text: #include "widget.h"
  #include "ui_widget.h"
  
  
  
  #define garage_1_x 3.02
  #define garage_1_y -1.01
  #define garage_1_z -0.67
  #define garage_1_w 0.75
  
  #define garage_2_x 2.73
  #define garage_2_y -1.07
  #define garage_2_z -0.67
  #define garage_2_w 0.75
  
  #define garage_3_x 0.09
  #define garage_3_y -1.68
  #define garage_3_z 0.75
  #define garage_3_w 0.66
  
  #define garage_4_x -0.21
  #define garage_4_y -1.72
  #define garage_4_z 0.75
  #define garage_4_w 0.66
  
  Widget::Widget(QWidget *parent) :
      QWidget(parent),
      ui(new Ui::Widget),
      goal_is_null(true)
  {
  
      QFrame *frame=new QFrame(this,Qt::Widget);//在头文件中定义frame
  
      frame->setObjectName("myframe");
  
      frame->resize(476,581);
  
      frame->setStyleSheet("QFrame#myframe{border-image:url(/home/ubuntu/1.jpg)}");
  
      ui->setupUi(this);
  }
  
  Widget::~Widget()
  {
      delete ui;
  }
  
  void Widget::on_pushButton_clicked()
  {
      // if(!goal_is_null)
      // {
      //   ac.cancelGoal();
      //   goal_is_null = false;
      // }
      // current_goal.target_pose.header.frame_id = "map";
      // current_goal.target_pose.header.stamp = ros::Time::now();
      // current_goal.target_pose.pose.position.x = garage_1_x;
      // current_goal.target_pose.pose.position.y = garage_1_y;
      // current_goal.target_pose.pose.orientation.z = garage_1_z;
      // current_goal.target_pose.pose.orientation.w = garage_1_w;
  
  
      // ROS_INFO("garage_1");
      // ac.sendGoal(current_goal);
  }
  
  void Widget::on_pushButton_2_clicked()
  {
  
      //  if(!goal_is_null)
      // {
      //   ac.cancelGoal();
      //   goal_is_null = false;
      // }
      // current_goal.target_pose.header.frame_id = "map";
      // current_goal.target_pose.header.stamp = ros::Time::now();
      // current_goal.target_pose.pose.position.x = garage_2_x;
      // current_goal.target_pose.pose.position.y = garage_2_y;
      // current_goal.target_pose.pose.orientation.z = garage_2_z;
      // current_goal.target_pose.pose.orientation.w = garage_2_w;
  
      // ROS_INFO("garage_2");
      // ac.sendGoal(current_goal);
  }
  
  
  void Widget::on_pushButton_3_clicked()
  {
  
      //  if(!goal_is_null)
      // {
      //   ac.cancelGoal();
      //   goal_is_null = false;
      // }
      // current_goal.target_pose.header.frame_id = "map";
      // current_goal.target_pose.header.stamp = ros::Time::now();
      // current_goal.target_pose.pose.position.x = garage_3_x;
      // current_goal.target_pose.pose.position.y = garage_3_y;
      // current_goal.target_pose.pose.orientation.z = garage_3_z;
      // current_goal.target_pose.pose.orientation.w = garage_3_w;
  
      // ROS_INFO("garage_3");
      // ac.sendGoal(current_goal);
  
  }
  
  void Widget::on_pushButton_4_clicked()
  {
  
      //  if(!goal_is_null)
      // {
      //   ac.cancelGoal();
      //   goal_is_null = false;
      // }
      // current_goal.target_pose.header.frame_id = "map";
      // current_goal.target_pose.header.stamp = ros::Time::now();
      // current_goal.target_pose.pose.position.x = garage_4_x;
      // current_goal.target_pose.pose.position.y = garage_4_y;
      // current_goal.target_pose.pose.orientation.z = garage_4_z;
      // current_goal.target_pose.pose.orientation.w = garage_4_w;
  
      // ROS_INFO("garage_4");
      // ac.sendGoal(current_goal);
  
  }
  