Build GUI using GTKMM.

CMakeLists.txt

@@ -27,16 +27,20 @@ if(GLUT_FOUND)
   message ("GLUT_LIBRARIES: " ${GLUT_LIBRARIES})
 endif()
 #######################################################################################
+find_package(PkgConfig)
+pkg_check_modules(GTKMM gtkmm-3.0)
+#######################################################################################
 add_executable(${ROBOTEM_ROVNE_GUI_TARGET}
-  src/Node.cpp
-  src/main.cpp
+        src/Node.cpp
+        src/main.cpp
 )
 #######################################################################################
 target_include_directories(${ROBOTEM_ROVNE_GUI_TARGET} PRIVATE
         include
         ${mp_units_INCLUDE_DIRS}
         ${OPENGL_INCLUDE_DIRS}
         ${GLUT_INCLUDE_DIRS}
+        ${GTKMM_INCLUDE_DIRS}
 )
 #######################################################################################
 target_compile_features(${ROBOTEM_ROVNE_GUI_TARGET} PRIVATE cxx_std_20)
@@ -46,12 +50,12 @@ target_link_libraries(${ROBOTEM_ROVNE_GUI_TARGET}
         ${mp-units_LIBRARIES}
         ${OPENGL_LIBRARIES}
         ${GLUT_LIBRARIES}
+        ${GTKMM_LIBRARIES}
 )
 #######################################################################################
 ament_target_dependencies(${ROBOTEM_ROVNE_GUI_TARGET} rclcpp std_msgs)
 #######################################################################################
 install(TARGETS ${ROBOTEM_ROVNE_GUI_TARGET} DESTINATION lib/${PROJECT_NAME})
-install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
 #######################################################################################
 ament_package()
 #######################################################################################

README.md

@@ -19,5 +19,5 @@ colcon build --packages-select robotem_rovne_gui
 ```bash
 cd $COLCON_WS
 . install/setup.bash
-ros2 launch robotem_rovne_gui gui.py
+ros2 run robotem_rovne_gui robotem_rovne_gui_node
 ```

include/robotem_rovne_gui/Node.h

@@ -10,11 +10,10 @@
  * INCLUDE
  **************************************************************************************/
 
-#include <GL/freeglut.h>
-
-#include <thread>
 #include <memory>
 
+#include <gtkmm.h>
+
 #include <rclcpp/qos.hpp>
 #include <rclcpp/rclcpp.hpp>
 
@@ -44,14 +43,11 @@ namespace t07
 class Node : public rclcpp::Node
 {
 public:
-   Node();
+   Node(int & argc, char ** argv);
   ~Node();
 
 private:
   std::thread _gui_thread;
-
-  void init_glut();
-  void deinit_glut();
 };
 
 /**************************************************************************************

src/Node.cpp

@@ -21,53 +21,34 @@ namespace t07
  * CTOR/DTOR
  **************************************************************************************/
 
-Node::Node()
+Node::Node(int & argc, char ** argv)
 : rclcpp::Node("robotem_rovne_gui_node")
-, _gui_thread{}
 {
-  init_glut();
+  _gui_thread = std::thread(
+    [this, &argc, &argv]()
+    {
+      auto app = Gtk::Application::create(argc, argv, "");
+
+      Gtk::Window window;
+      window.set_title("Robotem Rovne GUI");
+      window.set_default_size(320, 240);
+
+      return app->run(window);
+    });
+
   RCLCPP_INFO(get_logger(), "%s init complete.", get_name());
 }
 
 Node::~Node()
 {
-  deinit_glut();
+  _gui_thread.join();
   RCLCPP_INFO(get_logger(), "%s shut down successfully.", get_name());
 }
 
 /**************************************************************************************
  * PRIVATE MEMBER FUNCTIONS
  **************************************************************************************/
 
-void Node::init_glut()
-{
-  glutInitDisplayMode(GLUT_DEPTH | GLUT_DOUBLE | GLUT_RGBA);
-
-  glutInitWindowPosition(50, 50);
-  glutInitWindowSize(320, 240);
-
-  glutCreateWindow("Robotem Rovne GUI");
-
-  auto const glut_render = +[]()
-  {
-    /* Just clear the buffers for now. */
-    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
-    /* Flip the buffers. */
-    glutSwapBuffers();
-  };
-
-  glutDisplayFunc(glut_render);
-  glutIdleFunc(glut_render);
-
-  _gui_thread = std::thread([this]() { glutMainLoop(); });
-}
-
-void Node::deinit_glut()
-{
-  glutLeaveMainLoop();
-  _gui_thread.join();
-}
-
 /**************************************************************************************
  * NAMESPACE
  **************************************************************************************/

src/main.cpp

@@ -16,12 +16,23 @@
  * MAIN
  **************************************************************************************/
 
-int main(int argc, char * argv[])
+class GuiWindow : public Gtk::Window
+{
+public:
+  GuiWindow();
+};
+
+GuiWindow::GuiWindow()
+{
+  set_title("Robotem Rovne GUI");
+  set_default_size(320, 240);
+}
+
+int main(int argc, char ** argv)
 {
-  glutInit(&argc, argv);
   rclcpp::init(argc, argv);
 
-  auto node = std::make_shared<t07::Node>();
+  auto node = std::make_shared<t07::Node>(argc, argv);
 
   try
   {