Qt Application with ROS
Good morning,
Platform : Ubuntu 16.04, ROS Kinetic
I'm building a robot and would like to integrate pretty QT GUI to it, the rqt architecture doesn't really suit my need cause I don't have enough control on the window and application itself.
Therefore I followed this tutorial : https://www.cnblogs.com/casperwin/p/6...
Which uses : http://wiki.ros.org/qt_create/Tutoria...
Everything seems to work and I like having a node for QT, my concern is that I want to be sure that the QT application won't overload my micro-controller and that ROS is managing the QT process and able to restrict its performance to let more important stuff in the background happen. Is it the case with such a architecture ?
Thanks for your help,
Luc
By micro-controller, I assume you mean processor? It would probably help to say what hardware you are running, e.g. a normal PC should handle a Qt GUI just fine, but a Raspberry Pi 1 might find it taxing.
I'm going to use a Raspberry 3B+ :)
Well, in that case it certainly could slow down the system. Which of course begs the question, why do you need it to be "fancy" at all? That said, ros_qt should by default have the gui in a separate thread (if I recall correctly) and so it shouldn't impact ROS until it's slowing the whole system.
I need it to be fancy because a lot of different people with zero ubuntu, ros or computers in general knowledge, I'd like it to be the more straight forward and user friendly as possible :) Yeah I'm worried about the GUI slowing down the whole system and have bad impact on ROS thread...
That being said I'm going to try things and see if the raspberry has enough juice to make this happen, I'll figure something else over-wise
Specifically re: the RPi, it's a quad core, so your GUI thread should only use 25% of the CPU worst case, so your other ROS nodes should run just fine even if the GUI is laggy.