qnodedialog.h

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#ifndef QNODEDIALOG_H
#define QNODEDIALOG_H

#include <QDialog>
#include <ros/ros.h>

namespace Ui
{
class QNodeDialog;
}

class QNodeDialog : public QDialog
{
  Q_OBJECT

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

  static bool Connect(const std::string& ros_master_uri, const std::string& hostname = "localhost");

private slots:
  void on_checkBoxUseEnvironment_toggled(bool checked);

  void on_pushButtonConnect_pressed();

  void on_pushButtonCancel_pressed();

private:
  Ui::QNodeDialog* ui;
};

class RosManager
{
private:
  ros::NodeHandlePtr _node;
  RosManager() : _node(nullptr)
  {
  }
  void stopROS();

public:
  static RosManager& get();
  ~RosManager();
  static ros::NodeHandlePtr getNode();
};

#endif  // QNODEDIALOG_H