add xtdgroundcontrol c++

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

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})
 

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>
 

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);

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

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_ */

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;

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.

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>

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) :

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);
+}

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();

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

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

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");

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">