[ROS] PyQT with ROS Melodic

Original : www.notion.so/researchbysuho/PyQT-with-ROS-Melodic-cfacbb074ec34b6fae2e4aad5c5903e2

PyQT with ROS Melodic

 

I tried to do it with

WelinLee/ROS_QT_GUI

but I need to do some work fot this.

because there are some errors about QT4.

QT4 is depreciated,

and ROS Melodic support QT5 officially.

so I need to remove some packages for this job done in ROS Melodic environment.

so

1. Delete test_gui, qt4rosgui, vizlib_test package.

2. there are wrong phrase in CMakeLists.txt file in qt_ros_test package.

so change

catkin_package( INCLUDE_DIRS include # LIBRARIES client_plugin CATKIN_DEPENDS roscpp std_msgs # DEPENDS system_lib )

to

catkin_package( # INCLUDE_DIRS include # LIBRARIES client_plugin CATKIN_DEPENDS roscpp std_msgs # DEPENDS system_lib )

3. Install qtcreator

sudo apt-get install qtcreator

4. Install qt-5-default

sudo apt-get install qt5-default

5. add line to CMakeLists.txt from dyn_cfg_gui package.

change

include_directories( include ${CMAKE_CURRENT_BINARY_DIR}/.. ${catkin_LIBRARY_DIRS} )

to

include_directories( include ${CMAKE_CURRENT_BINARY_DIR}/.. ${catkin_LIBRARY_DIRS} ${catkin_INCLUDE_DIRS} )

6. change my_cplugin.cpp from rqt_mypkg like below

change

PLUGINLIB_DECLARE_CLASS(rqt_mypkg_cpp, MyPlugin, rqt_mypkg_cpp::MyPlugin, rqt_gui_cpp::Plugin)

to

PLUGINLIB_EXPORT_CLASS(rqt_mypkg_cpp::MyPlugin, rqt_gui_cpp::Plugin)

ref:

Fix compilation error on ROS Melodic on Ubuntu 18.04 by msamogh · Pull Request #72 · KumarRobotics/msckf_vio

7. Add ui folder to CMAKE_AUTOUIC_SEARCH_PATHS

CMakeLists.txt from ros_cv_gui package.

change

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

to

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

ref:

How to place header and ui file in different folders using autouic in cmake

8. Edit CMakeList.txt from qt_ros_test package.

change

## System dependencies are found with CMake's conventions # find_package(Boost REQUIRED COMPONENTS system) find_package(OpenCV REQUIRED) find_package(Qt5Widgets REQUIRED) qt5_wrap_cpp(myMOC include/${PROJECT_NAME}/mydemo.h) qt5_generate_moc(include/${PROJECT_NAME}/mydemo.h mydemo.moc) qt5_wrap_ui(myUIC ui/mydemo.ui)

to

## System dependencies are found with CMake's conventions # find_package(Boost REQUIRED COMPONENTS system) find_package(OpenCV REQUIRED) find_package(Qt5Widgets REQUIRED) qt5_wrap_cpp(myMOC include/${PROJECT_NAME}/mydemo.h) qt5_generate_moc(include/${PROJECT_NAME}/mydemo.h mydemo.moc) qt5_wrap_ui(myUIC ui/mydemo.ui)

and

change

## Declare a C++ executable add_executable(${PROJECT_NAME}_node src/main.cpp src/qt_ros_test.cpp src/qt_ros_test.h src/qt_ros_test.ui)

to

## Declare a C++ executable add_executable(${PROJECT_NAME}_node src/main.cpp src/qt_ros_test.cpp ${MOC} ${UIC} qt_ros_test.moc src/qt_ros_test.h src/qt_ros_test.ui)

9. Edit CMakeList.txt from ros_cv_gui package.

change

## System dependencies are found with CMake's conventions # find_package(Boost REQUIRED COMPONENTS system) find_package(OpenCV REQUIRED) find_package(Qt5Widgets REQUIRED) qt5_wrap_cpp(myMOC include/${PROJECT_NAME}/mydemo.h) qt5_wrap_ui(myUIC ui/mydemo.ui)

to

## System dependencies are found with CMake's conventions # find_package(Boost REQUIRED COMPONENTS system) find_package(OpenCV REQUIRED) find_package(Qt5Widgets REQUIRED) qt5_wrap_cpp(myMOC include/${PROJECT_NAME}/mydemo.h) qt5_generate_moc(include/${PROJECT_NAME}/mydemo.h mydemo.moc) qt5_wrap_ui(myUIC ui/mydemo.ui)

and

change

## Declare a C++ executable add_executable(${PROJECT_NAME}_node src/main.cpp src/mydemo.cpp include/${PROJECT_NAME}/mydemo.h ui/mydemo.ui)

to

## Declare a C++ executable add_executable(${PROJECT_NAME}_node src/main.cpp src/mydemo.cpp ${myMOC} ${myUIC} mydemo.moc include/${PROJECT_NAME}/mydemo.h ui/mydemo.ui)