ROS2 + Python Qt5

asked 2020-04-08 07:13:17 -0500

robbertfm
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Hi there,

I've built a Qt5 GUI in python 3 from code (not from the Qt editor, so I don't use qml files). I want it to be able to subscribe to ROS2 topics and update the GUI according to the messages received, and publish data when a button is clicked. The problem is that Qt requires app.exec(), and ROS requires node.spin() to be run, both of which are infinite loops. There seem to be some tutorials online for ROS + Qt, but all of them are focused on ROS1. I can't find any example code for ROS2 + Qt. I'm using Dashing on Ubuntu 18.04.

How can I integrate my Qt5 GUI with ROS2?

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answered 2020-04-23 12:11:35 -0500

tfoote

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ROS does not need to be in the main thread. You can just spin ROS in a separate thread.

It's also not required to call spin in that way for ROS. There are many other options like @gvdhoorn mentions which could also work. If you'd like to see examples of using ROS 2 + Qt both of our main visualization tools rqt and rviz2 are both Qt based and working well in ROS 2.

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answered 2020-04-23 05:38:15 -0500

robbertfm
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I eventually ended up writing two bridge nodes (for incoming and outgoing communication) and used the Qt Networking library to communicate over TCP with these bridge nodes.

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Would spin_once() or spin_some() not do what you need? See #q296480.

There's no need for two "infinite loops". Not even in ROS 1.

gvdhoorn ( 2020-04-23 05:47:23 -0500 )edit

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