## 📖 Introduction
This project is developed based on Qt5 and built with CMake, enabling the use of a single codebase in both ROS1/ROS2 systems. During compilation, the software automatically detects the ROS1/ROS2 environment variables and builds accordingly, achieving isolation between ROS communication and interface.
All features are self-implemented through custom drawing, making it easy to run on low-performance edge devices. The project has integrated CI to ensure compatibility across multiple ROS versions and system versions.
### ✨ Features
- ROS1 Communication Support - Basic features implemented, continuously optimized
- ROS2 Communication Support - Stable and long-term support maintenance
- ROSBridge Communication Support - Supports WebSocket connection and automatic reconnection
- Global/Local Map Display - Supports OccupancyGrid maps
- Real-time Robot Position Display - Based on TF transforms
- Robot Speed Dashboard - Real-time linear and angular velocity display
- Manual Robot Control - Supports velocity control
- Robot Relocation - Supports 2D Pose Estimate
- Single/Multi-point Navigation - Supports navigation goal setting
- Global/Local Path Display - Real-time planned path display
- Topological Point Editing - Visual editing of topological points
- Battery Level Display - Subscribes to BatteryState topic
- Map Obstacle Editing - Supports map editing
- Topological Path Editing - Visual editing of topological paths
- Map Load/Save - Supports map file management
- Camera Image Display - Supports multiple image streams
- Robot Footprint Display - Subscribes to footprint topic
- LiDAR Display - Supports LaserScan visualization
### 🖼️ Interface Preview
## 🚀 Quick Start
### Requirements
- **Operating System**: Ubuntu 18.04+ / Windows 10+
- **ROS Environment**: ROS1 (Melodic/Noetic) or ROS2 (Foxy/Galactic/Humble)
- **Qt5**: Qt5.12+ (Qt5 Core, Widgets, SVG)
- **CMake**: 3.16+
- **Compiler**: GCC 7+ / MSVC 2019+
## 🚀 Build and Usage
> **💡 Tip:** Click the tabs below to switch between different platform build and usage instructions
🐧 Linux Platform
### Install Dependencies
```bash
sudo apt-get update
sudo apt-get install -y \
qtbase5-dev \
qtbase5-private-dev \
libqt5svg5-dev \
qtbase5-dev-tools \
libeigen3-dev \
libgtest-dev \
libsdl2-dev \
libsdl2-image-dev
```
### CMake Upgrade
Systems with Ubuntu 20.04 and below come with an outdated CMake version that needs to be upgraded to 3.16+. Ubuntu 22.04 and above can skip this step.
```bash
wget https://cmake.org/files/v3.16/cmake-3.16.4-Linux-x86_64.sh -O cmake-install.sh
chmod +x cmake-install.sh
sudo ./cmake-install.sh --prefix=/usr/local --skip-license
```
### Build from Source
```bash
# Clone repository
git clone https://github.com/chengyangkj/Ros_Qt5_Gui_App.git
cd Ros_Qt5_Gui_App
```
#### Method 1: Manual CMake Build
```bash
# Create build directory
mkdir build && cd build
# Configure and build
cmake ..
make -j$(nproc)
```
#### Method 2: Use build.sh Script
```bash
./build.sh
```
#### Method 3: Use Gitee Mirror for Accelerated Build
Replaces third-party library sources with Gitee mirror for faster compilation:
```bash
./build_cn.sh
```
Or manually specify mirrors:
```bash
mkdir build && cd build
cmake .. \
-DCMAKE_BUILD_TYPE=Release \
-Ddockwidget_GIT_REPOSITORY=https://gitee.com/kqz2007/qt-advanced-docking-system_github.git \
-Dnlohmann_json_GIT_REPOSITORY=https://gitee.com/athtan/json.git \
-Dyaml-cpp_GIT_REPOSITORY=https://gitee.com/dragonet_220/yaml-cpp.git \
-Dwebsocketpp_GIT_REPOSITORY=https://gitee.com/open-source-software_1/websocketpp.git
make -j$(nproc)
```
### Run
#### Method 1: Using Startup Script (Recommended)
After building, the startup script will be automatically copied to the `build` directory:
```bash
cd build
./start.sh
```
The startup script will automatically set library file paths and launch the program.
