Ask Your Question
0

add rqt plugin to QMainWindow as QDockWidget (C++)

asked 2015-10-09 01:34:19 -0500

sam_123 gravatar image

I have several rqt plugins all written in C++ and want to write my own simple "plugin manager" instead of using the ROS rqt manager. For that I wrote a main.cpp that creates a QMainWindow, than I created a new object of my rqt plugin class.

1. attempt casting MyPlugin to QDockWidget

I tried to cast this object to a QDockWidget. However that doesn't work. What I get is the following error without a window:

[FATAL] [1444370401.501434073]: You must call ros::init() before creating the first NodeHandle
Couldn't find an AF_INET address for []
Couldn't find an AF_INET address for []
[ERROR] [1444370401.502916301]: [registerPublisher] Failed to contact master at [:0].  Retrying...
Couldn't find an AF_INET address for []

Then I added the line ros::init(argc, argv, "rqt_mypkg");, however that crashes the program and I get a Segmentation fault (core dumped)

2. attempt casting MyPlugin to QWidget and add it to a QDockWidget

This results in the same error as above, however if I add the line ros::init(argc, argv, "rqt_mypkg"); I get a window with the QDockWidget but without the rqt plugin itself.

My main.cpp I used:

#include "rqt_mypkg/my_plugin.h"

#include <QMainWindow>
#include <QApplication>
#include <QDockWidget>
#include <QWidget>

#include <ros/ros.h>

using namespace rqt_mypkg;

int main( int argc, char **argv ) {

    // create an application
    QApplication a( argc, argv );

    // tried with and without this line
//    ros::init(argc, argv, "rqt_mypkg");

    // create main window
    QMainWindow w;

    // new rqt plugin
    MyPlugin* myPlugin;
    myPlugin = new MyPlugin();

    // 1. attempt by casting myPlugin to a QDockWidget
    QDockWidget *dockWidget = qobject_cast<QDockWidget*>(myPlugin);
    dockWidget->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea);
    w.addDockWidget(Qt::RightDockWidgetArea, dockWidget);

    // 2. attempt by casting myPlugin to a QWidget and add it to a QDockWidget
//    QWidget *widget = qobject_cast<QWidget*>(myPlugin);
//    QDockWidget *dock = new QDockWidget();
//    dock->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea);
//    dock->setWidget(widget);
//    w.addDockWidget(Qt::RightDockWidgetArea, dock);    

    // show main window
    w.show();
    return a.exec();
}

The whole package including the rqt plugin is on GitHub

https://github.com/samuelba/rqt_mypkg

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
0

answered 2015-10-09 11:21:56 -0500

Dirk Thomas gravatar image

Writing your own main and then trying to use a C++ rqt plugin won't be an easy task. rqt is a framework which does a lot of complex things behind the scene.

If you look into the code you will find that your C++ rqt plugin subclasses from rqt_gui_cpp::Plugin ( https://github.com/ros-visualization/... ). This class is a Nodelet as well as a qt_gui_cpp::Plugin ( https://github.com/ros-visualization/... ). This class is a QObject and not a widget. Therefore you can't simply cast it to QDockWidget.

A rqt plugin can provide more than one widget throught the PluginContext ( https://github.com/ros-visualization/... ). If you want to implement your own main you need to use the same API and mimic the behavior in order to leverage existing plugins.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2015-10-09 01:34:19 -0500

Seen: 523 times

Last updated: Oct 09 '15