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ros_qt配置.md

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  • 硬件平台: Orin(armv8)

命令行安装 Qt5

sudo apt-get update    更新下库
sudo apt install qtbase5-dev qtchooser qt5-qmake qtbase5-dev-tools  环境
sudo apt-get install qtcreator   界面
 
#安装qml开发环境      sudo apt-get install qtdeclarative5-dev
#安装QtMultimedia    sudo apt-get install qtmultimedia5-dev
#安装Qtserialport    sudo apt-get install libqt5serialport5-dev
#安装opengl的开发环境 sudo apt-get install libgles2-mesa-dev
#安装QtMySQL         sudo apt-get install libqt5sql5-mysql

安装 qtcreator-ros

qtcreator-ros可能会有一些小bug，但不影响使用
sudo snap install qtcreator-ros --classic

创建工作空间、ros包、节点、qt代码

注意

  • ros包以下分出node、src、include、ui四个文件夹，另外CMakeLists.txt和package.xml需要注意

    cmake_minimum_required(VERSION 2.8.0)
project(ebox_qt_pkg)

set(CMAKE_INCLUDE_CURRENT_DIR ON)
set(CMAKE_AUTOUIC ON)
set(CMAKE_AUTOMOC ON)
set(CMAKE_AUTORCC ON)


find_package(catkin REQUIRED COMPONENTS
    roscpp
    std_msgs
)

include_directories(${catkin_INCLUDE_DIRS})

find_package(QT NAMES Qt5 COMPONENTS Widgets REQUIRED)
find_package(Qt${QT_VERSION_MAJOR} COMPONENTS Widgets REQUIRED)

set(QT_LIBRARIES Qt5::Widgets)

catkin_package()

file(GLOB QT_FORMS RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} ui/*.ui)
file(GLOB QT_RESOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} resources/*.qrc)
file(GLOB_RECURSE QT_MOC RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} FOLLOW_SYMLINKS include/ebox_qt_pkg/*.hpp *.h)

QT5_ADD_RESOURCES(QT_RESOURCES_CPP ${QT_RESOURCES})
QT5_WRAP_UI(QT_FORMS_HPP ${QT_FORMS})
QT5_WRAP_CPP(QT_MOC_HPP ${QT_MOC})


file(GLOB_RECURSE QT_SOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} FOLLOW_SYMLINKS src/*.cpp node/*.cpp)

add_executable(ebox_mainwindow_node ${QT_SOURCES} ${QT_RESOURCES_CPP} ${QT_FORMS_HPP} ${QT_MOC_HPP} )
target_link_libraries(ebox_mainwindow_node ${QT_LIBRARIES} ${catkin_LIBRARIES})
install(TARGETS ebox_mainwindow_node RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
    <?xml version="1.0"?>
<package format="2">
<name>ebox_qt_pkg</name>
<version>0.0.0</version>
<description>The ebox_qt_pkg package</description>
<maintainer email="[email protected]">nvidia</maintainer>
<license>TODO</license>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>qt_build</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>libqt4-dev</build_depend>
<exec_depend>qt_build</exec_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>libqt4-dev</exec_depend>
</package>

  • node中放节点cpp、src中放其它类型cpp、include中放头文件、ui中放gui文件、resource中放资源文件，具体可参考林果采摘项目qt代码

  • 以上操作, 在 x86_64 平台可以类比