#### Method 2: Manual Run
```bash
cd build
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:./lib
./ros_qt5_gui_app
```
#### Method 3: Run After Installation {#method-3-run-after-installation}
```bash
cd build
make install
cd ../install/bin
./start.sh
```
🪟 Windows Platform
### Install Dependencies
Windows platform recommends using vcpkg to manage dependencies. The project includes a `vcpkg.json` manifest file that automatically installs all dependencies.
**Install dependencies using vcpkg:**
1. Install vcpkg (if not already installed):
```powershell
git clone https://github.com/microsoft/vcpkg.git
cd vcpkg
.\bootstrap-vcpkg.bat
```
2. Set environment variable (optional, recommended):
```powershell
$env:VCPKG_ROOT = "C:\path\to\vcpkg"
[Environment]::SetEnvironmentVariable("VCPKG_ROOT", "C:\path\to\vcpkg", "User")
```
3. Install project dependencies:
```powershell
cd Ros_Qt5_Gui_App
vcpkg install --triplet x64-windows
```
**Note:** The first installation of large dependencies like Qt5 will take a long time (30-60 minutes) as they need to be compiled from source. Subsequent builds will use cache and be much faster.
### Build from Source
```powershell
# Clone repository
git clone https://github.com/chengyangkj/Ros_Qt5_Gui_App.git
cd Ros_Qt5_Gui_App
```
#### Method 1: Manual CMake Build
```powershell
# Create build directory
mkdir build
cd build
# Configure CMake (specify vcpkg toolchain)
cmake .. `
-DCMAKE_TOOLCHAIN_FILE="$env:VCPKG_ROOT\scripts\buildsystems\vcpkg.cmake" `
-DCMAKE_BUILD_TYPE=Release `
-DBUILD_WITH_TEST=OFF
# Build
cmake --build . --config Release --parallel
# Install
cmake --install . --config Release
```
#### Method 2: Use Gitee Mirror for Accelerated Build
Replaces third-party library sources with Gitee mirror for faster compilation:
```powershell
# Create build directory
mkdir build
cd build
# Configure CMake with Gitee mirror for acceleration
cmake .. `
-DCMAKE_TOOLCHAIN_FILE="$env:VCPKG_ROOT\scripts\buildsystems\vcpkg.cmake" `
-DCMAKE_BUILD_TYPE=Release `
-DBUILD_WITH_TEST=OFF `
-Ddockwidget_GIT_REPOSITORY=https://gitee.com/kqz2007/qt-advanced-docking-system_github.git `
-Dnlohmann_json_GIT_REPOSITORY=https://gitee.com/athtan/json.git `
-Dyaml-cpp_GIT_REPOSITORY=https://gitee.com/dragonet_220/yaml-cpp.git `
-Dwebsocketpp_GIT_REPOSITORY=https://gitee.com/open-source-software_1/websocketpp.git
# Build
cmake --build . --config Release --parallel
# Install
cmake --install . --config Release
```
### Run
#### Method 1: Using Startup Script (Recommended)
After building, the startup script will be automatically copied to the `build` directory:
```powershell
cd build
.\start.bat
```
The startup script will automatically set library file paths and launch the program.
