Question

我正在尝试在我自己的PyQt4编写的应用程序中使用Rviz（ROS Visualization工具）。我正在使用QTcreator IDE来设计表单并使用pyuic4将其转换为python代码。

Rviz库使用python_qt_binding，其中inturn使用PyQT或PySide（在我的情况下，我只安装了PyQt）。

我正在尝试将Rviz初始化为QWidget并在我的应用程序中显示它。我的应用程序和Rviz小部件在单独运行时工作正常，但在我尝试将Rviz QWidget导入应用程序时显示以下错误。

  Traceback (most recent call last):
  File "./mainwindow.py", line 38, in <module>
    from RvizInitializer import RViz
  File "/home/parallels/Documents/eclipse/workspace/GUI/src/RvizInitializer.py", line 8, in <module>
    from python_qt_binding.QtGui import *
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/python_qt_binding/__init__.py", line 55, in <module>
    from .binding_helper import loadUi, QT_BINDING, QT_BINDING_MODULES, QT_BINDING_VERSION  # @UnusedImport
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/python_qt_binding/binding_helper.py", line 252, in <module>
    getattr(sys, 'SELECT_QT_BINDING_ORDER', None),
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/python_qt_binding/binding_helper.py", line 89, in _select_qt_binding
    QT_BINDING_VERSION = binding_loader(required_modules, optional_modules)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/python_qt_binding/binding_helper.py", line 131, in _load_pyqt
    _named_import('PyQt5.%s' % module_name)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/python_qt_binding/binding_helper.py", line 111, in _named_import
    module = builtins.__import__(name)
RuntimeError: the PyQt5.QtCore and PyQt4.QtCore modules both wrap the QObject class

代码段：

Rviz初始化程序

class RViz():
    def __init__(self):
        self.Mainwidget = QWidget()

        self.frame = rviz.VisualizationFrame()


        self.frame.setSplashPath( "" )

        self.frame.initialize()

        reader = rviz.YamlConfigReader()
        config = rviz.Config()
        reader.readFile( config, "/home/parallels/catkin_ws/src/map-toddler/configuration_files/rviz_config_files/karto.rviz" )
        self.frame.load( config )


        self.Mainwidget.setWindowTitle( config.mapGetChild( "Title" ).getValue() )


        self.frame.setMenuBar( None )
        self.frame.setStatusBar( None )
        self.frame.setHideButtonVisibility( False )


        ## Here we create the layout and other widgets in the usual Qt way.
        layout = QVBoxLayout()
        layout.addWidget( self.frame )

        self.Mainwidget.setLayout(layout)
        #self.Mainwidget.resize(500,500)
        #self.Mainwidget.show()

导入Rviz Qwidget：

from RvizInitializer import RViz

     class mainwindow():
    def __init__(self):   
               .
               .
             other code
               .
               .
        self.RviZ = RViz()
        self.MappingFrameHndl.SLAMLayout.addWidget(self.RviZ.Mainwidget)

非常感谢任何帮助

在PyQT应用程序中使用Rviz时出现运行时错误

0 个答案: