From 9ef55e94bd9184de60374576b081a12da66aa014 Mon Sep 17 00:00:00 2001
From: robin_shaun <robin_shaun@foxmail.com>
Date: Tue, 30 Mar 2021 23:19:39 +0800
Subject: [PATCH] add xtdgroundcontrol c++

---
 communication/multi_vehicle_communication.sh  |   4 +--
 .../xtdgroundcontrol}/CMakeLists.txt          |  10 +++----
 .../cplusplus/xtdgroundcontrol}/README.md     |   0
 .../include/xtdgroundcontrol}/form.h          |   4 +--
 .../include/xtdgroundcontrol}/formrviz.h      |   2 ++
 .../include/xtdgroundcontrol}/main_window.hpp |  16 +++++------
 .../include/xtdgroundcontrol}/qnode.hpp       |  12 ++++----
 .../include/xtdgroundcontrol}/qrviz.hpp       |   2 +-
 .../cplusplus/xtdgroundcontrol}/mainpage.dox  |   2 +-
 .../cplusplus/xtdgroundcontrol}/package.xml   |   4 +--
 .../xtdgroundcontrol}/resources/images.qrc    |   0
 .../resources/images/indoor1.jpg              | Bin
 .../resources/images/indoor2.jpg              | Bin
 .../resources/images/indoor3.jpg              | Bin
 .../resources/images/outdoor1.jpg             | Bin
 .../resources/images/outdoor2.jpg             | Bin
 .../resources/images/outdoor3.jpg             | Bin
 .../resources/images/robocup.jpg              | Bin
 .../resources/images/xtd.ico                  | Bin
 .../cplusplus/xtdgroundcontrol}/src/form.cpp  |   2 +-
 .../xtdgroundcontrol}/src/formrviz.cpp        |  15 +++++++++-
 .../cplusplus/xtdgroundcontrol}/src/image.qrc |   0
 .../cplusplus/xtdgroundcontrol}/src/main.cpp  |   4 +--
 .../xtdgroundcontrol}/src/main_window.cpp     |  24 +++++++++-------
 .../cplusplus/xtdgroundcontrol}/src/qnode.cpp |  14 +++++-----
 .../cplusplus/xtdgroundcontrol}/src/qrviz.cpp |  12 ++++----
 .../cplusplus/xtdgroundcontrol}/ui/form.ui    |   0
 .../xtdgroundcontrol}/ui/formrviz.ui          |   0
 .../xtdgroundcontrol}/ui/main_window.ui       |  26 ------------------
 .../python}/images/indoor1.jpg                | Bin
 .../python}/images/indoor1_resize.jpg         | Bin
 .../python}/images/indoor2.jpg                | Bin
 .../python}/images/indoor2_resize.jpg         | Bin
 .../python}/images/indoor3.jpg                | Bin
 .../python}/images/indoor3_resize.jpg         | Bin
 .../python}/images/outdoor1_resize.jpg        | Bin
 .../python}/images/outdoor2.jpg               | Bin
 .../python}/images/outdoor2_resize.jpg        | Bin
 .../python}/images/outdoor3.jpg               | Bin
 .../python}/images/outdoor3_resize.jpg        | Bin
 .../python}/images/resize.py                  |   0
 .../python}/images/robocup.jpg                | Bin
 .../python}/images/robocup_resize.jpg         | Bin
 .../python}/images/xtd.ico                    | Bin
 .../{gcs => XTDGroundControl/python}/main.py  |   0
 .../python}/plotcanvas.py                     |   0
 .../python}/receive.py                        |   0
 .../python}/resize.py                         |   0
 .../python}/return.py                         |   0
 .../python}/return.sh                         |   0
 .../{gcs => XTDGroundControl/python}/send.py  |   0
 .../python}/stop_return.sh                    |   0
 .../python}/xtd_ui.py                         |   0
 53 files changed, 73 insertions(+), 80 deletions(-)
 rename control/{gcs/develop/xtdrone_qt => XTDGroundControl/cplusplus/xtdgroundcontrol}/CMakeLists.txt (87%)
 rename control/{gcs/develop/xtdrone_qt => XTDGroundControl/cplusplus/xtdgroundcontrol}/README.md (100%)
 rename control/{gcs/develop/xtdrone_qt/include/xtdrone_qt => XTDGroundControl/cplusplus/xtdgroundcontrol/include/xtdgroundcontrol}/form.h (84%)
 rename control/{gcs/develop/xtdrone_qt/include/xtdrone_qt => XTDGroundControl/cplusplus/xtdgroundcontrol/include/xtdgroundcontrol}/formrviz.h (84%)
 rename control/{gcs/develop/xtdrone_qt/include/xtdrone_qt => XTDGroundControl/cplusplus/xtdgroundcontrol/include/xtdgroundcontrol}/main_window.hpp (94%)
 rename control/{gcs/develop/xtdrone_qt/include/xtdrone_qt => XTDGroundControl/cplusplus/xtdgroundcontrol/include/xtdgroundcontrol}/qnode.hpp (94%)
 rename control/{gcs/develop/xtdrone_qt/include/xtdrone_qt => XTDGroundControl/cplusplus/xtdgroundcontrol/include/xtdgroundcontrol}/qrviz.hpp (97%)
 rename control/{gcs/develop/xtdrone_qt => XTDGroundControl/cplusplus/xtdgroundcontrol}/mainpage.dox (95%)
 rename control/{gcs/develop/xtdrone_qt => XTDGroundControl/cplusplus/xtdgroundcontrol}/package.xml (92%)
 rename control/{gcs/develop/xtdrone_qt => XTDGroundControl/cplusplus/xtdgroundcontrol}/resources/images.qrc (100%)
 rename control/{gcs/develop/xtdrone_qt => XTDGroundControl/cplusplus/xtdgroundcontrol}/resources/images/indoor1.jpg (100%)
 rename control/{gcs/develop/xtdrone_qt => XTDGroundControl/cplusplus/xtdgroundcontrol}/resources/images/indoor2.jpg (100%)
 rename control/{gcs/develop/xtdrone_qt => XTDGroundControl/cplusplus/xtdgroundcontrol}/resources/images/indoor3.jpg (100%)
 rename control/{gcs/develop/xtdrone_qt => XTDGroundControl/cplusplus/xtdgroundcontrol}/resources/images/outdoor1.jpg (100%)
 rename control/{gcs/develop/xtdrone_qt => XTDGroundControl/cplusplus/xtdgroundcontrol}/resources/images/outdoor2.jpg (100%)
 rename control/{gcs/develop/xtdrone_qt => XTDGroundControl/cplusplus/xtdgroundcontrol}/resources/images/outdoor3.jpg (100%)
 rename control/{gcs/develop/xtdrone_qt => XTDGroundControl/cplusplus/xtdgroundcontrol}/resources/images/robocup.jpg (100%)
 rename control/{gcs/develop/xtdrone_qt => XTDGroundControl/cplusplus/xtdgroundcontrol}/resources/images/xtd.ico (100%)
 rename control/{gcs/develop/xtdrone_qt => XTDGroundControl/cplusplus/xtdgroundcontrol}/src/form.cpp (87%)
 rename control/{gcs/develop/xtdrone_qt => XTDGroundControl/cplusplus/xtdgroundcontrol}/src/formrviz.cpp (57%)
 rename control/{gcs/develop/xtdrone_qt => XTDGroundControl/cplusplus/xtdgroundcontrol}/src/image.qrc (100%)
 rename control/{gcs/develop/xtdrone_qt => XTDGroundControl/cplusplus/xtdgroundcontrol}/src/main.cpp (87%)
 rename control/{gcs/develop/xtdrone_qt => XTDGroundControl/cplusplus/xtdgroundcontrol}/src/main_window.cpp (98%)
 rename control/{gcs/develop/xtdrone_qt => XTDGroundControl/cplusplus/xtdgroundcontrol}/src/qnode.cpp (98%)
 rename control/{gcs/develop/xtdrone_qt => XTDGroundControl/cplusplus/xtdgroundcontrol}/src/qrviz.cpp (93%)
 rename control/{gcs/develop/xtdrone_qt => XTDGroundControl/cplusplus/xtdgroundcontrol}/ui/form.ui (100%)
 rename control/{gcs/develop/xtdrone_qt => XTDGroundControl/cplusplus/xtdgroundcontrol}/ui/formrviz.ui (100%)
 rename control/{gcs/develop/xtdrone_qt => XTDGroundControl/cplusplus/xtdgroundcontrol}/ui/main_window.ui (98%)
 rename control/{gcs => XTDGroundControl/python}/images/indoor1.jpg (100%)
 rename control/{gcs => XTDGroundControl/python}/images/indoor1_resize.jpg (100%)
 rename control/{gcs => XTDGroundControl/python}/images/indoor2.jpg (100%)
 rename control/{gcs => XTDGroundControl/python}/images/indoor2_resize.jpg (100%)
 rename control/{gcs => XTDGroundControl/python}/images/indoor3.jpg (100%)
 rename control/{gcs => XTDGroundControl/python}/images/indoor3_resize.jpg (100%)
 rename control/{gcs => XTDGroundControl/python}/images/outdoor1_resize.jpg (100%)
 rename control/{gcs => XTDGroundControl/python}/images/outdoor2.jpg (100%)
 rename control/{gcs => XTDGroundControl/python}/images/outdoor2_resize.jpg (100%)
 rename control/{gcs => XTDGroundControl/python}/images/outdoor3.jpg (100%)
 rename control/{gcs => XTDGroundControl/python}/images/outdoor3_resize.jpg (100%)
 rename control/{gcs => XTDGroundControl/python}/images/resize.py (100%)
 rename control/{gcs => XTDGroundControl/python}/images/robocup.jpg (100%)
 rename control/{gcs => XTDGroundControl/python}/images/robocup_resize.jpg (100%)
 rename control/{gcs => XTDGroundControl/python}/images/xtd.ico (100%)
 rename control/{gcs => XTDGroundControl/python}/main.py (100%)
 rename control/{gcs => XTDGroundControl/python}/plotcanvas.py (100%)
 rename control/{gcs => XTDGroundControl/python}/receive.py (100%)
 rename control/{gcs => XTDGroundControl/python}/resize.py (100%)
 rename control/{gcs => XTDGroundControl/python}/return.py (100%)
 rename control/{gcs => XTDGroundControl/python}/return.sh (100%)
 rename control/{gcs => XTDGroundControl/python}/send.py (100%)
 rename control/{gcs => XTDGroundControl/python}/stop_return.sh (100%)
 rename control/{gcs => XTDGroundControl/python}/xtd_ui.py (100%)

