In the last chapter, we discussed the integration of robotic hardware components and software packages for performing autonomous navigation. After the integration, the next step is to build a GUI to control the robot. We are building a GUI that can act as a trigger for the underlying ROS commands. Instead of running all the commands on the Terminal, the user can work with the GUI buttons. The GUI we are going to design is for a typical hotel room with nine tables. The user can set a table position in the map of the hotel room and command the robot to go to a particular table to deliver food. After delivering the food, the user can command the robot to go to its home position.

The following topics will be covered in the chapter:

• Installing Qt on Ubuntu
• Introduction to PyQt and PySide
• Introduction to Qt Designer
• Qt signals and slots
• Converting a Qt UI file to a Python file
• Working with the ChefBot GUI application
• Introduction to rqt and its features