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完整項目代碼:
github
文章目錄
我這裏主要就是參考
teleop_twist_keyboard
項目的源代碼,移植到自己程序
一,首先在ui界面添加按鈕(注意按鈕上顯示的文字):
同時在ui界面設置每個按鈕的shortcut,就能實現鍵盤控制:
二,關聯這些按鈕的點擊事件到同一槽函數
//綁定速度控制按鈕
connect(ui.pushButton_i,SIGNAL(clicked()),this,SLOT(slot_cmd_control()));
connect(ui.pushButton_u,SIGNAL(clicked()),this,SLOT(slot_cmd_control()));
connect(ui.pushButton_o,SIGNAL(clicked()),this,SLOT(slot_cmd_control()));
connect(ui.pushButton_j,SIGNAL(clicked()),this,SLOT(slot_cmd_control()));
connect(ui.pushButton_l,SIGNAL(clicked()),this,SLOT(slot_cmd_control()));
connect(ui.pushButton_m,SIGNAL(clicked()),this,SLOT(slot_cmd_control()));
connect(ui.pushButton_back,SIGNAL(clicked()),this,SLOT(slot_cmd_control()));
connect(ui.pushButton_backr,SIGNAL(clicked()),this,SLOT(slot_cmd_control()));
槽函數:
//速度控制相關按鈕處理槽函數
void MainWindow::slot_cmd_control()
{
QPushButton* btn=qobject_cast<QPushButton*>(sender());
char key=btn->text().toStdString()[0];
//速度
float liner=ui.horizontalSlider_linear->value()*0.01;
float turn=ui.horizontalSlider_raw->value()*0.01;
bool is_all=ui.checkBox_use_all->isChecked();
switch (key) {
case 'u':
qnode.move_base(is_all?'U':'u',liner,turn);
break;
case 'i':
qnode.move_base(is_all?'I':'i',liner,turn);
break;
case 'o':
qnode.move_base(is_all?'O':'o',liner,turn);
break;
case 'j':
qnode.move_base(is_all?'J':'j',liner,turn);
break;
case 'l':
qnode.move_base(is_all?'L':'l',liner,turn);
break;
case 'm':
qnode.move_base(is_all?'M':'m',liner,turn);
break;
case ',':
qnode.move_base(is_all?'<':',',liner,turn);
break;
case '.':
qnode.move_base(is_all?'>':'.',liner,turn);
break;
}
}
創建發佈者:
//速度控制話題
cmd_pub = n.advertise<geometry_msgs::Twist>("cmd_vel", 1);
qnode.move_base:
//發佈機器人速度控制
void QNode::move_base(char k,float speed_linear,float speed_trun)
{
std::map<char, std::vector<float>> moveBindings
{
{'i', {1, 0, 0, 0}},
{'o', {1, 0, 0, -1}},
{'j', {0, 0, 0, 1}},
{'l', {0, 0, 0, -1}},
{'u', {1, 0, 0, 1}},
{',', {-1, 0, 0, 0}},
{'.', {-1, 0, 0, 1}},
{'m', {-1, 0, 0, -1}},
{'O', {1, -1, 0, 0}},
{'I', {1, 0, 0, 0}},
{'J', {0, 1, 0, 0}},
{'L', {0, -1, 0, 0}},
{'U', {1, 1, 0, 0}},
{'<', {-1, 0, 0, 0}},
{'>', {-1, -1, 0, 0}},
{'M', {-1, 1, 0, 0}},
{'t', {0, 0, 1, 0}},
{'b', {0, 0, -1, 0}},
{'k', {0, 0, 0, 0}},
{'K', {0, 0, 0, 0}}
};
char key=k;
//計算是往哪個方向
float x = moveBindings[key][0];
float y = moveBindings[key][1];
float z = moveBindings[key][2];
float th = moveBindings[key][3];
//計算線速度和角速度
float speed = speed_linear;
float turn = speed_trun;
// Update the Twist message
geometry_msgs::Twist twist;
twist.linear.x = x * speed;
twist.linear.y = y * speed;
twist.linear.z = z * speed;
twist.angular.x = 0;
twist.angular.y = 0;
twist.angular.z = th * turn;
// Publish it and resolve any remaining callbacks
cmd_pub.publish(twist);
ros::spinOnce();
}
三,完整開源項目
在我自己學習的過程中目前發現沒有相關類似完整開源項目,爲了幫助其他人少走彎路,我決定將自己的完整項目開源:
github
創作不易,如果本教程對你有幫助,關注或點個贊吧,或者github標個星哦~~
您的支持就是我最大的動力~