ROS Qt5 GUI App

A lightweight ROS1/ROS2 mobile robot human-machine interaction software

简体中文 | English

📖 Introduction

This project is developed based on Qt5 and built with CMake, enabling the use of a single codebase in both ROS1/ROS2 systems. During compilation, the software automatically detects the ROS1/ROS2 environment variables and builds accordingly, achieving isolation between ROS communication and interface.

All features are self-implemented through custom drawing, making it easy to run on low-performance edge devices. The project has integrated CI to ensure compatibility across multiple ROS versions and system versions.

✨ Features

Feature	Status	Notes
ROS1/ROS2 Communication	✅
Global/Local Map Display	✅
Real-time Robot Position Display	✅
Robot Speed Dashboard	✅
Manual Robot Control	✅
Robot Relocation	✅
Single/Multi-point Navigation	✅
Global/Local Path Display	✅
Robot Topological Map	✅
Battery Level Display	✅
Map Editing	✅
Navigation Task Chain	✅	Has bugs
Map Load/Save	✅
Camera Image Display	✅	Ported from rqt_image_view
Robot Footprint Display	✅	Supports custom shapes
Rosbridge Communication	🏷️	In development
3D Layer Display	🏷️	In development
Topological Path Planning	🏷️	In development
Robot History Trail Recording	🏷️	In development

🖼️ Interface Preview

🚀 Quick Start

Requirements

• Ubuntu 18.04+
• ROS1/ROS2 environment
• Qt5 basic environment

Install Dependencies

sudo apt-get update
sudo apt-get install qtbase5-private-dev libqt5svg5-dev libsdl-image1.2-dev libsdl1.2-dev -y

Build

mkdir -p ~/qt_ws
cd ~/qt_ws
git clone https://github.com/chengyangkj/Ros_Qt5_Gui_App
cd Ros_Qt5_Gui_App
mkdir build && cd build
cmake ..
make

Run

./ros_qt5_gui_app

📚 Documentation

• Configuration Guide
• User Guide
• Development Guide
• FAQ

🤝 Contributing

Issues and Pull Requests are welcome.

If you have any ideas or suggestions, feel free to submit them to 🌟 Wishlist/Requirements. They might be implemented someday!

📊 Star History

📱 Related Projects

A cross-platform mobile robot HMI software based on Flutter for ROS1/ROS2 is now open source:

For details, visit ROS_Flutter_Gui_App

🔗 Related Links

Branch	Supported Platforms	Description
master	Win10 Ubuntu	ROS + QWidget + QGraphicsview custom visualization interface display
qml_hmi	Win10 Ubuntu	ROS + QML + C++ hybrid programming, QML self-drawn map, lidar and other visualization demos
simple	Win10 Ubuntu	ROS + QWidget + Librviz visualization display, CSDN blog "ROS Human-Machine Interaction Software Development" course implementation version
rviz_tree	Win10 Ubuntu	ROS + QWidget + Librviz native layer API management, no need to manually create layers
ros_qt_demo	Win10 Ubuntu	Original package created using cakin_create_qt_pkg, cmakelist.txt configured for qt5, can be directly compiled and run
ros2_qt_demo	ROS2	Qt demo package running on ROS2 platform, cmakelist.txt configured for qt5, can be built using colcon build
ROS2_Qt5_Gui_App	ROS2	Same as this repository/no longer maintained
Flutter App	Multi-platform (Flutter)	Implemented

💬 Discussion Group

QQ Group: 797497206

📄 License

This project is licensed under the MIT License.