1， AppDelegate.swift 文件

import UIKit
@UIApplicationMain
class AppDelegate: UIResponder, UIApplicationDelegate,JPUSHRegisterDelegate {
    
    var window: UIWindow?
    var myTabarVc=MyTabBarController()
    
    func application(_ application: UIApplication, didFinishLaunchingWithOptions launchOptions: [UIApplicationLaunchOptionsKey: Any]?) -> Bool {
       window?.rootViewController = myTabarVc
       window?.makeKeyAndVisible()
    }

}

2， MyTabBarController.swift 文件

viewDidLoad() {
     // 添加子控制器
     addChildViewControllers()
}

// 添加子控制器
    private func addChildViewControllers() {
        
        setChildViewController(HomeController(), title: "home", imageName: "home")
        setChildViewController(MarketViewController(), title: "market", imageName: "market")
        setChildViewController(MineViewController(), title: "mine", imageName: "mine")
        
    }
    
    /// 初始化子控制器
    private func setChildViewController(_ childController: UIViewController, title: String, imageName: String) {
        // 设置 tabbar 文字和图片
        childController.tabBarItem.image = UIImage(named: imageName + "_tabbar")
        childController.tabBarItem.selectedImage = UIImage(named: imageName + "_tabbar_press")
        
        childController.title = title
        // 添加导航控制器为 TabBarController 的子控制器
        let navVc = MyNavigationController(rootViewController: childController)
        
        addChildViewController(navVc)
    }

3，MyNavigationController.swift 文件

import UIKit
class MyNavigationController: UINavigationController,UINavigationControllerDelegate,UIGestureRecognizerDelegate {
    
    override func viewDidLoad() {
        super.viewDidLoad()
        
        //导航栏背景颜色
        UINavigationBar.appearance().isTranslucent = false
        UINavigationBar.appearance().barTintColor =  UIColor.white
        
        //导航标题文字
        UINavigationBar.appearance().titleTextAttributes = [
            NSAttributedStringKey.foregroundColor : UIColor.white,
            NSAttributedStringKey.font : UIFont.systemFont(ofSize: 19)
        ]
        
        //添加手势代理
        self.interactivePopGestureRecognizer?.delegate = self
        self.delegate = self
    }
    
    override func pushViewController(_ viewController: UIViewController, animated: Bool) {
        if self.viewControllers.count > 0 {
            //添加手势识别
            self.interactivePopGestureRecognizer?.isEnabled = true
        }
         //是否开启动画由传入决定，不会造成冲突
        super.pushViewController(viewController, animated: animated)
    }
    
    func navigationController(_ navigationController: UINavigationController, didShow viewController: UIViewController, animated: Bool) {
        if navigationController.viewControllers.count == 1 {
            self.interactivePopGestureRecognizer?.isEnabled = false
        }
    }
}