QT订阅ROS2信息并发布

小猴同学

系统ubuntu22.04 ROS2 Humble
大佬们，就是我想结合QT5写一个可以订阅ros2节点信息并显示的界面，我将功能包写成这样
.
├── CMakeLists.txt
├── CMakeLists.txt.user
├── include
│ └── ros2_qt_display
│ ├── mainwindow.h
│ └── rclcomm.h
├── package.xml
├── src
│ ├── main.cpp
│ ├── mainwindow.cpp
│ └── rclcomm.cpp
└── ui
└── mainwindow.ui
我的mainwindow.h:

#ifndef MAINWINDOW_H
#define MAINWINDOW_H

#include <QMainWindow>
#include "rclcomm.h"
#include <iostream>
QT_BEGIN_NAMESPACE
namespace Ui {
class MainWindow;
}
QT_END_NAMESPACE
class MainWindow : public QMainWindow
{
    Q_OBJECT

public:
    explicit MainWindow(QWidget *parent = nullptr);
    ~MainWindow();

private:
    Ui::MainWindow *ui;
    rclcomm *commNode;
public slots:
    void on_getimuyaw(QString);
    void on_getimupitch(QString);
    void on_getimuroll(QString);
    void on_getimulat(QString);
    void on_getimulon(QString);
    void on_getimualt(QString);
    void on_getimuxangvel(QString);
    void on_getimuyangvel(QString);
    void on_getimuzangvel(QString);
    void on_getimuxspef(QString);
    void on_getimuyspef(QString);
    void on_getimuzspef(QString);
    void on_getimunvel(QString);
    void on_getimuevel(QString);
    void on_getimuvelerr(QString);
    void on_pushButton02_clicked();
    void on_pushButton01_clicked();
};

#endif // MAINWINDOW_H

然后我在mainwindow.cpp中调用这些：

#include "mainwindow.h"
#include "ui_mainwindow.h"

MainWindow::MainWindow(QWidget *parent) :
    QMainWindow(parent),
    ui(new Ui::MainWindow)
{
    ui->setupUi(this);
    connect(ui->pushButton01,SIGNAL(clicked(bool)),this,SLOT(on_pushButton01_clicked()));
    connect(ui->pushButton02,SIGNAL(clicked(bool)),this,SLOT(on_pushButton02_clicked()));
    
    commNode=new rclcomm();
    connect(commNode,SIGNAL(getimuyaw(QString)),this,SLOT(on_getimuyaw(QString)));
    connect(commNode,SIGNAL(getimupitch(QString)),this,SLOT(on_getimupitch(QString)));
    connect(commNode,SIGNAL(getimuroll(QString)),this,SLOT(on_getimuroll(QString)));
    connect(commNode,SIGNAL(getimulat(QString)),this,SLOT(on_getimulat(QString)));
    connect(commNode,SIGNAL(getimulon(QString)),this,SLOT(on_getimulon(QString)));
    connect(commNode,SIGNAL(getimualt(QString)),this,SLOT(on_getimualt(QString)));
    connect(commNode,SIGNAL(getimuxangvel(QString)),this,SLOT(on_getimuxangvel(QString)));
    connect(commNode,SIGNAL(getimuyangvel(QString)),this,SLOT(on_getimuyangvel(QString)));
    connect(commNode,SIGNAL(getimuzangvel(QString)),this,SLOT(on_getimuzangvel(QString)));
    connect(commNode,SIGNAL(getimuxspef(QString)),this,SLOT(on_getimuxspef(QString)));
    connect(commNode,SIGNAL(getimuyspef(QString)),this,SLOT(on_getimuyspef(QString)));
    connect(commNode,SIGNAL(getimuzspef(QString)),this,SLOT(on_getimuzspef(QString)));
    connect(commNode,SIGNAL(getimunvel(QString)),this,SLOT(on_getimunvel(QString)));
    connect(commNode,SIGNAL(getimuevel(QString)),this,SLOT(on_getimuevel(QString)));
    connect(commNode,SIGNAL(getimuvelerr(QString)),this,SLOT(on_getimuvelerr(QString)));
}
void MainWindow::on_getimuyaw(QString yaw){
    ui->textEdit_1->clear();
    ui->textEdit_1->setText(yaw);
}
void MainWindow::on_getimupitch(QString pitch){
    ui->textEdit_2->clear();
    ui->textEdit_2->setText(pitch);
}
void MainWindow::on_getimuroll(QString roll){
    ui->textEdit_3->clear();
    ui->textEdit_3->setText(roll);
}
void MainWindow::on_getimulat(QString lat){
    ui->textEdit_4->clear();
    ui->textEdit_4->setText(lat);
}
void MainWindow::on_getimulon(QString lon){
    ui->textEdit_5->clear();
    ui->textEdit_5->setText(lon);
}
void MainWindow::on_getimualt(QString alt){
    ui->textEdit_6->clear();
    ui->textEdit_6->setText(alt);
}
void MainWindow::on_getimuxangvel(QString xangvel){
    ui->textEdit_7->clear();
    ui->textEdit_7->setText(xangvel);
}
void MainWindow::on_getimuyangvel(QString yangvel){
    ui->textEdit_8->clear();
    ui->textEdit_8->setText(yangvel);
}
void MainWindow::on_getimuzangvel(QString zangvel){
    ui->textEdit_9->clear();
    ui->textEdit_9->setText(zangvel);
}
void MainWindow::on_getimuxspef(QString xspef){
    ui->textEdit_10->clear();
    ui->textEdit_10->setText(xspef);
}
void MainWindow::on_getimuyspef(QString yspef){
    ui->textEdit_11->clear();
    ui->textEdit_11->setText(yspef);
}
void MainWindow::on_getimuzspef(QString zspef){
    ui->textEdit_12->clear();
    ui->textEdit_12->setText(zspef);
}
void MainWindow::on_getimunvel(QString nvel){
    ui->textEdit_13->clear();
    ui->textEdit_13->setText(nvel);
}
void MainWindow::on_getimuevel(QString evel){
    ui->textEdit_15->clear();
    ui->textEdit_15->setText(evel);
}
void MainWindow::on_getimuvelerr(QString velerr){
    ui->textEdit_15->clear();
    ui->textEdit_15->setText(velerr);
}
void MainWindow::on_pushButton01_clicked()
{
    commNode->start();
}

