Redirecting ROS node log to Qt widget

asked 2019-07-25 03:16:07 -0600

schizzz8 gravatar image

Hi all,

I implemented an action server (see #q326543) to record certain sensor data while a robot is moving.

On the client side, I implemented functions to send goal and receive feedback and result. Now, I'd like to implement a GUI wrapper for the client node as an RViz panel plug-in.

I managed to follow the tutorial and have a simplistic custom panel loaded in RViz. My question now is rather a design one.

Suppose I have the following result callback:

void CustomClient::doneCB(const actionlib::SimpleClientGoalState &state,
                                     const custom_action_msgs::CustomActionResultConstPtr &result)
  ROS_INFO("Finished in state [%s]", state.toString().c_str());
  ROS_INFO_STREAM("Result: " << result->execution_time);

I'd like to add in the panel a "console" widget that can show the node log. I'm pretty new to Qt, I just know that there is a QPlainTextEdit that can show text and that the typical way of handling events in Qt is by SIGNALS/SLOTS.

However, in this case I can't figure out how to intercept the event from Qt that the callback has been executed. I'd be very glad if someone could show me how to do that.


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