PS：小編也是新手，在做介面時也走了很多彎路，很多博主寫的不是很明確，所以小編記錄了自己製作的全過程，希望對初學者有用，共同進步。
1.新建工作空間catkin_new,並建立src包，。
2.新建ROS workspace ，儲存在src資料夾內，開啟工程是直接開啟是src下的CMakelist。
3.src目錄右鍵開啟terminal利用命令catkin_create_qt_pkg btn 建立包，並編譯。
4.然後點選project->run,新增節點如圖：

倘若沒有btn檔案，用小錘子編譯再編譯一下，就有了。
5.在4的同時，可以不要btn，直接開啟turtlesim中的node和key，然後點選執行，就可以案件控制小烏龜了
6.介面控制小烏龜程式：
（1）在UI介面拖放幾個按鈕

，並改名字，右擊按鈕轉到槽，在主視窗main_window.cpp檔案中寫入qnode.up（）;（因為qnode裡面定義的是up和left）,另一按鈕同理。
void btn::MainWindow::on_pushButton_clicked()
{
qnode.up();
}
void btn::MainWindow::on_pushButton_2_clicked()
{
qnode.down();
}
void btn::MainWindow::on_pushButton_3_clicked()
{
qnode.left();
}
void btn::MainWindow::on_pushButton_4_clicked()
{
qnode.right();
}
(2)在qnode.hpp中新增：
void up();
void down();
void left();
void right();
（3）主要的是qnode.cpp檔案，首先在標頭檔案中定義：
/**

• @file /src/qnode.cpp

• @brief Ros communication central!

• @date February 2011
  /
  /***************************************************************************
  ** Includes
  /
  #include <ros/ros.h>
  #include <ros/network.h>
  #include
  #include <std_msgs/String.h>
  #include <geometry_msgs/Twist.h>
  #include
  #include “…/include/btn/qnode.hpp”
  /

  
  ** Namespaces
  /
  namespace btn {
  /*
  ** Implementation
  ***************************************************************************/
  QNode::QNode(int argc, char argv ) :
  init_argc(argc),
  init_argv(argv)
  {}
  QNode::~QNode() {
  if(ros::isStarted()) {
  ros::shutdown(); // explicitly needed since we use ros::start();
  ros::waitForShutdown();
  }
  wait();
  }
  bool QNode::init() {
  ros::init(init_argc,init_argv,“btn”);
  if ( ! ros::master::check() ) {
  return false;
  }
  ros::start(); // explicitly needed since our nodehandle is going out of scope.
  ros::NodeHandle n;
  // Add your ros communications here.
  chatter_publisher = n.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel", 1);
  start();
  return true;
  }
  bool QNode::init(const std::string &master_url, const std::string &host_url) {
  std::mapstd::string,std::string remappings;
  remappings["__master"] = master_url;
  remappings["__hostname"] = host_url;
  ros::init(remappings,“btn”);
  if ( ! ros::master::check() ) {
  return false;
  }
  ros::start(); // explicitly needed since our nodehandle is going out of scope.
  ros::NodeHandle n;
  // Add your ros communications here.
  chatter_publisher = n.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel", 1);
  start();
  return true;
  }
  /*void QNode::run() {
  ros::Rate loop_rate(1);
  int count = 0;
  while ( ros::ok() ) {
  std_msgs::String msg;
  std::stringstream ss;
  ss << “hello world " << count;
  msg.data = ss.str();
  chatter_publisher.publish(msg);
  log(Info,std::string(“I sent: “)+msg.data);
  ros::spinOnce();
  loop_rate.sleep();
  ++count;
  }
  std::cout << “Ros shutdown, proceeding to close the gui.” << std::endl;
  Q_EMIT rosShutdown(); // used to signal the gui for a shutdown (useful to roslaunch)
  }
  */
  void QNode::up() {
  ros::NodeHandle n;
  chatter_publisher=n.advertise<geometry_msgs::Twist>(”/turtle1/cmd_vel”, 1);
  ros::Rate loop_rate(1);
  if( ros::ok() )
  {
  geometry_msgs::Twist msg;
  msg.linear.x = 1.0;
  msg.angular.z = 0.0;
  chatter_publisher.publish(msg);
  ros::spinOnce();
  loop_rate.sleep();
  }
  }
  void QNode::down() {
  ros::NodeHandle n;
  chatter_publisher=n.advertise<geometry_msgs::Twist>(”/turtle1/cmd_vel", 1);
  ros::Rate loop_rate(1);

  if( ros::ok() )
  {
  geometry_msgs::Twist msg;
  msg.linear.x = -1.0;
  msg.angular.z = 0.0;
  chatter_publisher.publish(msg);
  ros::spinOnce();
  loop_rate.sleep();
  }
  }
  void QNode::left() {
  ros::NodeHandle n;
  chatter_publisher=n.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel", 1);
  ros::Rate loop_rate(1);
  if ( ros::ok() )
  {
  geometry_msgs::Twist msg;
  msg.linear.x = 0.0;
  msg.angular.z = 1.0;

           chatter_publisher.publish(msg);
   ros::spinOnce();
   loop_rate.sleep();
  

