rviz添加qt插件

一、增加rviz plugin插件

资料：http://admin.guyuehome.com/42336
https://blog.51cto.com/u_13625033/6126970

• 这部分代码只是将上面两个链接中的代码整合在了一起，整合在一起后可以更好的理解其中的关系

1、创建软件包

catkin_create_pkg rviz_teleop_commander roscpp rviz std_msgs
1

2、创建​plugin_description.xml​​文件

• 最后只是生成了一个动态库so文件，一个库里可以有多个插件，所以只有一个library

<library path="lib/librviz_teleop_commander">
    <class name="rviz_teleop_commander/TeleopPanel"
           type="rviz_teleop_commander::TeleopPanel"
           base_class_type="rviz::Panel">
        <description>
            A panel widget allowing simple diff-drive style robot base control.
        description>
    class>
    <class name="rviz_teleop_commander/cmd_control"
           type="rviz_teleop_commander::cmd_control"
           base_class_type="rviz::Panel">
        <description>
            A panel widget allowing simple diff-drive style robot base control.
        description>
    class>
library>

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3、处理package.xml文件

• 这部分不需要改太多，只在最后增加一个export即可

<package format="2">
  <name>rviz_teleop_commandername>
  <version>0.0.0version>
  <description>The rviz_teleop_commander packagedescription>

  
  
  
  <maintainer email="wangyuanhao@todo.todo">wangyuanhaomaintainer>


  
  
  
  <license>TODOlicense>


  
  
  
  


  
  
  
  


  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  <buildtool_depend>catkinbuildtool_depend>
  <build_depend>roscppbuild_depend>
  <build_depend>rvizbuild_depend>
  <build_depend>std_msgsbuild_depend>
  <build_export_depend>roscppbuild_export_depend>
  <build_export_depend>rvizbuild_export_depend>
  <build_export_depend>std_msgsbuild_export_depend>
  <exec_depend>roscppexec_depend>
  <exec_depend>rvizexec_depend>
  <exec_depend>std_msgsexec_depend>


  
  <export>
    
      <rviz plugin="${prefix}/plugin_description.xml"/>
  export>


  
package>

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4、处理CMakeLists.txt文件

cmake_minimum_required(VERSION 3.0.2)
project(rviz_teleop_commander)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  roscpp
  rviz
  std_msgs
)

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES rviz_teleop_commander
#  CATKIN_DEPENDS roscpp rviz std_msgs
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)


####################################################################################
####################################################################################
## 找到相关的库
find_package(Qt5 COMPONENTS Core Widgets REQUIRED)
set(QT_LIBRARIES Qt5::Widgets)

## I prefer the Qt signals and slots to avoid defining "emit", "slots",
## etc because they can conflict with boost signals, so define QT_NO_KEYWORDS here.
add_definitions(-DQT_NO_KEYWORDS)

## Here we specify which header files need to be run through "moc", Qt's meta-object compiler.
## 指定需要qt元编译的头文件
qt5_wrap_cpp(MOC_FILES
  src/teleop_pad.h
  src/cmd_control.h
  )

## 定义SOURCE_FILES_1变量
message(MOC_FILES " ${MOC_FILES}")
set(SOURCE_FILES_1
  src/teleop_pad.cpp 
  src/cmd_control.cpp 
  ${MOC_FILES}
)

## 生成库文件，定义库的名字与项目名字一样
add_library(${PROJECT_NAME} ${SOURCE_FILES_1})    
## 连接qt和ros的库到目标库
target_link_libraries(${PROJECT_NAME} ${QT_LIBRARIES} ${catkin_LIBRARIES})    

## Install rules 复制文件到指定位置
install(TARGETS ${PROJECT_NAME}
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)


install(FILES plugin_description.xml
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
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5、编写代码

teleop_pad.h

#ifndef TELEOP_PAD_H
#define TELEOP_PAD_H

//所需要包含的头文件
#ifndef Q_MOC_RUN
#include 
#include 
#include    //plugin基类的头文件
#endif

class QLineEdit;

namespace rviz_teleop_commander
{
// 所有的plugin都必须是rviz::Panel的子类
class TeleopPanel: public rviz::Panel
{
// 后边需要用到Qt的信号和槽，都是QObject的子类，所以需要声明Q_OBJECT宏
Q_OBJECT
public:
    // 构造函数，在类中会用到QWidget的实例来实现GUI界面，这里先初始化为0即可
    TeleopPanel( QWidget* parent = 0 );

