This is the latest version for HandsFree's Debug GUI(Beta)

some attentions:

• 1.this GUI could only be run on the Ubuntu, not support Windows
• 2.this GUI is only a beta verion
• 3.if any bugs found or some advice,please send message to [email protected]

usage:

• 1.make sure your Ubuntu have installed these application:

  • cmake (sudo apt-get install cmake)
  • Boost (http://www.boost.org/)
  • libqt5serialport5 and libqt5serialport5-dev (sudo apt-get install libqt5serialport5*)

• 2.switch to the folder of this project,typing "cmake CMakeList.txt"

• 3.if step 2 get no errors,typing "make"

• 4.after step 3,an executable file called "handsfree_gui_v2" could be found in the directory "./bin"

• 5.run this executable file,and insert the USB serial of Handsfree robot,change the permission of /dev/ttyUSB*

By using this GUI , you could:

• observe some parameters from robot
• sending some commands to robot
• control the by keyboard
• draw some information in the visualization plot (this function will be available in the future)

1.mainwindow

2.serial control

please make sure the serial is opened when using this GUI

3.odometry information

show the new odometry data got from robot

4.mobile control

the available key value is:

• key_up (move foward)
• key_down (move back)
• key_left (turn left)
• key_right (turn right)
• key_q (to increase the velocity by 20%)
• key_z (to decrease the velocity by 20%)

**attention:** before using this function,you must click the mobile control panel to make sure it has got focus ; **the original velocity is 0.2m/s**

5.plot

this funtion is on building , please wait......