  }
  //std::cout << “Ros shutdown, proceeding to close the gui.” << std::endl;
  //Q_EMIT rosShutdown(); // used to signal the gui for a shutdown (useful to roslaunch)
  }
  void QNode::right() {
  ros::NodeHandle n;
  chatter_publisher=n.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel", 1);
  ros::Rate loop_rate(1);
  if ( ros::ok() )
  {
  geometry_msgs::Twist msg;
  msg.linear.x = 0.0;
  msg.angular.z = -1.0;
  chatter_publisher.publish(msg);
  ros::spinOnce();
  loop_rate.sleep();
  }
  //std::cout << “Ros shutdown, proceeding to close the gui.” << std::endl;
  //Q_EMIT rosShutdown(); // used to signal the gui for a shutdown (useful to roslaunch)
  }

void QNode::log( const LogLevel &level, const std::string &msg) {
logging_model.insertRows(logging_model.rowCount(),1);
std::stringstream logging_model_msg;
switch ( level ) {
case(Debug) : {
ROS_DEBUG_STREAM(msg);
logging_model_msg << “[DEBUG] [” << ros::Time::now() << "]: " << msg;
break;
}
case(Info) : {
ROS_INFO_STREAM(msg);
logging_model_msg << “[INFO] [” << ros::Time::now() << "]: " << msg;
break;
}
case(Warn) : {
ROS_WARN_STREAM(msg);
logging_model_msg << “[INFO] [” << ros::Time::now() << "]: " << msg;
break;
}
case(Error) : {
ROS_ERROR_STREAM(msg);
logging_model_msg << “[ERROR] [” << ros::Time::now() << "]: " << msg;
break;
}
case(Fatal) : {
ROS_FATAL_STREAM(msg);
logging_model_msg << “[FATAL] [” << ros::Time::now() << "]: " << msg;
break;
}
}
QVariant new_row(QString(logging_model_msg.str().c_str()));
logging_model.setData(logging_model.index(logging_model.rowCount()-1),new_row);
Q_EMIT loggingUpdated(); // used to readjust the scrollbar
}

}// namespace btn

一定要修改話題型別和釋出的話題，否則不會驅動。
（4）在main_window.cpp檔案:
/**

• @file /src/main_window.cpp
• @brief Implementation for the qt gui.
• @date February 2011
  /
  /***************************************************************************
  ** Includes
  /
  #include
  #include
  #include
  #include “…/include/btn/main_window.hpp”
  /
  ** Namespaces
  /
  namespace btn {
  using namespace Qt;
  /
  ** Implementation [MainWindow]
  *****************************************************************************/

MainWindow::MainWindow(int argc, char** argv, QWidget *parent)

QMainWindow(parent)
, qnode(argc,argv)
{
ui.setupUi(this); // Calling this incidentally connects all ui’s triggers to on_…() callbacks in this class.
QObject::connect(ui.actionAbout_Qt, SIGNAL(triggered(bool)), qApp, SLOT(aboutQt())); // qApp is a global variable for the application
ReadSettings();
setWindowIcon(QIcon(":/images/icon.png"));
ui.tab_manager->setCurrentIndex(0); // ensure the first tab is showing - qt-designer should have this already hardwired, but often loses it (settings?).
QObject::connect(&qnode, SIGNAL(rosShutdown()), this, SLOT(close()));
/*********************
** Logging
*/
ui.view_logging->setModel(qnode.loggingModel());
QObject::connect(&qnode, SIGNAL(loggingUpdated()), this, SLOT(updateLoggingView()));
/
** Auto Start
**********************/
if ( ui.checkbox_remember_settings->isChecked() ) {
on_button_connect_clicked(true);
}
}
MainWindow::~MainWindow() {}

/*****************************************************************************
** Implementation [Slots]
*****************************************************************************/

void MainWindow::showNoMasterMessage() {
QMessageBox msgBox;
msgBox.setText(“Couldn’t find the ros master.”);
msgBox.exec();
close();
}
/*