diff --git a/communication/multi_vehicle_communication.sh b/communication/multi_vehicle_communication.sh
index 7633032..e4338b7 100644
--- a/communication/multi_vehicle_communication.sh
+++ b/communication/multi_vehicle_communication.sh
@@ -1,6 +1,6 @@
 #!/bin/bash
-iris_num=6
-typhoon_h480_num=0
+iris_num=3
+typhoon_h480_num=2
 solo_num=0
 plane_num=0
 rover_num=0
diff --git a/control/gcs/develop/xtdrone_qt/CMakeLists.txt b/control/XTDGroundControl/cplusplus/xtdgroundcontrol/CMakeLists.txt
similarity index 87%
rename from control/gcs/develop/xtdrone_qt/CMakeLists.txt
rename to control/XTDGroundControl/cplusplus/xtdgroundcontrol/CMakeLists.txt
index e12dda6..2efce51 100644
--- a/control/gcs/develop/xtdrone_qt/CMakeLists.txt
+++ b/control/XTDGroundControl/cplusplus/xtdgroundcontrol/CMakeLists.txt
@@ -3,7 +3,7 @@
 ##############################################################################
 
 cmake_minimum_required(VERSION 2.8.0)
-project(xtdrone_qt)
+project(xtdgroundcontrol)
 set(CMAKE_INCLUDE_CURRENT_DIR ON)
 set(CMAKE_PREFIX_PATH ${CMAKE_PREFIX_PATH} "/opt/ros/melodic/")
 ##############################################################################
@@ -37,7 +37,7 @@ catkin_package()
 
 file(GLOB QT_FORMS RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} ui/*.ui)
 file(GLOB QT_RESOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} resources/*.qrc)
-file(GLOB_RECURSE QT_MOC RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} FOLLOW_SYMLINKS include/xtdrone_qt/*.hpp *.h)
+file(GLOB_RECURSE QT_MOC RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} FOLLOW_SYMLINKS include/xtdgroundcontrol/*.hpp *.h)
 