    // 重载rviz::Panel积累中的函数，用于保存、加载配置文件中的数据，在我们这个plugin
    // 中，数据就是topic的名称
    virtual void load( const rviz::Config& config );
    virtual void save( rviz::Config config ) const;

// 公共槽.
public Q_SLOTS:
    // 当用户输入topic的命名并按下回车后，回调用此槽来创建一个相应名称的topic publisher
    void setTopic( const QString& topic );

// 内部槽.
protected Q_SLOTS:
    void sendVel();                 // 发布当前的速度值
    void update_Linear_Velocity();  // 根据用户的输入更新线速度值
    void update_Angular_Velocity(); // 根据用户的输入更新角速度值
    void updateTopic();             // 根据用户的输入更新topic name

// 内部变量.
protected:
    // topic name输入框
    QLineEdit* output_topic_editor_;
    QString output_topic_;

    // 线速度值输入框
    QLineEdit* output_topic_editor_1;
    QString output_topic_1;

    // 角速度值输入框
    QLineEdit* output_topic_editor_2;
    QString output_topic_2;

    // ROS的publisher，用来发布速度topic
    ros::Publisher velocity_publisher_;

    // ROS节点句柄
    ros::NodeHandle nh_;

    // 当前保存的线速度和角速度值
    float linear_velocity_;
    float angular_velocity_;
};

} // end namespace rviz_teleop_commander

#endif // TELEOP_PANEL_H

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teleop_pad.cpp

#include 

#include 
#include 
#include 
#include 
#include 
#include 

#include 
#include 

#include "teleop_pad.h"

namespace rviz_teleop_commander
{

// 构造函数，初始化变量
TeleopPanel::TeleopPanel( QWidget* parent )
  : rviz::Panel( parent )
  , linear_velocity_( 0 )
  , angular_velocity_( 0 )
{
    // 创建一个输入topic命名的窗口
    QVBoxLayout* topic_layout = new QVBoxLayout;
    topic_layout->addWidget( new QLabel( "Teleop Topic:" ));
    output_topic_editor_ = new QLineEdit;
    topic_layout->addWidget( output_topic_editor_ );

    // 创建一个输入线速度的窗口
    topic_layout->addWidget( new QLabel( "Linear Velocity:" ));
    output_topic_editor_1 = new QLineEdit;
    topic_layout->addWidget( output_topic_editor_1 );

    // 创建一个输入角速度的窗口
    topic_layout->addWidget( new QLabel( "Angular Velocity:" ));
    output_topic_editor_2 = new QLineEdit;
    topic_layout->addWidget( output_topic_editor_2 );

    QHBoxLayout* layout = new QHBoxLayout;
    layout->addLayout( topic_layout );
    setLayout( layout );

    // 创建一个定时器，用来定时发布消息
    QTimer* output_timer = new QTimer( this );

    // 设置信号与槽的连接
    // 输入topic命名，回车后，调用updateTopic()
    connect( output_topic_editor_, SIGNAL( editingFinished() ), this, SLOT( updateTopic() ));    
    // 输入线速度值，回车后，调用update_Linear_Velocity()    
    connect( output_topic_editor_1, SIGNAL( editingFinished() ), this, SLOT( update_Linear_Velocity() )); 
    // 输入角速度值，回车后，调用update_Angular_Velocity()
    connect( output_topic_editor_2, SIGNAL( editingFinished() ), this, SLOT( update_Angular_Velocity() ));

    // 设置定时器的回调函数，按周期调用sendVel()
    connect( output_timer, SIGNAL( timeout() ), this, SLOT( sendVel() ));

    // 设置定时器的周期，100ms
    output_timer->start( 100 );
}

// 更新线速度值
void TeleopPanel::update_Linear_Velocity()
{
    // 获取输入框内的数据
    QString temp_string = output_topic_editor_1->text();
    
    // 将字符串转换成浮点数
    float lin = temp_string.toFloat();  
    
    // 保存当前的输入值
    linear_velocity_ = lin;
}

// 更新角速度值
void TeleopPanel::update_Angular_Velocity()
{
    QString temp_string = output_topic_editor_2->text();
    float ang = temp_string.toFloat() ;  
    angular_velocity_ = ang;
}