void MainWindow::on_pushButton02_clicked()
{

}

MainWindow::~MainWindow()
{
    delete ui;
}

我的终端始终爆出下面的问题：

--- stderr: ros2_qt_display                             
/usr/bin/ld: /usr/lib/gcc/x86_64-linux-gnu/11/../../../x86_64-linux-gnu/Scrt1.o: in function `_start':
(.text+0x1b): undefined reference to `main'
/usr/bin/ld: CMakeFiles/ros2_qt_display.dir/include/ros2_qt_display/moc_mainwindow.cpp.o: in function `MainWindow::qt_static_metacall(QObject*, QMetaObject::Call, int, void**)':
moc_mainwindow.cpp:(.text+0x93): undefined reference to `MainWindow::on_getimuyaw(QString)'
/usr/bin/ld: moc_mainwindow.cpp:(.text+0xd1): undefined reference to `MainWindow::on_getimupitch(QString)'
/usr/bin/ld: moc_mainwindow.cpp:(.text+0x10f): undefined reference to `MainWindow::on_getimuroll(QString)'
/usr/bin/ld: moc_mainwindow.cpp:(.text+0x14d): undefined reference to `MainWindow::on_getimulat(QString)'
/usr/bin/ld: moc_mainwindow.cpp:(.text+0x18b): undefined reference to `MainWindow::on_getimulon(QString)'
/usr/bin/ld: moc_mainwindow.cpp:(.text+0x1c9): undefined reference to `MainWindow::on_getimualt(QString)'
/usr/bin/ld: moc_mainwindow.cpp:(.text+0x207): undefined reference to `MainWindow::on_getimuxangvel(QString)'
/usr/bin/ld: moc_mainwindow.cpp:(.text+0x245): undefined reference to `MainWindow::on_getimuyangvel(QString)'
/usr/bin/ld: moc_mainwindow.cpp:(.text+0x283): undefined reference to `MainWindow::on_getimuzangvel(QString)'
/usr/bin/ld: moc_mainwindow.cpp:(.text+0x2c1): undefined reference to `MainWindow::on_getimuxspef(QString)'
/usr/bin/ld: moc_mainwindow.cpp:(.text+0x2ff): undefined reference to `MainWindow::on_getimuyspef(QString)'
/usr/bin/ld: moc_mainwindow.cpp:(.text+0x33d): undefined reference to `MainWindow::on_getimuzspef(QString)'
/usr/bin/ld: moc_mainwindow.cpp:(.text+0x37b): undefined reference to `MainWindow::on_getimunvel(QString)'
/usr/bin/ld: moc_mainwindow.cpp:(.text+0x3b9): undefined reference to `MainWindow::on_getimuevel(QString)'
/usr/bin/ld: moc_mainwindow.cpp:(.text+0x3f4): undefined reference to `MainWindow::on_getimuvelerr(QString)'
/usr/bin/ld: moc_mainwindow.cpp:(.text+0x40e): undefined reference to `MainWindow::on_pushButton02_clicked()'
/usr/bin/ld: moc_mainwindow.cpp:(.text+0x41c): undefined reference to `MainWindow::on_pushButton01_clicked()'
/usr/bin/ld: CMakeFiles/ros2_qt_display.dir/include/ros2_qt_display/moc_mainwindow.cpp.o:(.data.rel.ro._ZTV10MainWindow[_ZTV10MainWindow]+0x28): undefined reference to `MainWindow::~MainWindow()'
/usr/bin/ld: CMakeFiles/ros2_qt_display.dir/include/ros2_qt_display/moc_mainwindow.cpp.o:(.data.rel.ro._ZTV10MainWindow[_ZTV10MainWindow]+0x30): undefined reference to `MainWindow::~MainWindow()'
/usr/bin/ld: CMakeFiles/ros2_qt_display.dir/include/ros2_qt_display/moc_mainwindow.cpp.o:(.data.rel.ro._ZTV10MainWindow[_ZTV10MainWindow]+0x1c8): undefined reference to `non-virtual thunk to MainWindow::~MainWindow()'
/usr/bin/ld: CMakeFiles/ros2_qt_display.dir/include/ros2_qt_display/moc_mainwindow.cpp.o:(.data.rel.ro._ZTV10MainWindow[_ZTV10MainWindow]+0x1d0): undefined reference to `non-virtual thunk to MainWindow::~MainWindow()'
/usr/bin/ld: CMakeFiles/ros2_qt_display.dir/include/ros2_qt_display/moc_rclcomm.cpp.o:(.data.rel.ro._ZTV7rclcomm[_ZTV7rclcomm]+0x70): undefined reference to `rclcomm::run()'
collect2: error: ld returned 1 exit status
gmake[2]: *** [CMakeFiles/ros2_qt_display.dir/build.make:208：ros2_qt_display] 错误 1
gmake[1]: *** [CMakeFiles/Makefile2:137：CMakeFiles/ros2_qt_display.dir/all] 错误 2
gmake: *** [Makefile:146：all] 错误 2
---

请问这是怎么回事呢，我用的VScode，请各位大佬提醒一下，谢谢