 QT5_ADD_RESOURCES(QT_RESOURCES_CPP ${QT_RESOURCES})
 QT5_WRAP_UI(QT_FORMS_HPP ${QT_FORMS})
@@ -53,7 +53,7 @@ file(GLOB_RECURSE QT_SOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} FOLLOW_SYMLINK
 # Binaries
 ##############################################################################
 
-add_executable(xtdrone_qt ${QT_SOURCES} ${QT_RESOURCES_CPP} ${QT_FORMS_HPP} ${QT_MOC_HPP})
-target_link_libraries(xtdrone_qt ${QT_LIBRARIES} ${catkin_LIBRARIES})
-install(TARGETS xtdrone_qt RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+add_executable(xtdgroundcontrol ${QT_SOURCES} ${QT_RESOURCES_CPP} ${QT_FORMS_HPP} ${QT_MOC_HPP})
+target_link_libraries(xtdgroundcontrol ${QT_LIBRARIES} ${catkin_LIBRARIES})
+install(TARGETS xtdgroundcontrol RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
diff --git a/control/gcs/develop/xtdrone_qt/README.md b/control/XTDGroundControl/cplusplus/xtdgroundcontrol/README.md
similarity index 100%
rename from control/gcs/develop/xtdrone_qt/README.md
rename to control/XTDGroundControl/cplusplus/xtdgroundcontrol/README.md
diff --git a/control/gcs/develop/xtdrone_qt/include/xtdrone_qt/form.h b/control/XTDGroundControl/cplusplus/xtdgroundcontrol/include/xtdgroundcontrol/form.h
similarity index 84%
rename from control/gcs/develop/xtdrone_qt/include/xtdrone_qt/form.h
rename to control/XTDGroundControl/cplusplus/xtdgroundcontrol/include/xtdgroundcontrol/form.h
index 6069525..972a6a0 100644
--- a/control/gcs/develop/xtdrone_qt/include/xtdrone_qt/form.h
+++ b/control/XTDGroundControl/cplusplus/xtdgroundcontrol/include/xtdgroundcontrol/form.h
@@ -1,5 +1,5 @@
-#ifndef xtdrone_qt_FORM_H
-#define xtdrone_qt_FORM_H
+#ifndef xtdgroundcontrol_FORM_H
+#define xtdgroundcontrol_FORM_H
 
 #include <QWidget>
 
diff --git a/control/gcs/develop/xtdrone_qt/include/xtdrone_qt/formrviz.h b/control/XTDGroundControl/cplusplus/xtdgroundcontrol/include/xtdgroundcontrol/formrviz.h
similarity index 84%
rename from control/gcs/develop/xtdrone_qt/include/xtdrone_qt/formrviz.h
rename to control/XTDGroundControl/cplusplus/xtdgroundcontrol/include/xtdgroundcontrol/formrviz.h
index 302e47a..71f1227 100644
--- a/control/gcs/develop/xtdrone_qt/include/xtdrone_qt/formrviz.h
+++ b/control/XTDGroundControl/cplusplus/xtdgroundcontrol/include/xtdgroundcontrol/formrviz.h
@@ -18,6 +18,8 @@ public:
 private slots:
     void on_button_image_cancel_clicked();
     void on_button_image_ok_clicked();
+    void slot_btn_addtopic_clicked();
+    void slot_btn_other_clicked();
 
 signals:
     void rviz_to_main(QString);
diff --git a/control/gcs/develop/xtdrone_qt/include/xtdrone_qt/main_window.hpp b/control/XTDGroundControl/cplusplus/xtdgroundcontrol/include/xtdgroundcontrol/main_window.hpp
similarity index 94%
rename from control/gcs/develop/xtdrone_qt/include/xtdrone_qt/main_window.hpp
rename to control/XTDGroundControl/cplusplus/xtdgroundcontrol/include/xtdgroundcontrol/main_window.hpp
index b11f89d..c2ce743 100644
--- a/control/gcs/develop/xtdrone_qt/include/xtdrone_qt/main_window.hpp
+++ b/control/XTDGroundControl/cplusplus/xtdgroundcontrol/include/xtdgroundcontrol/main_window.hpp
@@ -1,12 +1,12 @@
 /**
- * @file /include/xtdrone_qt/main_window.hpp
+ * @file /include/xtdgroundcontrol/main_window.hpp
  *
- * @brief Qt based gui for xtdrone_qt.
+ * @brief Qt based gui for xtdgroundcontrol.
  *
  * @date November 2010
  **/
-#ifndef xtdrone_qt_MAIN_WINDOW_H
-#define xtdrone_qt_MAIN_WINDOW_H
+#ifndef xtdgroundcontrol_MAIN_WINDOW_H
+#define xtdgroundcontrol_MAIN_WINDOW_H
 
 /*****************************************************************************
 ** Includes
@@ -32,7 +32,7 @@
 ** Namespace
 *****************************************************************************/
 
-namespace xtdrone_qt {
+namespace xtdgroundcontrol {
 
 /*****************************************************************************
 ** Interface [MainWindow]
@@ -141,7 +141,7 @@ public Q_SLOTS:
     void slot_display_Pose(int);
     void slot_btn_add_click(bool);
     void slot_addrviz(QString);
-    void slot_btn_estimate_click(bool);
+//    void slot_btn_estimate_click(bool);
     void slot_btn_goal_click(bool);
     void slot_rviz_control();
 private:
@@ -151,6 +151,6 @@ private:
     qrviz* my_rviz;
 };
 
-}  // namespace xtdrone_qt
+}  // namespace xtdgroundcontrol
 
-#endif // xtdrone_qt_MAIN_WINDOW_H
+#endif // xtdgroundcontrol_MAIN_WINDOW_H
diff --git a/control/gcs/develop/xtdrone_qt/include/xtdrone_qt/qnode.hpp b/control/XTDGroundControl/cplusplus/xtdgroundcontrol/include/xtdgroundcontrol/qnode.hpp
similarity index 94%
rename from control/gcs/develop/xtdrone_qt/include/xtdrone_qt/qnode.hpp
rename to control/XTDGroundControl/cplusplus/xtdgroundcontrol/include/xtdgroundcontrol/qnode.hpp
index 441a8cf..c74c23e 100644
--- a/control/gcs/develop/xtdrone_qt/include/xtdrone_qt/qnode.hpp
+++ b/control/XTDGroundControl/cplusplus/xtdgroundcontrol/include/xtdgroundcontrol/qnode.hpp
@@ -1,5 +1,5 @@
 /**
- * @file /include/xtdrone_qt/qnode.hpp
+ * @file /include/xtdgroundcontrol/qnode.hpp
  *
  * @brief Communications central!
  *
@@ -9,8 +9,8 @@
 ** Ifdefs
 *****************************************************************************/
 
-#ifndef xtdrone_qt_QNODE_HPP_
-#define xtdrone_qt_QNODE_HPP_
+#ifndef xtdgroundcontrol_QNODE_HPP_
+#define xtdgroundcontrol_QNODE_HPP_
 
 /*****************************************************************************
 ** Includes
@@ -41,7 +41,7 @@
 ** Namespaces
 *****************************************************************************/
 
-namespace xtdrone_qt {
+namespace xtdgroundcontrol {
 
 /*****************************************************************************
 ** Class
@@ -133,6 +133,6 @@ private:
 
 };
 
-}  // namespace xtdrone_qt
+}  // namespace xtdgroundcontrol
 
-#endif /* xtdrone_qt_QNODE_HPP_ */
+#endif /* xtdgroundcontrol_QNODE_HPP_ */
diff --git a/control/gcs/develop/xtdrone_qt/include/xtdrone_qt/qrviz.hpp b/control/XTDGroundControl/cplusplus/xtdgroundcontrol/include/xtdgroundcontrol/qrviz.hpp
similarity index 97%
rename from control/gcs/develop/xtdrone_qt/include/xtdrone_qt/qrviz.hpp
rename to control/XTDGroundControl/cplusplus/xtdgroundcontrol/include/xtdgroundcontrol/qrviz.hpp
index c217cf0..ed8a094 100644
--- a/control/gcs/develop/xtdrone_qt/include/xtdrone_qt/qrviz.hpp
+++ b/control/XTDGroundControl/cplusplus/xtdgroundcontrol/include/xtdgroundcontrol/qrviz.hpp
@@ -20,7 +20,7 @@ public:
     void Display_LaserScan(QString laser_topic, bool enable);
     void Display_Image(QString Image_topic, bool enable, int num);
     void Display_Pose(QString pose_topic, QString pose_shape, QColor color, bool enable, int num);
-    void Set_start_pose();
+//    void Set_start_pose();
     void Set_goal_pose();
 private:
     rviz::RenderPanel* render_panel;
diff --git a/control/gcs/develop/xtdrone_qt/mainpage.dox b/control/XTDGroundControl/cplusplus/xtdgroundcontrol/mainpage.dox
similarity index 95%
rename from control/gcs/develop/xtdrone_qt/mainpage.dox
rename to control/XTDGroundControl/cplusplus/xtdgroundcontrol/mainpage.dox
index 107b7a1..1319e0c 100644
--- a/control/gcs/develop/xtdrone_qt/mainpage.dox
+++ b/control/XTDGroundControl/cplusplus/xtdgroundcontrol/mainpage.dox
@@ -2,7 +2,7 @@
 \mainpage
 \htmlinclude manifest.html
 
-\b xtdrone_qt is ... 
+\b xtdgroundcontrol is ... 
 
 <!-- 
 Provide an overview of your package.
diff --git a/control/gcs/develop/xtdrone_qt/package.xml b/control/XTDGroundControl/cplusplus/xtdgroundcontrol/package.xml
similarity index 92%
rename from control/gcs/develop/xtdrone_qt/package.xml
rename to control/XTDGroundControl/cplusplus/xtdgroundcontrol/package.xml
index 4a6f323..aa563d9 100644
--- a/control/gcs/develop/xtdrone_qt/package.xml
+++ b/control/XTDGroundControl/cplusplus/xtdgroundcontrol/package.xml
@@ -1,10 +1,10 @@
 <?xml version="1.0"?>
 <package>
-  <name>xtdrone_qt</name>
+  <name>xtdgroundcontrol</name>
   <version>0.1.0</version>
   <description>
 