#### Method 2: Manual Run
```powershell
cd build
.\ros_qt5_gui_app.exe
```
#### Method 3: Run After Installation {#method-3-run-after-installation-windows}
```powershell
cd build
cmake --install . --config Release
cd ..\install\bin
.\start.bat
```
## 📥 Release Binary Distribution
Download the binary package for your system version from the [release](https://github.com/chengyangkj/Ros_Qt5_Gui_App/releases) page:
- **Linux**: Download `.tar.gz` package, extract and refer to [Linux Method 3: Run After Installation](#method-3-run-after-installation) to run the program
- **Windows**: Download `.zip` package, extract and refer to [Windows Method 3: Run After Installation](#method-3-run-after-installation-windows) to run the program
### Configuration
Before first run, please ensure:
1. **ROS Environment Configured**: Make sure ROS setup.bash/setup.bat has been sourced
2. **Topic Configuration**: Check if topic names in the configuration interface match your ROS system
3. **Channel Selection**: Select the correct communication channel (ROS1/ROS2/ROSBridge) in the configuration interface
For detailed configuration instructions, please refer to [User Guide](./doc/usage_en.md)
## 📚 Documentation
- [User Guide](./doc/usage_en.md) - Feature usage tutorials
- [Development Guide](./doc/development_en.md) - Development environment setup and code structure
- [FAQ](./doc/faq_en.md) - FAQ and troubleshooting
## 🏗️ Project Structure
```
Ros_Qt5_Gui_App/
├── src/ # Source code directory
│ ├── core/ # Core module (main program entry)
│ ├── mainwindow/ # Main window and interface
│ ├── common/ # Common libraries
│ ├── basic/ # Basic data structures
│ ├── channel/ # Communication channels (ROS1/ROS2/ROSBridge)
│ └── plugin/ # Plugin system
├── install/ # Installation scripts
│ ├── linux/bin/ # Linux startup scripts
│ └── windows/bin/ # Windows startup scripts
├── doc/ # Documentation directory
├── cmake/ # CMake modules
└── CMakeLists.txt # Main CMake configuration file
```
## 🤝 Contributing
Welcome to submit [Issues](https://github.com/chengyangkj/Ros_Qt5_Gui_App/issues) and [Pull Requests](https://github.com/chengyangkj/Ros_Qt5_Gui_App/pulls)!
If you have any ideas or suggestions, feel free to submit them to [🌟 Wishlist/Requirements](https://github.com/chengyangkj/Ros_Qt5_Gui_App/issues/29). They might be implemented someday!
### Contributing Guide
1. Fork this repository
2. Create a feature branch (`git checkout -b feature/AmazingFeature`)
3. Commit your changes (`git commit -m 'Add some AmazingFeature'`)
4. Push to the branch (`git push origin feature/AmazingFeature`)
5. Open a Pull Request
## 📊 Star History
## 📱 Related Projects
### ROS1/ROS2 Cross-platform Mobile Robot HMI Software Based on Flutter
For details, visit [ROS_Flutter_Gui_App](https://github.com/chengyangkj/ROS_Flutter_Gui_App)
### ROS1/ROS2 Web GUI Application Based on React
Supports map editing
For details, visit [ROS_Web_Gui_App](https://github.com/chengyangkj/ros_web_gui_app)
## 🔗 Related Links
| Branch | Supported Platforms | Description |
|--------|-------------------|-------------|
| [master](https://github.com/chengyangkj/Ros_Qt5_Gui_App/tree/master) | Win10 Ubuntu | ROS + QWidget + QGraphicsView custom visualization interface display |
| [qml_hmi](https://github.com/chengyangkj/Ros_Qt5_Gui_App/tree/qml_hmi) | Win10 Ubuntu | ROS + QML + C++ hybrid programming, QML self-drawn map, lidar and other visualization demos |
| [simple](https://github.com/chengyangkj/Ros_Qt5_Gui_App/tree/simple) | Win10 Ubuntu | ROS + QWidget + Librviz visualization display, CSDN blog "ROS Human-Machine Interaction Software Development" course implementation version |
| [rviz_tree](https://github.com/chengyangkj/Ros_Qt5_Gui_App/tree/rviz_tree) | Win10 Ubuntu | ROS + QWidget + Librviz native layer API management, no need to manually create layers |
| [ros_qt_demo](https://github.com/chengyangkj/ros_qt_demo) | Win10 Ubuntu | Original package created using catkin_create_qt_pkg, CMakeLists.txt configured for Qt5, can be directly compiled and run |
| [ros2_qt_demo](https://github.com/chengyangkj/ros2_qt_demo) | ROS2 | Qt demo package running on ROS2 platform, CMakeLists.txt configured for Qt5, can be built using colcon build |
| [ROS2_Qt5_Gui_App](https://github.com/chengyangkj/ROS2_Qt5_Gui_App) | ROS2 | Same as this repository/no longer maintained |
| [Flutter App](https://github.com/chengyangkj/ROS_Flutter_Gui_App) | Multi-platform (Flutter) | Implemented |
## 💬 Discussion Group
- **QQ Group**: 797497206
- **Issues**: [GitHub Issues](https://github.com/chengyangkj/Ros_Qt5_Gui_App/issues)
## 📄 License
This project is licensed under the [MIT](LICENSE) License.
## 🙏 Acknowledgments
Thanks to all contributors and users for their support!