• These triggers whenever the button is clicked, regardless of whether it
• is already checked or not.
  /
  void MainWindow::on_button_connect_clicked(bool check ) {
  if ( ui.checkbox_use_environment->isChecked() ) {
  if ( !qnode.init() ) {
  showNoMasterMessage();
  } else {
  ui.button_connect->setEnabled(false);
  }
  } else {
  if ( ! qnode.init(ui.line_edit_master->text().toStdString(),
  ui.line_edit_host->text().toStdString()) ) {
  showNoMasterMessage();
  } else {
  ui.button_connect->setEnabled(false);
  ui.line_edit_master->setReadOnly(true);
  ui.line_edit_host->setReadOnly(true);
  ui.line_edit_topic->setReadOnly(true);
  }
  }
  }
  void MainWindow::on_checkbox_use_environment_stateChanged(int state) {
  bool enabled;
  if ( state == 0 ) {
  enabled = true;
  } else {
  enabled = false;
  }
  ui.line_edit_master->setEnabled(enabled);
  ui.line_edit_host->setEnabled(enabled);
  //ui.line_edit_topic->setEnabled(enabled);
  }
  /****************************************************************************
  ** Implemenation [Slots][manually connected]
  ***************************************************************************/
  /
• This function is signalled by the underlying model. When the model changes,
• this will drop the cursor down to the last line in the QListview to ensure
• the user can always see the latest log message.
  /
  void MainWindow::updateLoggingView() {
  ui.view_logging->scrollToBottom();
  }
  /****************************************************************************
  ** Implementation [Menu]
  /
  void MainWindow::on_actionAbout_triggered() {
  QMessageBox::about(this, tr(“About …”),tr(“

  PACKAGE_NAME Test Program 0.10

  Copyright Yujin Robot

  This package needs an about description.

  ”));
  }
  /
  ** Implementation [Configuration]
  *****************************************************************************/
  void MainWindow::ReadSettings() {
  QSettings settings(“Qt-Ros Package”, “btn”);
  restoreGeometry(settings.value(“geometry”).toByteArray());
  restoreState(settings.value(“windowState”).toByteArray());
  QString master_url = settings.value(“master_url”,QString(“http://192.168.1.2:11311/”)).toString();
  QString host_url = settings.value(“host_url”, QString(“192.168.1.3”)).toString();
  //QString topic_name = settings.value(“topic_name”, QString("/chatter")).toString();
  ui.line_edit_master->setText(master_url);
  ui.line_edit_host->setText(host_url);
  //ui.line_edit_topic->setText(topic_name);
  bool remember = settings.value(“remember_settings”, false).toBool();
  ui.checkbox_remember_settings->setChecked(remember);
  bool checked = settings.value(“use_environment_variables”, false).toBool();
  ui.checkbox_use_environment->setChecked(checked);
  if ( checked ) {
  ui.line_edit_master->setEnabled(false);
  ui.line_edit_host->setEnabled(false);
  //ui.line_edit_topic->setEnabled(false);
  }
  }
  void MainWindow::WriteSettings() {
  QSettings settings(“Qt-Ros Package”, “btn”);
  settings.setValue(“master_url”,ui.line_edit_master->text());
  settings.setValue(“host_url”,ui.line_edit_host->text());
  //settings.setValue(“topic_name”,ui.line_edit_topic->text());
  settings.setValue(“use_environment_variables”,QVariant(ui.checkbox_use_environment->isChecked()));
  settings.setValue(“geometry”, saveGeometry());
  settings.setValue(“windowState”, saveState());
  settings.setValue(“remember_settings”,QVariant(ui.checkbox_remember_settings->isChecked()));
  }
  void MainWindow::closeEvent(QCloseEvent *event)
  {
  WriteSettings();
  QMainWindow::closeEvent(event);
  }
  }
  //namespace btn
  void btn::MainWindow::on_pushButton_clicked()
  {
  qnode.up();
  }
  void btn::MainWindow::on_pushButton_2_clicked()
  {
  qnode.down();
  }
  void btn::MainWindow::on_pushButton_3_clicked()
  {
  qnode.left();
  }
  void btn::MainWindow::on_pushButton_4_clicked()
  {
  qnode.right();
  }

最後，編譯執行就可以了，（首先在project加入turtlesim小烏龜的節點，然後啟動roscore歐）。點選connect連線，就可以按鍵控制了。

PS：1、標頭檔案包含問題：

用外掛建立或匯入ROS package之後還需要修改.workspace檔案，

在標籤下加入下面這行

/opt/ros/indigo/include
1
這樣就可以使得Qt找到ros標頭檔案，比如<ros/ros.h>
加入：

/opt/ros/kinetic/include

**2.connect前一定要、一定要在use environment variable前打鉤或者輸入ROS IP。