-     xtdrone_qt
+     XTDGroundControl
 
   </description>
   <maintainer email="robin@gmail.com">robin</maintainer>
diff --git a/control/gcs/develop/xtdrone_qt/resources/images.qrc b/control/XTDGroundControl/cplusplus/xtdgroundcontrol/resources/images.qrc
similarity index 100%
rename from control/gcs/develop/xtdrone_qt/resources/images.qrc
rename to control/XTDGroundControl/cplusplus/xtdgroundcontrol/resources/images.qrc
diff --git a/control/gcs/develop/xtdrone_qt/resources/images/indoor1.jpg b/control/XTDGroundControl/cplusplus/xtdgroundcontrol/resources/images/indoor1.jpg
similarity index 100%
rename from control/gcs/develop/xtdrone_qt/resources/images/indoor1.jpg
rename to control/XTDGroundControl/cplusplus/xtdgroundcontrol/resources/images/indoor1.jpg
diff --git a/control/gcs/develop/xtdrone_qt/resources/images/indoor2.jpg b/control/XTDGroundControl/cplusplus/xtdgroundcontrol/resources/images/indoor2.jpg
similarity index 100%
rename from control/gcs/develop/xtdrone_qt/resources/images/indoor2.jpg
rename to control/XTDGroundControl/cplusplus/xtdgroundcontrol/resources/images/indoor2.jpg
diff --git a/control/gcs/develop/xtdrone_qt/resources/images/indoor3.jpg b/control/XTDGroundControl/cplusplus/xtdgroundcontrol/resources/images/indoor3.jpg
similarity index 100%
rename from control/gcs/develop/xtdrone_qt/resources/images/indoor3.jpg
rename to control/XTDGroundControl/cplusplus/xtdgroundcontrol/resources/images/indoor3.jpg
diff --git a/control/gcs/develop/xtdrone_qt/resources/images/outdoor1.jpg b/control/XTDGroundControl/cplusplus/xtdgroundcontrol/resources/images/outdoor1.jpg
similarity index 100%
rename from control/gcs/develop/xtdrone_qt/resources/images/outdoor1.jpg
rename to control/XTDGroundControl/cplusplus/xtdgroundcontrol/resources/images/outdoor1.jpg
diff --git a/control/gcs/develop/xtdrone_qt/resources/images/outdoor2.jpg b/control/XTDGroundControl/cplusplus/xtdgroundcontrol/resources/images/outdoor2.jpg
similarity index 100%
rename from control/gcs/develop/xtdrone_qt/resources/images/outdoor2.jpg
rename to control/XTDGroundControl/cplusplus/xtdgroundcontrol/resources/images/outdoor2.jpg
diff --git a/control/gcs/develop/xtdrone_qt/resources/images/outdoor3.jpg b/control/XTDGroundControl/cplusplus/xtdgroundcontrol/resources/images/outdoor3.jpg
similarity index 100%
rename from control/gcs/develop/xtdrone_qt/resources/images/outdoor3.jpg
rename to control/XTDGroundControl/cplusplus/xtdgroundcontrol/resources/images/outdoor3.jpg
diff --git a/control/gcs/develop/xtdrone_qt/resources/images/robocup.jpg b/control/XTDGroundControl/cplusplus/xtdgroundcontrol/resources/images/robocup.jpg
similarity index 100%
rename from control/gcs/develop/xtdrone_qt/resources/images/robocup.jpg
rename to control/XTDGroundControl/cplusplus/xtdgroundcontrol/resources/images/robocup.jpg
diff --git a/control/gcs/develop/xtdrone_qt/resources/images/xtd.ico b/control/XTDGroundControl/cplusplus/xtdgroundcontrol/resources/images/xtd.ico
similarity index 100%
rename from control/gcs/develop/xtdrone_qt/resources/images/xtd.ico
rename to control/XTDGroundControl/cplusplus/xtdgroundcontrol/resources/images/xtd.ico
diff --git a/control/gcs/develop/xtdrone_qt/src/form.cpp b/control/XTDGroundControl/cplusplus/xtdgroundcontrol/src/form.cpp
similarity index 87%
rename from control/gcs/develop/xtdrone_qt/src/form.cpp
rename to control/XTDGroundControl/cplusplus/xtdgroundcontrol/src/form.cpp
index bc7d700..10489a7 100644
--- a/control/gcs/develop/xtdrone_qt/src/form.cpp
+++ b/control/XTDGroundControl/cplusplus/xtdgroundcontrol/src/form.cpp
@@ -1,4 +1,4 @@
-#include "../include/xtdrone_qt/form.h"
+#include "../include/xtdgroundcontrol/form.h"
 #include "ui_form.h"
 
 Form::Form(QWidget *parent) :
diff --git a/control/gcs/develop/xtdrone_qt/src/formrviz.cpp b/control/XTDGroundControl/cplusplus/xtdgroundcontrol/src/formrviz.cpp
similarity index 57%
rename from control/gcs/develop/xtdrone_qt/src/formrviz.cpp
rename to control/XTDGroundControl/cplusplus/xtdgroundcontrol/src/formrviz.cpp
index 0fb9cb3..d2806c6 100644
--- a/control/gcs/develop/xtdrone_qt/src/formrviz.cpp
+++ b/control/XTDGroundControl/cplusplus/xtdgroundcontrol/src/formrviz.cpp
@@ -1,4 +1,4 @@
-#include "../include/xtdrone_qt/formrviz.h"
+#include "../include/xtdgroundcontrol/formrviz.h"
 #include "ui_formrviz.h"
 
 FormRviz::FormRviz(QWidget *parent) :
@@ -6,6 +6,11 @@ FormRviz::FormRviz(QWidget *parent) :
     ui(new Ui::FormRviz)
 {
     ui->setupUi(this);
+    ui->edit_addtopic->setReadOnly(true);
+    connect(ui->button_image_addtopic,SIGNAL(clicked()),this,SLOT(slot_btn_addtopic_clicked()));
+    connect(ui->button_image_tf,SIGNAL(clicked()),this,SLOT(slot_btn_other_clicked()));
+    connect(ui->button_image_camera,SIGNAL(clicked()),this,SLOT(slot_btn_other_clicked()));
+    connect(ui->button_image_laser,SIGNAL(clicked()),this,SLOT(slot_btn_other_clicked()));
 }
 
 FormRviz::~FormRviz()
@@ -47,3 +52,11 @@ void FormRviz::on_button_image_ok_clicked()
 
 
 }
+void FormRviz::slot_btn_addtopic_clicked()
+{
+    ui->edit_addtopic->setReadOnly(false);
+}
+void FormRviz::slot_btn_other_clicked()
+{
+    ui->edit_addtopic->setReadOnly(true);
+}
diff --git a/control/gcs/develop/xtdrone_qt/src/image.qrc b/control/XTDGroundControl/cplusplus/xtdgroundcontrol/src/image.qrc
similarity index 100%
rename from control/gcs/develop/xtdrone_qt/src/image.qrc
rename to control/XTDGroundControl/cplusplus/xtdgroundcontrol/src/image.qrc
diff --git a/control/gcs/develop/xtdrone_qt/src/main.cpp b/control/XTDGroundControl/cplusplus/xtdgroundcontrol/src/main.cpp
similarity index 87%
rename from control/gcs/develop/xtdrone_qt/src/main.cpp
rename to control/XTDGroundControl/cplusplus/xtdgroundcontrol/src/main.cpp
index 7b32fc4..0aa3f25 100644
--- a/control/gcs/develop/xtdrone_qt/src/main.cpp
+++ b/control/XTDGroundControl/cplusplus/xtdgroundcontrol/src/main.cpp
@@ -11,7 +11,7 @@
 
