使用案例
三步ros2中使用Qt.
1,CMakeLists.txt配置
cmake_minimum_required(VERSION 3.8)
project(hello_qt)if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")add_compile_options(-Wall -Wextra -Wpedantic)
endif()# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
# 重点1：引入Qt库
find_package(Qt5 REQUIRED COMPONENTS Widgets)add_executable(hello_qt_exec src/main.cpp)
# 重点2：链接Qt库
# 这里为什么使用target_link_libraries而不是ament_target_dependencies？
# 因为Qt5这个库并不是ros的功能包库，而ament_target_dependencies是用于快速查找和依赖ros功能包的工具。
target_link_libraries(hello_qt_exec Qt5::Widgets)if(BUILD_TESTING)find_package(ament_lint_auto REQUIRED)# the following line skips the linter which checks for copyrights# comment the line when a copyright and license is added to all source filesset(ament_cmake_copyright_FOUND TRUE)# the following line skips cpplint (only works in a git repo)# comment the line when this package is in a git repo and when# a copyright and license is added to all source filesset(ament_cmake_cpplint_FOUND TRUE)ament_lint_auto_find_test_dependencies()
endif()install(TARGETS hello_qt_execDESTINATION lib/${PROJECT_NAME})ament_package()
2,源码使用Qt
// 重点3：引用Qt头文件
#include <QApplication>
#include <QLabel>
#include <QString>int main(int argc, char **argv) {QApplication app(argc, argv);QLabel *label = new QLabel();label->setText("Hello Qt!");label->show();app.exec();return 0;
}