// 更新topic命名
void TeleopPanel::updateTopic()
{
    setTopic( output_topic_editor_->text() );
}

// 设置topic命名
void TeleopPanel::setTopic( const QString& new_topic )
{
    // 检查topic是否发生改变.
    if( new_topic != output_topic_ )
    {
        output_topic_ = new_topic;

        // 如果命名为空，不发布任何信息
        if( output_topic_ == "" )
        {
            velocity_publisher_.shutdown();
        }
        // 否则，初始化publisher
        else
        {
            velocity_publisher_ = nh_.advertise<geometry_msgs::Twist>( output_topic_.toStdString(), 1 );
        }

        Q_EMIT configChanged();
    }
}

// 发布消息
void TeleopPanel::sendVel()
{
    if( ros::ok() && velocity_publisher_ )
    {
        geometry_msgs::Twist msg;
        msg.linear.x = linear_velocity_;
        msg.linear.y = 0;
        msg.linear.z = 0;
        msg.angular.x = 0;
        msg.angular.y = 0;
        msg.angular.z = angular_velocity_;
        velocity_publisher_.publish( msg );
    }
}

// 重载父类的功能
void TeleopPanel::save( rviz::Config config ) const
{
    rviz::Panel::save( config );
    config.mapSetValue( "Topic", output_topic_ );
}

// 重载父类的功能，加载配置数据
void TeleopPanel::load( const rviz::Config& config )
{
    rviz::Panel::load( config );
    QString topic;
    if( config.mapGetString( "Topic", &topic ))
    {
        output_topic_editor_->setText( topic );
        updateTopic();
    }
}

} // end namespace rviz_teleop_commander

// 声明此类是一个rviz的插件
#include 
PLUGINLIB_EXPORT_CLASS(rviz_teleop_commander::TeleopPanel,rviz::Panel )
// END_TUTORIAL
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cmd_control.h

#ifndef CMD_CONTROL_H
#define CMD_CONTROL_H

#include 

//所需要包含的头文件
#include 
#include 
#include    //plugin基类的头文件


#include 
#include 
#include 
#include 
#include 
#include 
#include 
#include 
#include 
#include 
#include 
namespace rviz_teleop_commander {
class cmd_control:public rviz::Panel
{
    Q_OBJECT
public:
    // 构造函数，在类中会用到QWidget的实例来实现GUI界面，这里先初始化为0即可
    cmd_control(QWidget* parent=0);
    // 重载rviz::Panel积累中的函数，用于保存、加载配置文件中的数据，在我们这个plugin中，数据就是topic的名称
//    virtual void load( const rviz::Config& config );
    virtual void save( rviz::Config config ) const;
    void move_base(char k,float speed_linear,float speed_trun);
public Q_SLOTS:
    void slot_cmd_control();
    void on_Slider_raw_valueChanged(int);
    // 内部变量.
protected:
    QPushButton* pushButton_i;
    QPushButton* pushButton_u;
    QPushButton* pushButton_o;
    QPushButton* pushButton_j;
    QPushButton* pushButton_l;
    QPushButton* pushButton_m;
    QPushButton* pushButton_back;
    QPushButton* pushButton_backr;

    QCheckBox* is_all_check;

    QSlider* yaw_slider;
    QSlider* linera_slider;
    // ROS的publisher，用来发布速度topic
    ros::Publisher velocity_publisher_;
    QString output_topic_="cmd_vel";

    // The ROS node handle.
    ros::NodeHandle nh_;

    // 当前保存的线速度和角速度值
    float linear_velocity_;
    float angular_velocity_;

};
}

#endif // CMD_CONTROL_H
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cmd_control.cpp

#include "cmd_control.h"
#include 

#include 
#include 
#include 
#include 
#include 
#include 

#include 
#include 

namespace rviz_teleop_commander {
cmd_control::cmd_control(QWidget* parent)
    :rviz::Panel (parent)
{