 #include <QtGui>
 #include <QApplication>
-#include "../include/xtdrone_qt/main_window.hpp"
+#include "../include/xtdgroundcontrol/main_window.hpp"
 
 /*****************************************************************************
 ** Main
@@ -23,7 +23,7 @@ int main(int argc, char **argv) {
     ** Qt
     **********************/
     QApplication app(argc, argv);
-    xtdrone_qt::MainWindow w(argc,argv);
+    xtdgroundcontrol::MainWindow w(argc,argv);
     w.show();
     app.connect(&app, SIGNAL(lastWindowClosed()), &app, SLOT(quit()));
     int result = app.exec();
diff --git a/control/gcs/develop/xtdrone_qt/src/main_window.cpp b/control/XTDGroundControl/cplusplus/xtdgroundcontrol/src/main_window.cpp
similarity index 98%
rename from control/gcs/develop/xtdrone_qt/src/main_window.cpp
rename to control/XTDGroundControl/cplusplus/xtdgroundcontrol/src/main_window.cpp
index 074c821..42f6ed9 100644
--- a/control/gcs/develop/xtdrone_qt/src/main_window.cpp
+++ b/control/XTDGroundControl/cplusplus/xtdgroundcontrol/src/main_window.cpp
@@ -12,7 +12,7 @@
 #include <QtGui>
 #include <QMessageBox>
 #include <iostream>
-#include "../include/xtdrone_qt/main_window.hpp"
+#include "../include/xtdgroundcontrol/main_window.hpp"
 #include "QDebug"
 //#include <sstream>
 //#include <string>
@@ -22,7 +22,7 @@
 ** Namespaces
 *****************************************************************************/
 
-namespace xtdrone_qt {
+namespace xtdgroundcontrol {
 
 using namespace Qt;
 
@@ -186,7 +186,7 @@ void MainWindow::updateLoggingView() {
 *****************************************************************************/
 
 void MainWindow::ReadSettings() {
-    QSettings settings("Qt-Ros Package", "xtdrone_qt");
+    QSettings settings("Qt-Ros Package", "xtdgroundcontrol");
     restoreGeometry(settings.value("geometry").toByteArray());
     restoreState(settings.value("windowState").toByteArray());
     connect(ui.button_run,SIGNAL(clicked(bool)),this,SLOT(slot_btn_run_click(bool)));
@@ -211,13 +211,13 @@ void MainWindow::ReadSettings() {
     connect(ui.comboBox_maps,SIGNAL(currentTextChanged(const QString)),this,SLOT(slot_box_maps_change(const QString)));
     connect(&qnode, SIGNAL(uavposition(float, float)),this,SLOT(slot_update_plot(float, float)));
     connect(ui.button_add, SIGNAL(clicked(bool)),this,SLOT(slot_btn_add_click(bool)));
-    connect(ui.button_estimate, SIGNAL(clicked(bool)),this,SLOT(slot_btn_estimate_click(bool)));
+//    connect(ui.button_estimate, SIGNAL(clicked(bool)),this,SLOT(slot_btn_estimate_click(bool)));
     connect(ui.button_goal, SIGNAL(clicked(bool)),this,SLOT(slot_btn_goal_click(bool)));
     connect(&qnode, SIGNAL(rvizsetgoal()),this,SLOT(slot_rviz_control()));
 }
 
 void MainWindow::WriteSettings() {
-    QSettings settings("Qt-Ros Package", "xtdrone_qt");
+    QSettings settings("Qt-Ros Package", "xtdgroundcontrol");
     //settings.setValue("topic_name",ui.line_edit_topic->text());
 //    settings.setValue("use_environment_variables",QVariant(ui.checkbox_use_environment->isChecked()));
     settings.setValue("geometry", saveGeometry());
@@ -267,6 +267,8 @@ void MainWindow::init_uisettings()
     ui.checkBox_quadplane->setCheckable(false);
     ui.checkBox_tiltrotor->setCheckable(false);
     ui.checkBox_tailsitter->setCheckable(false);
+    ui.button_goal->setEnabled(false);
+
 //    ui.button_add->setChecked(false);
 //    ui.button_add->setEnabled(false);
 
@@ -433,6 +435,7 @@ void MainWindow::slot_btn_run_click(bool)
             } else {
                 ui.button_run->setEnabled(false);
                 ui.button_control->setEnabled(true);
+
                 my_rviz = new qrviz(ui.verticalLayout_rviz);
                 ui.treeWidget->setEnabled(true);
 //                ui.button_add->setEnabled(true);
@@ -461,6 +464,7 @@ void MainWindow::slot_btn_control_click(bool)
         ui.box_left_and_right_2->setReadOnly(false);
         ui.box_orientation->setReadOnly(false);
         ui.button_stop->setEnabled(true);
+        ui.button_goal->setEnabled(true);
     }
 
 }
@@ -916,10 +920,10 @@ void MainWindow::slot_addrviz(QString value)
     }
 }
 
-void MainWindow::slot_btn_estimate_click(bool)
-{
-    my_rviz->Set_start_pose();
-}
+//void MainWindow::slot_btn_estimate_click(bool)
+//{
+//    my_rviz->Set_start_pose();
+//}
 
 void MainWindow::slot_btn_goal_click(bool)
 {
@@ -932,4 +936,4 @@ void MainWindow::slot_rviz_control()
     ui.box_left_and_right_2->setProperty("value", 0.0);
     ui.box_orientation->setProperty("value", 0.0);
 }
-}  // namespace xtdrone_qt
+}  // namespace xtdgroundcontrol
diff --git a/control/gcs/develop/xtdrone_qt/src/qnode.cpp b/control/XTDGroundControl/cplusplus/xtdgroundcontrol/src/qnode.cpp
similarity index 98%
rename from control/gcs/develop/xtdrone_qt/src/qnode.cpp
rename to control/XTDGroundControl/cplusplus/xtdgroundcontrol/src/qnode.cpp
index 34bcbb2..e2a8d0e 100644
--- a/control/gcs/develop/xtdrone_qt/src/qnode.cpp
+++ b/control/XTDGroundControl/cplusplus/xtdgroundcontrol/src/qnode.cpp
@@ -15,7 +15,7 @@
 #include <string>
 #include <std_msgs/String.h>
 #include <sstream>
-#include "../include/xtdrone_qt/qnode.hpp"
+#include "../include/xtdgroundcontrol/qnode.hpp"
 //#include <boost/bind.hpp>
 #include "QDebug"
 #include <math.h>
@@ -27,7 +27,7 @@ typedef QList<geometry_msgs::Pose> LISTPOSE;
 ** Namespaces
 *****************************************************************************/
 
