #include "RobotThread.h"
 2 | 
 3 | RobotThread::RobotThread(int argc, char** pArgv, const char * topic)
 4 |     :	m_Init_argc(argc),
 5 |         m_pInit_argv(pArgv),
 6 |         m_topic(topic)
 7 | {/** Constructor for the robot thread **/}
 8 | 
 9 | RobotThread::~RobotThread()
10 | {
11 |     if (ros::isStarted())
12 |     {
13 |         ros::shutdown();
14 |         ros::waitForShutdown();
15 |     }//end if
16 | 
17 |     m_pThread->wait();
18 | }//end destructor
19 | 
20 | bool RobotThread::init()
21 | {
22 |     m_pThread = new QThread();
23 |     this->moveToThread(m_pThread);
24 | 
25 |     connect(m_pThread, &QThread::started, this, &RobotThread::run);
26 |     ros::init(m_Init_argc, m_pInit_argv, "gui_command");
27 | 
28 |     if (!ros::master::check())
29 |         return false;//do not start without ros.
30 | 
31 |     ros::start();
32 |     ros::Time::init();
33 |     ros::NodeHandle nh;
34 |     sim_velocity  = nh.advertise<geometry_msgs::Twist>("/cmd_vel", 100);
35 |     pose_listener = nh.subscribe(m_topic, 10, &RobotThread::poseCallback, this);
36 | 
37 |     m_pThread->start();
38 |     return true;
39 | }//set up the thread
40 | 
41 | void RobotThread::poseCallback(const nav_msgs::Odometry & msg)
42 | {
43 |     QMutex * pMutex = new QMutex();
44 | 
45 |     pMutex->lock();
46 |     m_xPos = msg.pose.pose.position.x;
47 |     m_yPos = msg.pose.pose.position.y;
48 |     m_aPos = msg.pose.pose.orientation.w;
49 |     pMutex->unlock();
50 | 
51 |     delete pMutex;
52 |     Q_EMIT newPose(m_xPos, m_yPos, m_aPos);
53 | }//callback method to update the robot's position.
54 | 
55 | void RobotThread::run()
56 | {
57 |     ros::Rate loop_rate(100);
58 |     QMutex * pMutex;
59 |     while (ros::ok())
60 |     {
61 |         pMutex = new QMutex();
62 | 
63 |         geometry_msgs::Twist cmd_msg;
64 |         pMutex->lock();
65 |         cmd_msg.linear.x = m_speed;
66 |         cmd_msg.angular.z = m_angle;
67 |         pMutex->unlock();
68 | 
69 |         sim_velocity.publish(cmd_msg);
70 |         ros::spinOnce();
71 |         loop_rate.sleep();
72 |         delete pMutex;
73 |     }//do ros things.
74 | }
75 | 
76 | void RobotThread::SetSpeed(double speed, double angle)
77 | {
78 |     QMutex * pMutex = new QMutex();
79 |     pMutex->lock();
80 |     m_speed = speed;
81 |     m_angle = angle;
82 |     pMutex->unlock();
83 | 
84 |     delete pMutex;
85 | }//set the speed of the robot.
86 | 
87 | double RobotThread::getXSpeed(){ return m_speed; }
88 | double RobotThread::getASpeed(){ return m_angle; }
89 | 
90 | double RobotThread::getXPos(){ return m_xPos; }
91 | double RobotThread::getYPos(){ return m_yPos; }
92 | double RobotThread::getAPos(){ return m_aPos; }
93 | 
94 | 


--------------------------------------------------------------------------------
/src/RobotThread.h:
--------------------------------------------------------------------------------
 1 | #ifndef ___ROBOTTHREAD_H___
 2 | #define ___ROBOTTHREAD_H___
 3 | 
 4 | #include <QtCore>
 5 | #include <QThread>
 6 | #include <QStringList>
 7 | #include <stdlib.h>
 8 | #include <QMutex>
 9 | #include <iostream>
10 | #include "assert.h"
11 | 
12 | #include <ros/ros.h>
13 | #include <ros/network.h>
14 | #include <geometry_msgs/Twist.h>
15 | #include <nav_msgs/Odometry.h>
16 | 
17 | class RobotThread : public QObject {
18 | 	Q_OBJECT
19 | public:
20 |     RobotThread(int argc, char **pArgv, const char * topic  = "/odom");
21 |     virtual ~RobotThread();
22 | 
23 |     double getXPos();
24 |     double getXSpeed();
25 |     double getASpeed();
26 |     double getYPos();
27 |     double getAPos();
28 | 
29 |     bool init();
30 | 
31 |     void poseCallback(const nav_msgs::Odometry & msg);
32 | 
33 | 	void SetSpeed(double speed, double angle);
34 |     void setPose(QList<double> to_set);
35 | 
36 |     Q_SLOT void run();
37 | 
38 |     Q_SIGNAL void newPose(double,double,double);
39 | private:
40 |     int m_Init_argc;
41 |     char** m_pInit_argv;
42 |     const char * m_topic;
43 | 
44 |     double m_speed;
45 |     double m_angle;
46 | 
47 |     double m_xPos;
48 |     double m_yPos;
49 |     double m_aPos;
50 | 
51 |     double m_maxRange;
52 |     double m_minRange;
53 | 
54 |     QThread * m_pThread;
55 | 
56 |     ros::Subscriber pose_listener;
57 |     ros::Publisher  sim_velocity;
58 | };
59 | #endif
60 | 
61 | 


--------------------------------------------------------------------------------
/src/main.cpp:
--------------------------------------------------------------------------------
 1 | #include <QApplication>
 2 | #include "ControlWindow.h"
 3 | 
 4 | using namespace server;
 5 | 
 6 | int main(int argc, char** argv) {
 7 |     QApplication app(argc, argv);
 8 | 
 9 |     ControlWindow s(argc, argv);
10 | 
11 | 	return app.exec();
12 | }
13 | 
14 | 


--------------------------------------------------------------------------------