    //初始化ui
 QVBoxLayout *mainlayout=new QVBoxLayout;
 pushButton_i=new QPushButton;
 pushButton_i->setText("i");
 //快捷键
 pushButton_i->setShortcut(QKeySequence(QLatin1String("i")));
 pushButton_i->setStyleSheet("QPushButton#pushButton_i:pressed{background-color:rgb(239, 41, 41)}");
 pushButton_u=new QPushButton;
 //快捷键
 pushButton_u->setShortcut(QKeySequence(QLatin1String("u")));
 pushButton_u->setText("u");
 pushButton_u->setStyleSheet("QPushButton#pushButton_i:pressed{background-color:rgb(239, 41, 41)}");
 pushButton_o=new QPushButton;
 //快捷键
 pushButton_o->setShortcut(QKeySequence(QLatin1String("o")));
 pushButton_o->setText("o");
 pushButton_o->setStyleSheet("QPushButton#pushButton_i:pressed{background-color:rgb(239, 41, 41)}");
 QHBoxLayout *first=new QHBoxLayout;
 first->addWidget(pushButton_u);
 first->addWidget(pushButton_i);
 first->addWidget(pushButton_o);
 mainlayout->addLayout(first);

 pushButton_j=new QPushButton;
 pushButton_j->setText("j");
 //快捷键
 pushButton_j->setShortcut(QKeySequence(QLatin1String("j")));
 pushButton_j->setStyleSheet("QPushButton#pushButton_i:pressed{background-color:rgb(239, 41, 41)}");
 is_all_check=new QCheckBox;
 is_all_check->setText("使用全向轮模式");
 //快捷键
 is_all_check->setShortcut(QKeySequence(QLatin1String("k")));
 pushButton_l=new QPushButton;
 pushButton_l->setText("l");
 //快捷键
 pushButton_l->setShortcut(QKeySequence(QLatin1String("l")));
 pushButton_l->setStyleSheet("QPushButton#pushButton_i:pressed{background-color:rgb(239, 41, 41)}");
 QHBoxLayout *second=new QHBoxLayout;
 second->addWidget(pushButton_j);
 second->addWidget(is_all_check);
 second->addWidget(pushButton_l);
 mainlayout->addLayout(second);

 pushButton_m=new QPushButton;
 //快捷键
 pushButton_m->setShortcut(QKeySequence(QLatin1String("m")));
 pushButton_m->setText("m");
 pushButton_m->setStyleSheet("QPushButton#pushButton_i:pressed{background-color:rgb(239, 41, 41)}");
 pushButton_back=new QPushButton;
 //快捷键
 pushButton_back->setShortcut(QKeySequence(QLatin1String(",")));
 pushButton_back->setText(",");
 pushButton_back->setStyleSheet("QPushButton#pushButton_i:pressed{background-color:rgb(239, 41, 41)}");
 pushButton_backr=new QPushButton;
 //快捷键
 pushButton_backr->setShortcut(QKeySequence(QLatin1String(".")));
 pushButton_backr->setText(".");
pushButton_backr->setStyleSheet("QPushButton#pushButton_i:pressed{background-color:rgb(239, 41, 41)}");
QHBoxLayout *third=new QHBoxLayout;
third->addWidget(pushButton_m);
third->addWidget(pushButton_back);
third->addWidget(pushButton_backr);
mainlayout->addLayout(third);

QLabel *linera_label=new QLabel;
linera_label->setText("线速度（cm/s）");
linera_slider=new QSlider;
linera_slider->setOrientation(Qt::Horizontal);  // 水平方向
linera_slider->setRange(0,100);
linera_slider->setValue(50);
QHBoxLayout *five=new QHBoxLayout;
five->addWidget(linera_label);
five->addWidget(linera_slider);
mainlayout->addLayout(five);

QLabel *yaw_label=new QLabel;
yaw_label->setText("角速度（cm/s）");
yaw_slider=new QSlider;
yaw_slider->setOrientation(Qt::Horizontal);  // 水平方向
yaw_slider->setRange(0,100);
yaw_slider->setValue(100);
QHBoxLayout *six=new QHBoxLayout;
six->addWidget(yaw_label);
six->addWidget(yaw_slider);
mainlayout->addLayout(six);

 setLayout(mainlayout);

 //绑定信号

 //绑定速度控制按钮
 connect(pushButton_i,SIGNAL(clicked()),this,SLOT(slot_cmd_control()));
 connect(pushButton_u,SIGNAL(clicked()),this,SLOT(slot_cmd_control()));
 connect(pushButton_o,SIGNAL(clicked()),this,SLOT(slot_cmd_control()));
 connect(pushButton_j,SIGNAL(clicked()),this,SLOT(slot_cmd_control()));
 connect(pushButton_l,SIGNAL(clicked()),this,SLOT(slot_cmd_control()));
 connect(pushButton_m,SIGNAL(clicked()),this,SLOT(slot_cmd_control()));
 connect(pushButton_back,SIGNAL(clicked()),this,SLOT(slot_cmd_control()));
 connect(pushButton_backr,SIGNAL(clicked()),this,SLOT(slot_cmd_control()));

