Commit 027eed6c authored by roangel's avatar roangel
Browse files

Now we compile everything correctly from catkin and from QtCreator. Had to go...

Now we compile everything correctly from catkin and from QtCreator. Had to go back to one CMakeLists.txt file, otherwise would not work
parent 205b9486
cmake_minimum_required(VERSION 2.8.3)
project(d_fall_pps)
# GUI -- CMakeLists.txt
include(${PROJECT_SOURCE_DIR}/GUI_Qt/CrazyFlyGUI/CMakeLists.txt)
## Add support for C++11, supported in ROS Kinetic and newer
# add_definitions(-std=c++11)
......@@ -19,14 +15,46 @@ find_package(catkin REQUIRED COMPONENTS
genmsg
)
# GUI -- Add precompiler definitions to include ROS things in GUI compilation
add_definitions(-DCATKIN_MAKE)
# GUI -- Things needed for Qt wrapper build process
set(CMAKE_INCLUDE_CURRENT_DIR ON)
set(CMAKE_AUTOMOC ON)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
# GUI -- Add Qt support
find_package(Qt5Widgets REQUIRED)
find_package(Qt5Core REQUIRED)
find_package(Qt5Gui REQUIRED)
# GUI -- Add src and includes
set(MY_LIB_PATH_SRC ${PROJECT_SOURCE_DIR}/GUI_Qt/CrazyFlyGUI/src)
set(MY_LIB_PATH_INC ${PROJECT_SOURCE_DIR}/GUI_Qt/CrazyFlyGUI/include)
# #set the default path for built executables to the "bin" directory
# set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
# #set the default path for built libraries to the "lib" directory
# set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
# GUI -- need c++11 for some things
add_definitions(-std=c++11)
# GUI -- Special Qt sources that need to be wrapped before being compiled
# they have the Qt macro QOBJECT inside, the MOC cpp file needs to be done manually
set(SRC_HDRS_QOBJECT
${MY_LIB_PATH_INC}/crazyFlyZoneTab.h
${MY_LIB_PATH_INC}/myGraphicsScene.h
${MY_LIB_PATH_INC}/myGraphicsView.h
${MY_LIB_PATH_INC}/mainguiwindow.h
${MY_LIB_PATH_INC}/rosNodeThread.h
)
# GUI -- wrap UI file and QOBJECT files
qt5_wrap_ui(UIS_HDRS GUI_Qt/CrazyFlyGUI/src/mainguiwindow.ui)
qt5_wrap_cpp(SRC_MOC_HDRS ${SRC_HDRS_QOBJECT})
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
......@@ -136,7 +164,7 @@ generate_messages(
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
INCLUDE_DIRS include
INCLUDE_DIRS include ${MY_LIB_PATH_INC} # GUI -- include headers from GUI in package
LIBRARIES
CATKIN_DEPENDS roscpp rospy std_msgs
DEPENDS
......@@ -150,6 +178,7 @@ catkin_package(
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
${MY_LIB_PATH_INC} # GUI -- include directory inside GUI folder
${catkin_INCLUDE_DIRS}
include
)
......@@ -174,11 +203,39 @@ add_executable(SafeControllerService src/SafeControllerService.cpp)
add_executable(CentralManagerService src/CentralManagerService.cpp)
# Add sources here
set(MY_CPP_SOURCES # compilation of sources
${MY_LIB_PATH_SRC}/mainguiwindow.cpp
${MY_LIB_PATH_SRC}/main.cpp
${MY_LIB_PATH_SRC}/cornergrabber.cpp
${MY_LIB_PATH_SRC}/crazyFlyZone.cpp
${MY_LIB_PATH_SRC}/crazyFlyZoneTab.cpp
${MY_LIB_PATH_SRC}/myGraphicsRectItem.cpp
${MY_LIB_PATH_SRC}/myGraphicsScene.cpp
${MY_LIB_PATH_SRC}/myGraphicsView.cpp
${MY_LIB_PATH_SRC}/tablePiece.cpp
${MY_LIB_PATH_SRC}/marker.cpp
${MY_LIB_PATH_SRC}/rosNodeThread.cpp
)
