This code was part of a semester thesis at ETH Zurich for Ophthorobotics AG and is just an excerpt which might be useful for other users. It was tried to change the code to a generic form.
This ROS package provides a control interface for a robot based on Qt. Joint positions and end-effector positions can be controlled. All values are in mm and degree. This GUI is intended to be used with SerialKinematics_ROS package.
This is a catkin workspace ROS node. Tested on Ubuntu 16.04 and ROS Kinetic Kame.
- shows the states and ROS logs
- interface for controlling joint states and end-effector position
cd catkin_ws
catkin build kinematicsgui
(builds serialkinematics and all dependencies)
Start it over .launch file with all the other nodes:
roslaunch kinematicsgui kinematicsgui.launch
Just GUI:
roscore
rosrun kinematicsgui kinematicsgui
ros_qtc_plugin
qt_build
The following dependencies should be replaced by your own:
kinematics_controller (for topics and services) -> which depends itself on all the other packages
For development, Qt Creator ROS pluggin was used. GUI is based on example generated by ros-kinetic-qt-create and ros-kinetic-qt-build.