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Merged
Gabduf merged 4 commits into from
May 24, 2026
Merged

Min curvature complex maps #44

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2135316
Merge remote-tracking branch 'origin/GD_speedCoeff' into min_curvatur…
CharlesMcCabe May 18, 2026
9fc9517
added risk to Gui
CharlesMcCabe May 24, 2026
a112541
Merge branch 'main' into min_curvature_complex_maps
CharlesMcCabe May 24, 2026
e6f2333
info x -> risk
Gabduf May 24, 2026
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22 changes: 20 additions & 2 deletions sim_ws/src/arcus_gui/src/QWidget/QCarInfoWidget/QCarInfoWidget.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,8 @@ QCarInfoWidget::QCarInfoWidget(std::shared_ptr<rclcpp::Node> node_, QWidget* par
connect(this, &QCarInfoWidget::updateSpeedIU, this, &QCarInfoWidget::onUpdateSpeedUI);

connect( this, &QCarInfoWidget::updateAngleIU, this, &QCarInfoWidget::onUpdateAngleUI);

connect( this, &QCarInfoWidget::updateRiskIU, this, &QCarInfoWidget::onUpdateRiskUI);
}

void QCarInfoWidget::initSubscriber(void)
Expand All @@ -26,8 +28,12 @@ void QCarInfoWidget::initSubscriber(void)

_sub_acker = _node->create_subscription<ackermann_msgs::msg::AckermannDriveStamped>(DRIVE_TOPIC, 1, [this](ackermann_msgs::msg::AckermannDriveStamped msg_){
this->CB_driver(msg_);
});
}
});

_sub_risk = _node->create_subscription<std_msgs::msg::Float32>(RISK_TOPIC, 1, [this](std_msgs::msg::Float32 msg_){
this->CB_risk(msg_);
});
}
else
{
assert(false && "Error: GUI node is null");
Expand All @@ -48,6 +54,13 @@ void QCarInfoWidget::CB_driver(ackermann_msgs::msg::AckermannDriveStamped& msg_)
emit this->updateAngleIU(angle);
}

void QCarInfoWidget::CB_risk(std_msgs::msg::Float32& msg_)
{
float risk = msg_.data;

emit this->updateRiskIU(risk);
}

void QCarInfoWidget::onUpdateSpeedUI(float speed_)
{
this->_ui.lcdSpeed->display(QString::number(speed_,'f',2));
Expand All @@ -58,3 +71,8 @@ void QCarInfoWidget::onUpdateAngleUI(float angle_)
this->_ui.lcdAngle->display(QString::number((180.0*angle_/pi),'f',2));
}

void QCarInfoWidget::onUpdateRiskUI(float risk_)
{
this->_ui.lcdX1->display(QString::number(risk_,'f',2));
}

8 changes: 8 additions & 0 deletions sim_ws/src/arcus_gui/src/QWidget/QCarInfoWidget/QCarInfoWidget.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@

#include "UI_CarInfo.h"
#include "nav_msgs/msg/odometry.hpp"
#include "std_msgs/msg/float32.hpp"
#include "ackermann_msgs/msg/ackermann_drive_stamped.hpp"

#include <rclcpp/rclcpp.hpp>
Expand All @@ -14,6 +15,7 @@ class QCarInfoWidget : public QWidget

static constexpr const char* TOPIC_ODOM = "/odometry/filtered";
static constexpr const char* DRIVE_TOPIC = "/drive";
static constexpr const char* RISK_TOPIC = "/pure_pursuit/trajectory_risk";
static constexpr const float pi = 3.14159265359;


Expand All @@ -24,10 +26,12 @@ class QCarInfoWidget : public QWidget
signals:
void updateSpeedIU(float speed_);
void updateAngleIU(float angle_);
void updateRiskIU(float risk_);

private slots:
void onUpdateAngleUI(float angle_);
void onUpdateSpeedUI(float speed_);
void onUpdateRiskUI(float risk_);

private:

Expand All @@ -39,10 +43,14 @@ class QCarInfoWidget : public QWidget

void CB_driver(ackermann_msgs::msg::AckermannDriveStamped& msg_);

void CB_risk(std_msgs::msg::Float32& msg_);

std::shared_ptr<rclcpp::Subscription<nav_msgs::msg::Odometry>> _sub_odom;

std::shared_ptr<rclcpp::Subscription<ackermann_msgs::msg::AckermannDriveStamped>> _sub_acker;

std::shared_ptr<rclcpp::Subscription<std_msgs::msg::Float32>> _sub_risk;

std::shared_ptr<rclcpp::Node> _node;

Ui::CarInfoWidget _ui;
Expand Down
6 changes: 3 additions & 3 deletions sim_ws/src/arcus_gui/ui/ui/CarInfo.ui
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Original file line number Diff line number Diff line change
Expand Up @@ -62,7 +62,7 @@
</font>
</property>
<property name="text">
<string>Info 1... : </string>
<string>Risk : </string>
</property>
</widget>
</item>
Expand Down Expand Up @@ -218,7 +218,7 @@
</font>
</property>
<property name="text">
<string>Info 2... :</string>
<string/>
</property>
</widget>
</item>
Expand Down Expand Up @@ -248,7 +248,7 @@
</sizepolicy>
</property>
<property name="text">
<string>Info 3... :</string>
<string/>
</property>
</widget>
</item>
Expand Down
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