ROS2 QT 多线程功能包设计

一个完整的 ROS2 QT 多线程功能包实现，包含可选 GUI 界面、发布者线程、接收者线程和参数服务器交互功能。

功能包结构

plaintext

ros2_qt_multi_thread/
├── CMakeLists.txt
├── package.xml
├── src/
│   ├── main.cpp
│   ├── main_window.cpp
│   ├── main_window.ui
│   ├── ros_node.cpp
│   ├── publisher_thread.cpp
│   ├── subscriber_thread.cpp
│   └── param_manager.cpp
└── include/
    └── ros2_qt_multi_thread/
        ├── main_window.hpp
        ├── ros_node.hpp
        ├── publisher_thread.hpp
        ├── subscriber_thread.hpp
        └── param_manager.hpp

核心文件实现

1. package.xml

xml

<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
  <name>ros2_qt_multi_thread</name>
  <version>0.0.0</version>
  <description>ROS2 QT Multi-threaded Package with GUI, Publisher, Subscriber and Param Server</description>
  <maintainer email="your@email.com">Your Name</maintainer>
  <license>Apache-2.0</license>
  
  <buildtool_depend>ament_cmake</buildtool_depend>
  <buildtool_depend>ament_cmake_qt</buildtool_depend>
  <depend>rclcpp</depend>
  <depend>std_msgs</depend>
  <depend>Qt5Widgets</depend>
  <depend>Qt5Core</depend>
  
  <build_depend>ament_cmake</build_depend>
  <exec_depend>rclcpp</exec_depend>
  <exec_depend>std_msgs</exec_depend>
  <exec_depend>Qt5Widgets</exec_depend>
  
  <build_type>ament_cmake</build_type>
  <export>
    <build_type>ament_cmake</build_type>
  </export>
</package>

2. CMakeLists.txt

cmake

cmake_minimum_required(VERSION 3.5)
project(ros2_qt_multi_thread)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# Qt5 配置
find_package(Qt5 COMPONENTS Widgets Core REQUIRED)
set(CMAKE_AUTOMOC ON)
set(CMAKE_AUTORCC ON)
set(CMAKE_AUTOUIC ON)
set(Qt5_LIBRARIES Qt5::Widgets Qt5::Core)

# ROS2 配置
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)

# 包含目录
include_directories(
  include
  ${Qt5Widgets_INCLUDE_DIRS}
)

# 源文件
set(SOURCES
  src/main.cpp
  src/main_window.cpp
  src/ros_node.cpp
  src/publisher_thread.cpp
  src/subscriber_thread.cpp
  src/param_manager.cpp
)

# UI文件
set(UIS
  src/main_window.ui
)

# 生成可执行文件
add_executable(${PROJECT_NAME}
  ${SOURCES}
  ${UIS}
)

# 链接库
target_link_libraries(${PROJECT_NAME}
  ${Qt5_LIBRARIES}
  rclcpp::rclcpp
  ${std_msgs_TARGETS}
)

# 安装
install(TARGETS
  ${PROJECT_NAME}
  DESTINATION lib/${PROJECT_NAME}
)

ament_package()

3. 头文件

include/ros2_qt_multi_thread/main_window.hpp

cpp

运行

#ifndef ROS2_QT_MULTI_THREAD_MAIN_WINDOW_HPP_
#define ROS2_QT_MULTI_THREAD_MAIN_WINDOW_HPP_

#include <QMainWindow>
#include <QThread>
#include <QTimer>
#include <memory>
#include "ui_main_window.h"
#include "ros_node.hpp"
#include "param_manager.hpp"

namespace ros2_qt_multi_thread
{

class MainWindow : public QMainWindow
{
  Q_OBJECT

public:
  MainWindow(bool use_gui = true, QWidget *parent = nullptr);
  ~MainWindow();

  void showStatusMessage(const QString &message);
  void updatePublisherRate(int rate);
  void updateSubscriberCount(int count);
  void addSubscriberMessage(const QString &message);

public slots:
  void onStartPublishClicked();
  void onStopPublishClicked();
  void onUpdateParamsClicked();
  void onRosSpinOnce();

private:
  Ui::MainWindow ui_;
  bool use_gui_;
  std::shared_ptr<RosNode> ros_node_;
  std::unique_ptr<ParamManager> param_manager_;
  QTimer *ros_timer_;
};

}  // namespace ros2_qt_multi_thread

#endif  // ROS2_QT_MULTI_THREAD_MAIN_WINDOW_HPP_

include/ros2_qt_multi_thread/ros_node.hpp

cpp

运行

#ifndef ROS2_QT_MULTI_THREAD_ROS_NODE_HPP_
#define ROS2_QT_MULTI_THREAD_ROS_NODE_HPP_

#include <rclcpp/rclcpp.hpp>
#include <std_msgs/msg/string.hpp>
#include <QObject>
#include <memory>
#include "publisher_thread.hpp"
#include "subscriber_thread.hpp"
#include "param_manager.hpp"

namespace ros2_qt_multi_thread
{