-namespace xtdrone_qt {
+namespace xtdgroundcontrol {
 
 /*****************************************************************************
 ** Implementation
@@ -64,8 +64,8 @@ void odm_groundtruth_callback(const geometry_msgs::PoseStamped::ConstPtr& msg, i
 *****************************************************************************/
 
 //bool QNode::init() {
-//	ros::init("xtdrone_qt");
-//    ros::init(init_argc,init_argv,"xtdrone_qt");
+//	ros::init("xtdgroundcontrol");
+//    ros::init(init_argc,init_argv,"xtdgroundcontrol");
 //	if ( ! ros::master::check() ) {
 //		return false;
 //	}
@@ -79,7 +79,7 @@ void odm_groundtruth_callback(const geometry_msgs::PoseStamped::ConstPtr& msg, i
 //}
 
 bool QNode::init(const LISTINT multi_select, const int *multi_num, const LISTSTR multi_type, std::string q_control_type) {
-//	ros::init("xtdrone_qt");
+//	ros::init("xtdgroundcontrol");
     int leng_select = multi_select.size();
     int counnnt = 0;
     int counnnnnt = 0;
@@ -108,7 +108,7 @@ bool QNode::init(const LISTINT multi_select, const int *multi_num, const LISTSTR
         vel[i].angular.y = 0.0;
         cmd[i].data = "";
     }
-    ros::init(init_argc,init_argv,"xtdrone_qt");
+    ros::init(init_argc,init_argv,"xtdgroundcontrol");
     if ( ! ros::master::check() ) {
         return false;
     }
@@ -538,4 +538,4 @@ double QNode::pos2ang(double xa, double ya, double xb, double yb)
             angle = angle + 2 * 3.1415926;
         return angle;
 }
-}  // namespace xtdrone_qt
+}  // namespace xtdgroundcontrol
diff --git a/control/gcs/develop/xtdrone_qt/src/qrviz.cpp b/control/XTDGroundControl/cplusplus/xtdgroundcontrol/src/qrviz.cpp
similarity index 93%
rename from control/gcs/develop/xtdrone_qt/src/qrviz.cpp
rename to control/XTDGroundControl/cplusplus/xtdgroundcontrol/src/qrviz.cpp
index f76b4d3..53f6b12 100644
--- a/control/gcs/develop/xtdrone_qt/src/qrviz.cpp
+++ b/control/XTDGroundControl/cplusplus/xtdgroundcontrol/src/qrviz.cpp
@@ -1,4 +1,4 @@
-#include "../include/xtdrone_qt/qrviz.hpp"
+#include "../include/xtdgroundcontrol/qrviz.hpp"
 #include <QDebug>
 
