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This is something I wrote a long while ago: https://github.com/allenh1/ros-qt-controller, and it uses Qt and the QThread
interface you were likely speaking about. If I recall, you can launch QtCreator from the terminal and open the CMakeLists.txt
as a project file, and the IDE will handle the rest.
In general, though, I'd point you more towards RQt. This is the most common way to develop UI's for ROS.