 //创建发布者
 velocity_publisher_ = nh_.advertise<geometry_msgs::Twist>( output_topic_.toStdString(), 1 );

}

void cmd_control::slot_cmd_control()
{

    QPushButton* btn=qobject_cast<QPushButton*>(sender());
    char key=btn->text().toStdString()[0];
    //速度
    float liner=linera_slider->value()*0.01;
    float turn=yaw_slider->value()*0.01;
    bool is_all=is_all_check->isChecked();
    switch (key) {
        case 'u':
            move_base(is_all?'U':'u',liner,turn);
        break;
        case 'i':
            move_base(is_all?'I':'i',liner,turn);
        break;
        case 'o':
            move_base(is_all?'O':'o',liner,turn);
        break;
        case 'j':
            move_base(is_all?'J':'j',liner,turn);
        break;
        case 'l':
            move_base(is_all?'L':'l',liner,turn);
        break;
        case 'm':
            move_base(is_all?'M':'m',liner,turn);
        break;
        case ',':
            move_base(is_all?'<':',',liner,turn);
        break;
        case '.':
            move_base(is_all?'>':'.',liner,turn);
        break;
    }

}
void cmd_control::move_base(char k,float speed_linear,float speed_trun)
{
    std::map<char, std::vector<float>> moveBindings
    {
      {'i', {1, 0, 0, 0}},
      {'o', {1, 0, 0, -1}},
      {'j', {0, 0, 0, 1}},
      {'l', {0, 0, 0, -1}},
      {'u', {1, 0, 0, 1}},
      {',', {-1, 0, 0, 0}},
      {'.', {-1, 0, 0, 1}},
      {'m', {-1, 0, 0, -1}},
      {'O', {1, -1, 0, 0}},
      {'I', {1, 0, 0, 0}},
      {'J', {0, 1, 0, 0}},
      {'L', {0, -1, 0, 0}},
      {'U', {1, 1, 0, 0}},
      {'<', {-1, 0, 0, 0}},
      {'>', {-1, -1, 0, 0}},
      {'M', {-1, 1, 0, 0}},
      {'t', {0, 0, 1, 0}},
      {'b', {0, 0, -1, 0}},
      {'k', {0, 0, 0, 0}},
      {'K', {0, 0, 0, 0}}
    };
    char key=k;
    //计算是往哪个方向
    float x = moveBindings[key][0];
    float y = moveBindings[key][1];
    float z = moveBindings[key][2];
    float th = moveBindings[key][3];
    //计算线速度和角速度
    float speed = speed_linear;
    float turn = speed_trun;
    // Update the Twist message
    geometry_msgs::Twist twist;
   twist.linear.x = x * speed;
   twist.linear.y = y * speed;
   twist.linear.z = z * speed;

   twist.angular.x = 0;
   twist.angular.y = 0;
   twist.angular.z = th * turn;

   // Publish it and resolve any remaining callbacks
   velocity_publisher_.publish(twist);
   ros::spinOnce();
}


// 重载父类的功能
void cmd_control::save( rviz::Config config ) const
{
  rviz::Panel::save( config );
  config.mapSetValue( "Topic", output_topic_ );
}




}

// 声明此类是一个rviz的插件
#include 
PLUGINLIB_EXPORT_CLASS(rviz_teleop_commander::cmd_control,rviz::Panel )
// END_TUTORIAL
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6、编译并使用

• 编译通过后，打开rviz即可调用插件
  

二、通过Qt可视化工具构建rviz插件

1、qt creator开发

• rviz插件的源代码的主要库是qt库，qt库的常见开发方式是使用qt creator，代码框架主要是主函数+定义ui界面的cpp文件和h文件。
• 主函数基本就是启动代码，不用修改。

#include "mainwindow.h"

#include 
#include 
#include 

int main(int argc, char *argv[])
{
    QApplication a(argc, argv);