 qrviz::qrviz(QVBoxLayout* layout)
@@ -101,11 +101,11 @@ void qrviz::Display_Image(QString Image_topic, bool enable, int num)
    ROS_ASSERT(Image[num]!=NULL);
    manager->startUpdate();
 }
-void qrviz::Set_start_pose()
-{
-    rviz::Tool* current_tool = tool_manager->addTool("rviz/SetInitialPose");
-    tool_manager->setCurrentTool(current_tool);
-}
+//void qrviz::Set_start_pose()
+//{
+//    rviz::Tool* current_tool = tool_manager->addTool("rviz/SetInitialPose");
+//    tool_manager->setCurrentTool(current_tool);
+//}
 void qrviz::Set_goal_pose()
 {
     rviz::Tool* current_tool = tool_manager->addTool("rviz/SetGoal");
diff --git a/control/gcs/develop/xtdrone_qt/ui/form.ui b/control/XTDGroundControl/cplusplus/xtdgroundcontrol/ui/form.ui
similarity index 100%
rename from control/gcs/develop/xtdrone_qt/ui/form.ui
rename to control/XTDGroundControl/cplusplus/xtdgroundcontrol/ui/form.ui
diff --git a/control/gcs/develop/xtdrone_qt/ui/formrviz.ui b/control/XTDGroundControl/cplusplus/xtdgroundcontrol/ui/formrviz.ui
similarity index 100%
rename from control/gcs/develop/xtdrone_qt/ui/formrviz.ui
rename to control/XTDGroundControl/cplusplus/xtdgroundcontrol/ui/formrviz.ui
diff --git a/control/gcs/develop/xtdrone_qt/ui/main_window.ui b/control/XTDGroundControl/cplusplus/xtdgroundcontrol/ui/main_window.ui
similarity index 98%
rename from control/gcs/develop/xtdrone_qt/ui/main_window.ui
rename to control/XTDGroundControl/cplusplus/xtdgroundcontrol/ui/main_window.ui
index 1bf58db..0984c8c 100644
--- a/control/gcs/develop/xtdrone_qt/ui/main_window.ui
+++ b/control/XTDGroundControl/cplusplus/xtdgroundcontrol/ui/main_window.ui
@@ -1706,32 +1706,6 @@ font: 57 12pt &quot;Ubuntu&quot;;</string>
        </rect>
       </property>
       <layout class="QVBoxLayout" name="verticalLayout_10">
-       <item>
-        <widget class="QPushButton" name="button_estimate">
-         <property name="styleSheet">
-          <string notr="true">font: 57 12pt &quot;Ubuntu&quot;;
-color: rgb(32, 74, 135);
-border-bottom-color: rgb(186, 189, 182);
-</string>
-         </property>
-         <property name="text">
-          <string>2D pose Estimate</string>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <spacer name="horizontalSpacer_2">
-         <property name="orientation">
-          <enum>Qt::Horizontal</enum>
-         </property>
-         <property name="sizeHint" stdset="0">
-          <size>
-           <width>40</width>
-           <height>20</height>
-          </size>
-         </property>
-        </spacer>
-       </item>
        <item>
         <widget class="QPushButton" name="button_goal">
          <property name="styleSheet">
diff --git a/control/gcs/images/indoor1.jpg b/control/XTDGroundControl/python/images/indoor1.jpg
similarity index 100%
rename from control/gcs/images/indoor1.jpg
rename to control/XTDGroundControl/python/images/indoor1.jpg
diff --git a/control/gcs/images/indoor1_resize.jpg b/control/XTDGroundControl/python/images/indoor1_resize.jpg
similarity index 100%
rename from control/gcs/images/indoor1_resize.jpg
rename to control/XTDGroundControl/python/images/indoor1_resize.jpg
diff --git a/control/gcs/images/indoor2.jpg b/control/XTDGroundControl/python/images/indoor2.jpg
similarity index 100%
rename from control/gcs/images/indoor2.jpg
rename to control/XTDGroundControl/python/images/indoor2.jpg
diff --git a/control/gcs/images/indoor2_resize.jpg b/control/XTDGroundControl/python/images/indoor2_resize.jpg
similarity index 100%
rename from control/gcs/images/indoor2_resize.jpg
rename to control/XTDGroundControl/python/images/indoor2_resize.jpg
diff --git a/control/gcs/images/indoor3.jpg b/control/XTDGroundControl/python/images/indoor3.jpg
similarity index 100%
rename from control/gcs/images/indoor3.jpg
rename to control/XTDGroundControl/python/images/indoor3.jpg
diff --git a/control/gcs/images/indoor3_resize.jpg b/control/XTDGroundControl/python/images/indoor3_resize.jpg
similarity index 100%
rename from control/gcs/images/indoor3_resize.jpg
rename to control/XTDGroundControl/python/images/indoor3_resize.jpg
diff --git a/control/gcs/images/outdoor1_resize.jpg b/control/XTDGroundControl/python/images/outdoor1_resize.jpg
similarity index 100%
rename from control/gcs/images/outdoor1_resize.jpg
rename to control/XTDGroundControl/python/images/outdoor1_resize.jpg
diff --git a/control/gcs/images/outdoor2.jpg b/control/XTDGroundControl/python/images/outdoor2.jpg
similarity index 100%
rename from control/gcs/images/outdoor2.jpg
rename to control/XTDGroundControl/python/images/outdoor2.jpg
diff --git a/control/gcs/images/outdoor2_resize.jpg b/control/XTDGroundControl/python/images/outdoor2_resize.jpg
similarity index 100%
rename from control/gcs/images/outdoor2_resize.jpg
rename to control/XTDGroundControl/python/images/outdoor2_resize.jpg
diff --git a/control/gcs/images/outdoor3.jpg b/control/XTDGroundControl/python/images/outdoor3.jpg
similarity index 100%
rename from control/gcs/images/outdoor3.jpg
rename to control/XTDGroundControl/python/images/outdoor3.jpg
diff --git a/control/gcs/images/outdoor3_resize.jpg b/control/XTDGroundControl/python/images/outdoor3_resize.jpg
similarity index 100%
rename from control/gcs/images/outdoor3_resize.jpg
rename to control/XTDGroundControl/python/images/outdoor3_resize.jpg
diff --git a/control/gcs/images/resize.py b/control/XTDGroundControl/python/images/resize.py
similarity index 100%
rename from control/gcs/images/resize.py
rename to control/XTDGroundControl/python/images/resize.py
diff --git a/control/gcs/images/robocup.jpg b/control/XTDGroundControl/python/images/robocup.jpg
similarity index 100%
rename from control/gcs/images/robocup.jpg
rename to control/XTDGroundControl/python/images/robocup.jpg
diff --git a/control/gcs/images/robocup_resize.jpg b/control/XTDGroundControl/python/images/robocup_resize.jpg
similarity index 100%
rename from control/gcs/images/robocup_resize.jpg
rename to control/XTDGroundControl/python/images/robocup_resize.jpg
diff --git a/control/gcs/images/xtd.ico b/control/XTDGroundControl/python/images/xtd.ico
similarity index 100%
rename from control/gcs/images/xtd.ico
rename to control/XTDGroundControl/python/images/xtd.ico
diff --git a/control/gcs/main.py b/control/XTDGroundControl/python/main.py
similarity index 100%
rename from control/gcs/main.py
rename to control/XTDGroundControl/python/main.py
diff --git a/control/gcs/plotcanvas.py b/control/XTDGroundControl/python/plotcanvas.py
similarity index 100%
rename from control/gcs/plotcanvas.py
rename to control/XTDGroundControl/python/plotcanvas.py
diff --git a/control/gcs/receive.py b/control/XTDGroundControl/python/receive.py
similarity index 100%
rename from control/gcs/receive.py
rename to control/XTDGroundControl/python/receive.py
diff --git a/control/gcs/resize.py b/control/XTDGroundControl/python/resize.py
similarity index 100%
rename from control/gcs/resize.py
rename to control/XTDGroundControl/python/resize.py
diff --git a/control/gcs/return.py b/control/XTDGroundControl/python/return.py
similarity index 100%
rename from control/gcs/return.py
rename to control/XTDGroundControl/python/return.py
diff --git a/control/gcs/return.sh b/control/XTDGroundControl/python/return.sh
similarity index 100%
rename from control/gcs/return.sh
rename to control/XTDGroundControl/python/return.sh
diff --git a/control/gcs/send.py b/control/XTDGroundControl/python/send.py
similarity index 100%
rename from control/gcs/send.py
rename to control/XTDGroundControl/python/send.py
diff --git a/control/gcs/stop_return.sh b/control/XTDGroundControl/python/stop_return.sh
similarity index 100%
rename from control/gcs/stop_return.sh
rename to control/XTDGroundControl/python/stop_return.sh
diff --git a/control/gcs/xtd_ui.py b/control/XTDGroundControl/python/xtd_ui.py
similarity index 100%
rename from control/gcs/xtd_ui.py
rename to control/XTDGroundControl/python/xtd_ui.py