# Add executables here
add_executable(my_GUI ${MY_CPP_SOURCES} ${UIS_HDRS} ${SRC_MOC_HDRS})
qt5_use_modules(my_GUI Widgets)
add_dependencies(ViconDataPublisher d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
add_dependencies(PPSClient d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
add_dependencies(SafeControllerService d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
add_dependencies(CentralManagerService d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
# GUI-- dependencies
add_dependencies(my_GUI d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
......@@ -206,6 +263,12 @@ target_link_libraries(SafeControllerService ${catkin_LIBRARIES})
target_link_libraries(CentralManagerService ${catkin_LIBRARIES})
# GUI -- link libraries
target_link_libraries(my_GUI Qt5::Widgets) # GUI -- let my_GUI have acesss to Qt stuff
# target_link_libraries(my_library Qt5::Widgets) # GUI -- let my_library have access to Qt stuff
# target_link_libraries(my_GUI my_library)
target_link_libraries(my_GUI ${catkin_LIBRARIES})
#############
## Install ##
#############
......
cmake_minimum_required(VERSION 2.8.3)
## Add support for C++11, supported in ROS Kinetic and newer
add_definitions(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
)
# Add precompiler definitions to include ROS things in GUI compilation
add_definitions(-DCATKIN_MAKE)
# GUI -- Things needed for Qt wrapper build process
set(CMAKE_INCLUDE_CURRENT_DIR ON)
set(CMAKE_AUTOMOC ON)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
# Add Qt support
find_package(Qt5Widgets REQUIRED)
find_package(Qt5Core REQUIRED)
find_package(Qt5Gui REQUIRED)
# Add src and includes
set(MY_LIB_PATH_SRC ${PROJECT_SOURCE_DIR}/GUI_Qt/CrazyFlyGUI/src)
set(MY_LIB_PATH_INC ${PROJECT_SOURCE_DIR}/GUI_Qt/CrazyFlyGUI/include)
# #set the default path for built executables to the "bin" directory
# set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
# #set the default path for built libraries to the "lib" directory
# set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
# GUI -- Special Qt sources that need to be wrapped before being compiled
# sources that have the Qt macro QOBJECT inside, the MOC cpp file needs to be done manually
set(SRC_HDRS_QOBJECT
${MY_LIB_PATH_INC}/crazyFlyZoneTab.h
${MY_LIB_PATH_INC}/myGraphicsScene.h
${MY_LIB_PATH_INC}/myGraphicsView.h
${MY_LIB_PATH_INC}/mainguiwindow.h
${MY_LIB_PATH_INC}/rosNodeThread.h
)
# GUI -- wrap UI file and QOBJECT files
qt5_wrap_ui(UIS_HDRS GUI_Qt/CrazyFlyGUI/src/mainguiwindow.ui)
qt5_wrap_cpp(SRC_MOC_HDRS ${SRC_HDRS_QOBJECT})
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
# catkin_package( # this is done outside, in the other CMakeLists.txt
# INCLUDE_DIRS include
# LIBRARIES
# CATKIN_DEPENDS roscpp rospy std_msgs
# DEPENDS
# )
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
${MY_LIB_PATH_INC}
${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/d_fall_gui.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/d_fall_gui_node.cpp)
# Add sources here
set(MY_CPP_SOURCES # compilation of sources
${MY_LIB_PATH_SRC}/mainguiwindow.cpp
${MY_LIB_PATH_SRC}/main.cpp
${MY_LIB_PATH_SRC}/cornergrabber.cpp
${MY_LIB_PATH_SRC}/crazyFlyZone.cpp
