qt+ros2进行topic通讯

在Qt中使用ROS2进行topic通讯需要使用ROS2的C++ API。以下是一些基本步骤：

1. 安装ROS2和Qt

2. 在Qt中创建一个C++项目

3. 在CMakeLists.txt中添加以下代码以链接ROS2：

   find_package(ament_cmake REQUIRED)
   find_package(rclcpp REQUIRED)
   find_package(std_msgs REQUIRED)

4. 在Qt中创建一个ROS2节点：

   #include "rclcpp/rclcpp.hpp"
   #include "std_msgs/msg/string.hpp"
   
   class MyNode : public rclcpp::Node
   {
   public:
       MyNode() : Node("my_node")
       {
           publisher_ = this->create_publisher<std_msgs::msg::String>("my_topic", 10);
           timer_ = this->create_wall_timer(std::chrono::milliseconds(500), std::bind(&MyNode::publishMessage, this));
       }
   
   private:
       void publishMessage()
       {
           auto message = std_msgs::msg::String();
           message.data = "Hello, world!";
           publisher_->publish(message);
       }
   
       rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
       rclcpp::TimerBase::SharedPtr timer_;
   };

5. 在Qt中订阅ROS2话题：

   #include "rclcpp/rclcpp.hpp"
   #include "std_msgs/msg/string.hpp"
   
   class MyNode : public rclcpp::Node
   {
   public:
       MyNode() : Node("my_node")
       {
           subscriber_ = this->create_subscription<std_msgs::msg::String>("my_topic", 10, std::bind(&MyNode::receiveMessage, this, std::placeholders::_1));
       }
   
   private:
       void receiveMessage(const std_msgs::msg::String::SharedPtr message)
       {
           qDebug() << "Received message: " << message->data.c_str();
       }
   
       rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscriber_;
   };

这些是基本的步骤，你可以根据你的需求和情况进行调整。