ROS Programming: Building Powerful Robots

Step 3 – Creating RViz plugin definition

In this step, we will create the main C++ file that contains the definition of the plugin. The file is teleop_pad.cpp, and you will get it from package src folder.

The main responsibilities of this file are as follows:

• It acts as a container for Qt GUI element such as QLineEdit to accept text entries
• Publishes the command velocity using ROS publisher
• Saves and restores the RViz config files

The following is the explanation of each section of the code:

TeleopPanel::TeleopPanel( QWidget* parent )  : rviz::Panel( parent )  , linear_velocity_( 0 )  , angular_velocity_( 0 ){

This is the constructor and initialize rviz::Panel with QWidget, setting linear and angular velocity as 0:

 QVBoxLayout* topic_layout ...