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Hi,
We have a GUI that was developed using Qt and now we are planning to use ROS in our code. Is it possible to integrate ROS with our existing Qt code?
In a general sense, how do we use external libraries such as Qt, OpenGL and user built libraries with ROS code? Thank you.
Not in the general sense, but rather specific to your question, you can have a look at RGBD-SLAM which uses qt and opengl. The CMakeLists.txt and manifest can be found here
Check out main.cpp, qtros.h and qtros.cpp to see how we moved the ROS spinning into a subclass of QThread to run the callbacks in parallel to the Qt application's event loop.
(Update: The above links used to point to the repository http://alufr-ros-pkg.googlecode.com/s... which no longer exists and have been updated to point at the github rgbdslam_v2 repo which may or may not illustrate what is described)
For OpenGl I just add the dependency in the manifest:
<rosdep name="opengl"/>
It is solved in the core rosdep.yaml file (rosdep wiki) My CMakelists.txt entry looks like this:
rosbuild_add_executable(${PROJECT_NAME} src/main.cpp)
target_link_libraries(${PROJECT_NAME} X11 m GL GLU glut)
In addition to the original ROS CMakelists. I assume you can do the same for QT. (if not I'm interested to know)
How are you currently building your qt program (e.g. qmake .pro files)? You might have to change the build system to use the cmake qt modules, but that can do everything that something like a qmake pro file can do without too much trouble and its something we've done with our qt gui's over the last six months.
Eros has some packages built from qt that you can use for illustration. Don't mind that eros is about embedded and cross-compiling, the eros_qt_tutorials package can be just as easily not cross-compiled.
It also has some python scripts to populate an ros package with the basic templates for a qt, or qt-ros program. See eros_python_tools for more information on these (roscreate-qt-pkg, roscreate-qt-ros-pkg).
@KoenBuys answer works for OpenGL.
And as @Felix Endres suggested I was able to get Qt working with my ROS package. here's some more detail on how:
<rosdep name="qt4"/>edit CMakelists.txt in your package and make it look similar to CMakelists.txt
-> the line file(GLOB_RECURSE QT_MOC RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} FOLLOW_SYMLINKS include/local/.hpp src/mainwindow.h)* should include all the header files that use Qt functionality.
-> the line file(GLOB_RECURSE QT_SOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} FOLLOW_SYMLINKS src/gicp-fallback.cpp src/mainwindow.cpp src/listener.cpp) should include all the cpp files that use Qt functionality.
Let me know if you have any issues. Thanks.
Asked: 2011-03-15 09:36:29 -0600
Seen: 3,615 times
Last updated: Jan 01 '17
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