ROS Programming: Building Powerful Robots

Step 2 – Creating RViz plugin header file

Let's create a new header inside the src folder called teleop_pad.h. You will get this source code from the existing package. This header file consists of the class and methods declaration for the plugin.

The following is the explanation of this header file:

#include <ros/ros.h>#include <ros/console.h>#include <rviz/panel.h>

The preceding is the header file required to build this plugin; we need ROS headers for publishing teleop topic and <rviz/panel.h> for getting the base class of the RViz panel for creating a new panel:

class TeleopPanel: public rviz::Panel{

This is a plugin class and is inherited from the rviz::Panel base class:

Q_OBJECTpublic:

This class is using Qt signal and slots, ...