text: #include "../include/xtdgroundcontrol/formrviz.h"
  #include "ui_formrviz.h"
  
  FormRviz::FormRviz(QWidget *parent) :
      QWidget(parent),
      ui(new Ui::FormRviz)
  {
      ui->setupUi(this);
      ui->edit_addtopic->setReadOnly(true);
      connect(ui->button_image_addtopic,SIGNAL(clicked()),this,SLOT(slot_btn_addtopic_clicked()));
      connect(ui->button_image_tf,SIGNAL(clicked()),this,SLOT(slot_btn_other_clicked()));
      connect(ui->button_image_camera,SIGNAL(clicked()),this,SLOT(slot_btn_other_clicked()));
      connect(ui->button_image_laser,SIGNAL(clicked()),this,SLOT(slot_btn_other_clicked()));
  }
  
  FormRviz::~FormRviz()
  {
      delete ui;
  }
  
  
  void FormRviz::on_button_image_cancel_clicked()
  {
      this->hide();
  }
  
  void FormRviz::on_button_image_ok_clicked()
  {
      if (ui->button_image_camera->isChecked())
      {
          emit rviz_to_main("image");
          this->hide();
      }
      else if(ui->button_image_tf->isChecked())
      {
          emit rviz_to_main("tf");
          this->hide();
      }
      else if(ui->button_image_laser->isChecked())
      {
          emit rviz_to_main("laser");
          this->hide();
      }
      else if(ui->button_image_addtopic->isChecked())
      {
          QString topic = ui->edit_addtopic->text();
          emit rviz_to_main(topic);
          this->hide();
      }
      else
          this->hide();
  
  
  }
  void FormRviz::slot_btn_addtopic_clicked()
  {
      ui->edit_addtopic->setReadOnly(false);
  }
  void FormRviz::slot_btn_other_clicked()
  {
      ui->edit_addtopic->setReadOnly(true);
  }
  