${MY_LIB_PATH_SRC}/crazyFlyZoneTab.cpp
${MY_LIB_PATH_SRC}/myGraphicsRectItem.cpp
${MY_LIB_PATH_SRC}/myGraphicsScene.cpp
${MY_LIB_PATH_SRC}/myGraphicsView.cpp
${MY_LIB_PATH_SRC}/tablePiece.cpp
${MY_LIB_PATH_SRC}/marker.cpp
${MY_LIB_PATH_SRC}/rosNodeThread.cpp
)
# Add executables here
add_executable(my_GUI ${MY_CPP_SOURCES} ${UIS_HDRS} ${SRC_MOC_HDRS})
qt5_use_modules(my_GUI Widgets)
# add dependencies
add_dependencies(my_GUI d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
# # Add libraries
# add_library(my_library ${MY_CPP_SOURCES})
# Link libraries
target_link_libraries(my_GUI Qt5::Widgets) # let my_GUI have acesss to Qt stuff
# target_link_libraries(my_library Qt5::Widgets) # let my_library have access to Qt stuff
# target_link_libraries(my_GUI my_library)
target_link_libraries(my_GUI ${catkin_LIBRARIES})
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_d_fall_gui.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
......@@ -17,18 +17,26 @@
using namespace d_fall_pps;
#endif
#ifdef CATKIN_MAKE
MainGUIWindow::MainGUIWindow(int argc, char **argv, QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainGUIWindow)
#ifdef CATKING_MAKE
,
ui(new Ui::MainGUIWindow),
_rosNodeThread(argc, argv, "/ViconDataPublisher/ViconData")
#endif
{
ui->setupUi(this);
_init();
}
#else
MainGUIWindow::MainGUIWindow(int argc, char **argv, QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainGUIWindow)
{
ui->setupUi(this);
_init();
}
#endif
MainGUIWindow::~MainGUIWindow()
......
......@@ -6,7 +6,7 @@ rosNodeThread::rosNodeThread(int argc, char** pArgv, const char * topic)
m_topic(topic)
{
/** Constructor for the robot thread **/
/** Constructor for the node thread **/
}
rosNodeThread::~rosNodeThread()
......@@ -15,10 +15,10 @@ rosNodeThread::~rosNodeThread()
{
ros::shutdown();
ros::waitForShutdown();
}//end if
} // end if
m_pThread->wait();
}//end destructor
} // end destructor
bool rosNodeThread::init()
{
......@@ -26,7 +26,7 @@ bool rosNodeThread::init()
this->moveToThread(m_pThread); // QObject method
connect(m_pThread, &QThread::started, this, &rosNodeThread::run);
ros::init(m_Init_argc, m_pInit_argv, "GUI"); // GUI is the name of this node
ros::init(m_Init_argc, m_pInit_argv, "my_GUI"); // GUI is the name of this node
if (!ros::master::check())
return false; // do not start without ros.
......@@ -45,16 +45,9 @@ bool rosNodeThread::init()
void rosNodeThread::messageCallback(const ViconData& data) // When a message arrives to the topic, this callback is executed
{
QMutex * pMutex = new QMutex();
pMutex->lock();
// m_xPos = msg.pose.pose.position.x;
// m_yPos = msg.pose.pose.position.y;
// m_aPos = msg.pose.pose.orientation.w;
ROS_INFO_STREAM("ViconData: " << data.x << ", " << data.y << ", " << data.z);
pMutex->unlock();
ROS_INFO("in viconCallback");
qDebug("in viconCallback");
delete pMutex;
// Q_EMIT newPose(m_xPos, m_yPos, m_aPos);
}
......
......@@ -53,7 +53,7 @@ int main(int argc, char* argv[]) {
{
ROS_INFO("iteration #%d",i);
}
viconData.roll = i;
viconData.x = i;
viconDataPublisher.publish(viconData);
ros::Duration(0.001).sleep();
++i;
......
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