    QTranslator translator;
    const QStringList uiLanguages = QLocale::system().uiLanguages();
    for (const QString &locale : uiLanguages) {
        const QString baseName = "qt_to_rviz_" + QLocale(locale).name();
        if (translator.load(":/i18n/" + baseName)) {
            a.installTranslator(&translator);
            break;
        }
    }
    MainWindow w;
    w.show();
    return a.exec();
}

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• 头文件中声明需要用到的组件

#ifndef MAINWINDOW_H
#define MAINWINDOW_H

#include 
#include 
QT_BEGIN_NAMESPACE
namespace Ui { class MainWindow; }
QT_END_NAMESPACE

class MainWindow : public QMainWindow
{
    Q_OBJECT

public:
    MainWindow(QWidget *parent = nullptr);
    ~MainWindow();

private:
    Ui::MainWindow *ui;
private:
    QLabel *lab;  //这里声明了一个标签组建，记得要引入对应组建的头文件
};
#endif // MAINWINDOW_H

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• cpp文件主要在构造函数中定义和启动组建

#include "mainwindow.h"
#include "ui_mainwindow.h"

MainWindow::MainWindow(QWidget *parent)
    : QMainWindow(parent)
    , ui(new Ui::MainWindow)
{
    this->lab = new QLabel("Hello, world!", this);
    ui->setupUi(this);
}

MainWindow::~MainWindow()
{
    delete ui;
}


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• 这是普通qt程序的开发和使用方法，这里只有qt实现的界面可视化代码，没有增加业务功能代码。只要把这部分代码和业务代码耦合在一起就可以实现效果了

2、qt designer

• 还有一种方法是使用qt designer，这种工具通过可视化界面设计ui界面并设置相关配置，最后通过uic工具生成h文件，h文件中会有qt功能的主要代码，在其基础之上修改即可。
• 在qt designer中设计ui界面，保存为ui文件
  * 使用uic生成头文件，相关类可以从这个头文件中挑选和复用代码，不过还是有挺多要修改的

uic mainwindow.ui -o qwe.h
1

/********************************************************************************
** Form generated from reading UI file 'mainwindow.ui'
**
** Created by: Qt User Interface Compiler version 5.15.2
**
** WARNING! All changes made in this file will be lost when recompiling UI file!
********************************************************************************/

#ifndef QWE_H
#define QWE_H

#include 
#include 
#include 
#include 
#include 
#include 
#include 

QT_BEGIN_NAMESPACE

class Ui_MainWindow
{
public:
    QWidget *centralwidget;
    QPushButton *pushButton;
    QLabel *label;
    QLineEdit *lineEdit;

    void setupUi(QMainWindow *MainWindow)
    {
        //主界面
        if (MainWindow->objectName().isEmpty())
            MainWindow->setObjectName(QString::fromUtf8("MainWindow"));
        MainWindow->resize(800, 600);
        //核心部件，管理者？
        centralwidget = new QWidget(MainWindow);
        centralwidget->setObjectName(QString::fromUtf8("centralwidget"));
        //按键部件
        pushButton = new QPushButton(centralwidget);
        pushButton->setObjectName(QString::fromUtf8("pushButton"));
        pushButton->setGeometry(QRect(120, 250, 89, 25));
        //标签部件
        label = new QLabel(centralwidget);
        label->setObjectName(QString::fromUtf8("label"));
        label->setGeometry(QRect(370, 220, 201, 21));
        //横线编辑框
        lineEdit = new QLineEdit(centralwidget);
        lineEdit->setObjectName(QString::fromUtf8("lineEdit"));
        lineEdit->setGeometry(QRect(250, 360, 113, 25));
        //设置核心部件
        MainWindow->setCentralWidget(centralwidget);
        //渲染
        retranslateUi(MainWindow);
        //连接槽位
        QMetaObject::connectSlotsByName(MainWindow);
    } // setupUi

    void retranslateUi(QMainWindow *MainWindow)
    {
        MainWindow->setWindowTitle(QCoreApplication::translate("MainWindow", "MainWindow", nullptr));
        pushButton->setText(QCoreApplication::translate("MainWindow", "PushButton", nullptr));
        label->setText(QCoreApplication::translate("MainWindow", "hellow world", nullptr));
    } // retranslateUi

};

namespace Ui {
    class MainWindow: public Ui_MainWindow {};
} // namespace Ui

QT_END_NAMESPACE

#endif // QWE_H

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