Using QT in a ROS Catkin Package

This post is a brief account of how to compile a QT GUI as part of a ROS catkin package. I spent the past week migrating a ROS project to the latest release, ROS Groovy. A major change with this release is the deprecation of the build system rosbuild in favor of a new build system, catkin. Catkin is a light-weight wrapper for CMake. Overall, the migration went smoothly, but it took significantly longer than anticipated (which I probably should have anticipated). One sticking point was compiling our Operator Control Station (OCS) GUI, designed in QT4. The problems were related to the removal of QT-specific rosbuild macros for the CMakeLists.txt and the use of out of source builds by catkin. The Setup I used qt_ros to generate a QT form, an accompanying QMainWindow derived class, and a ROS interface class as the basis for the OCS. The original CMakeLists.txt was based on rosbuild and modifications for the transition to catkin. I relied on a variety...
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First brew of the year

The Brew I bottled the first brew this season before I left for winter break. When I returned to Atlanta, it was refrigerated and ready to drink. It started as a Mr. Beer Oktoberfest, but I decided to spice it up a little because the base brews tend to lack flavor. To keep with the season, I added 2 tbsp of ground cinnamon and tbsp ground nutmeg to the keg just before adding yeast. In hind sight, I should have used while cinnamon sticks and partly ground nutmeg in a muslin sack and removed them before bottling. Either way, the mixture fermented for about 4 weeks. I chose to let it ferment that long because the average temperature was around 60 deg F. During the bottling process, I tasted the beer, and immediately regretted adding the spices. There was a strange bitter aftertaste that was definitely not hops, and similar to the dry bitterness of a black tea steeped way too long. Not a...
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