这个是鉴于另一个Github上的项目学习的

https://github.com/chaoli2/rviz_teleop_commander/tree/master/src

其中代码注释很清楚，大家也可以去看源代码

首先是CmakeList.txt文件

cmake_minimum_required(VERSION 2.8.3)

project(bing_pannel)

find_package(catkin REQUIRED COMPONENTS rviz)

catkin_package()

include_directories(${catkin_INCLUDE_DIRS})

link_directories(${catkin_LIBRARY_DIRS})set(CMAKE_AUTOMOC ON)if(rviz_QT_VERSION VERSION_LESS "5")

message(STATUS"Using Qt4 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")

find_package(Qt4 ${rviz_QT_VERSION} EXACT REQUIRED QtCore QtGui)

include(${QT_USE_FILE})else()

message(STATUS"Using Qt5 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")

find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets)set(QT_LIBRARIES Qt5::Widgets)

endif()

add_definitions(-DQT_NO_KEYWORDS)set(SOURCE_FILES

src/bing_pannel.cpp ##这里是你的主文件

${MOC_FILES}

)

add_library(${PROJECT_NAME} ${SOURCE_FILES})

target_link_libraries(${PROJECT_NAME} ${QT_LIBRARIES} ${catkin_LIBRARIES})

install(TARGETS

${PROJECT_NAME}

ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}

LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}

RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

)

install(FILES

plugin_discription.xml ##这里是你的plugin_discription.xml

DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

只要在workspace下catkin_make后，这个包里的插件便直接安装了。package.xml文件应该如下：

bing_pannel

0.0.0

The bing_pannel package

bing

TODO

catkin

roscpp

rviz

std_msgs

roscpp

rviz

std_msgs

而真正描述的plugin_discription.xml为如下：

Bing test pannel.

中name中的bing_pannel/BingPannel里，写的是package的名字加class

type中是namespace加class名。

我们在src文件夹下加入bing_pannel.cpp和bing_pannel.h。这个package的文件夹如下。

我们先看.h文件。

#ifndef BING_PANNEL_H#define BING_PANNEL_H#include#include#include

classQLineEdit;namespacebing_rviz_plugin

{class BingPannel: publicrviz::Panel

{

Q_OBJECTpublic:

BingPannel( QWidget* parent = 0);virtual void load( const rviz::Config&config );virtual void save( rviz::Config config ) const;publicQ_SLOTS:void setTopic( const QString&topic );protectedQ_SLOTS:voidsendVel();voidupdate_Linear_Velocity();voidupdate_Angular_Velocity();voidupdateTopic();protected:

QLineEdit*output_topic_editor_;

QString output_topic_;

QLineEdit*output_topic_editor_1;

QString output_topic_1;

ros::Publisher velocity_publisher_;

ros::NodeHandle nh_;floatlinear_velocity_;

};

}#endif

头文件中，rviz/panel.h 就是 pannel头文件。插件显示如下图。在rviz中加入pannel的话，要在标题栏中，找到Panels 〉Add New Panel。选择并加入需要的pannel。

选择添加的Pannel。

我们这里的插件会通过文本框里的输入发送一个输入的Topic名字的消息。在后面需要填写速度X和速度Y，并且回车就可以发布消息了。

回车后，rostopic list会显示/test_velocity。我们这里发布的是geometry_msgs::Twist。

下面我们的代码，里面是.h文件。

#ifndef BING_PANNEL_H#define BING_PANNEL_H#include#include#include

classQLineEdit;namespacebing_rviz_plugin

{class BingPannel: publicrviz::Panel

{

Q_OBJECTpublic:

//用QWigdet的实例来实现GUI界面

BingPannel( QWidget* parent = 0);virtual void load( const rviz::Config&config );virtual void save( rviz::Config config ) const;publicQ_SLOTS:

//当填写完时候，回车后，执行会调函数void setTopic( const QString&topic );protectedQ_SLOTS:voidsendVel();voidupdate_Linear_Velocity_X();voidupdate_Linear_Velocity_Y();voidupdateTopic();protected:

//这里是三个显示的文字框的定义

QLineEdit*output_topic_editor_;

QString output_topic_;

QLineEdit*output_topic_editor_1;

QString output_topic_1;

QLineEdit*output_topic_editor_2;

QString output_topic_2;

//Ros消息发布

ros::Publisher velocity_publisher_;

ros::NodeHandle nh_;

//x速度，y速度floatlinear_velocity_X;floatlinear_velocity_Y;

};

}#endif

相应的.cpp文件如下：

#include #include#include#include#include#include#include#include#include#include"bing_pannel.h"

namespacebing_rviz_plugin{

BingPannel::BingPannel( QWidget* parent ): rviz::Panel( parent ), linear_velocity_X( 0 ),linear_velocity_Y( 0){

//topic窗口

QVBoxLayout* topic_layout = newQVBoxLayout;

topic_layout->addWidget( new QLabel( "Teleop Topic:"));

output_topic_editor_= newQLineEdit;

topic_layout->addWidget( output_topic_editor_ );

//xvelocity窗口

topic_layout->addWidget( new QLabel( "Linear Velocity X:"));

output_topic_editor_1= newQLineEdit;

topic_layout->addWidget( output_topic_editor_1 );

//yvelocity窗口

topic_layout->addWidget( new QLabel( "Linear Velocity Y:"));

output_topic_editor_2= newQLineEdit;

topic_layout->addWidget( output_topic_editor_2 );

QHBoxLayout* layout = newQHBoxLayout;

layout->addLayout( topic_layout );

setLayout( layout );

QTimer* output_timer = new QTimer( this);

//回车回调函数，设置信号连接

connect( output_topic_editor_, SIGNAL( editingFinished() ),this, SLOT( updateTopic() ));

connect( output_topic_editor_1, SIGNAL( editingFinished() ),this, SLOT( update_Linear_Velocity_X() ));

connect( output_topic_editor_1, SIGNAL( editingFinished() ),this, SLOT( update_Linear_Velocity_Y() ));

//定时器回调，定时运行sendVel()

connect( output_timer, SIGNAL( timeout() ),this, SLOT( sendVel() ));

output_timer->start( 100);

}

//读取x速度voidBingPannel::update_Linear_Velocity_X()

{

QString temp_string= output_topic_editor_1->text();float lin =temp_string.toFloat();

linear_velocity_X=lin;

}

//读取y速度voidBingPannel::update_Linear_Velocity_Y()

{

QString temp_string= output_topic_editor_2->text();float lin =temp_string.toFloat();

linear_velocity_Y=lin;

}

//更新topicvoidBingPannel::updateTopic()

{

setTopic( output_topic_editor_->text() );

}

//topic名字void BingPannel::setTopic( const QString&new_topic )

{if( new_topic !=output_topic_ )

{

output_topic_=new_topic;if( output_topic_ == "")

{

velocity_publisher_.shutdown();

}else{

velocity_publisher_= nh_.advertise<:twist>( output_topic_.toStdString(), 1);

}

Q_EMIT configChanged();

}

}voidBingPannel::sendVel()

{if( ros::ok() &&velocity_publisher_ )

{

geometry_msgs::Twist msg;

msg.linear.x=linear_velocity_X;

msg.linear.y=linear_velocity_Y ;

msg.linear.z= 0;

msg.angular.x= 0;

msg.angular.y= 0;

msg.angular.z= 1;

velocity_publisher_.publish( msg );

}

}void BingPannel::save( rviz::Config config ) const{

rviz::Panel::save( config );

config.mapSetValue("Topic", output_topic_ );

}void BingPannel::load( const rviz::Config&config )

{

rviz::Panel::load( config );

QString topic;if( config.mapGetString( "Topic", &topic ))

{

output_topic_editor_->setText( topic );

updateTopic();

}

}

}

#includePLUGINLIB_EXPORT_CLASS(bing_rviz_plugin::BingPannel,rviz::Panel )

保存后，catkin_make 就可以在rviz里找到了。

参考：