Looking for an existing ROS + Qt example

edit

I'd suggest using PySide for Qt/ROS integration. You need to install PySide from here first.

Here's a trivial example of publishing and subscribing to get you started:

#!/usr/bin/env python

import roslib; roslib.load_manifest('example')
import rospy

from std_msgs.msg import String

from PySide.QtCore import * 
from PySide.QtGui import * 
import sys

class GUI:
    def __init__(self): 
        # A publisher for messages
        self.pub = rospy.Publisher('example', String)

        # A subscriber for our own messages
        self.sub = rospy.Subscriber('example', String, self.sub_callback)

        self.button = QPushButton('push\nme')
        self.button.clicked.connect(self.pub_callback)
        self.button.show()

    def pub_callback(self):
        self.pub.publish('Thank You!')

    def sub_callback(self, msg):
        print 'Got message:', msg.data


if __name__ == '__main__':
    # Initialize the node
    rospy.init_node('example')

    # Initialize Qt
    app = QApplication(sys.argv)

    gui = GUI()

    app.exec_()

You'll also need the following lines in your manifest.xml

<depend package="rospy" />
<depend package="std_msgs" />