ROS与Qt5人机交互界面开发-实现导航功能的完整显示

ROS与Qt5人机交互界面开发-实现导航功能的完整显示

说明：

• 介绍如何实现导航功能的完整显示

步骤：

• 显示效果
• 设置初始点：

• 设置目标点：

• 核心代码
• 如果看过前几篇博客，其实也就是添加几个图层：

//显示导航相关
 void QRviz::Display_Navigate(bool enable,QString Global_topic,QString Global_planner,QString Local_topic,QString Local_planner)
 {
    if(Navigate_localmap) {delete Navigate_localmap; Navigate_localmap=NULL;}
    if(Navigate_localplanner) {delete Navigate_localplanner; Navigate_localplanner=NULL;}
    if(Navigate_globalmap) {delete Navigate_globalmap; Navigate_globalmap=NULL;}
    if(Navigate_globalplanner) {delete Navigate_globalplanner; Navigate_globalplanner=NULL;}
    //local map
    Navigate_localmap=manager_->createDisplay("rviz/Map","Qlocalmap",enable);
    Navigate_localmap->subProp("Topic")->setValue(Local_topic);
    Navigate_localmap->subProp("Color Scheme")->setValue("costmap");
    Navigate_localplanner=manager_->createDisplay("rviz/Path","QlocalPath",enable);
    Navigate_localplanner->subProp("Topic")->setValue(Local_planner);
    Navigate_localplanner->subProp("Color")->setValue(QColor(0,12,255));
    //global map
    Navigate_globalmap=manager_->createDisplay("rviz/Map","QGlobalmap",enable);
    Navigate_globalmap->subProp("Topic")->setValue(Global_topic);
    Navigate_globalmap->subProp("Color Scheme")->setValue("costmap");
    Navigate_globalplanner=manager_->createDisplay("rviz/Path","QGlobalpath",enable);
    Navigate_globalplanner->subProp("Topic")->setValue(Global_planner);
    Navigate_globalplanner->subProp("Color")->setValue(QColor(255,0,0));
    //更新画面显示
    manager_->startUpdate();

 }

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