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qt6 Support #697

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5a82c8c
qt6
mosfet80 Jun 23, 2025
49ad944
fix trailing whitespace
mosfet80 Jun 25, 2025
4c53b61
fix trailing whitespace
mosfet80 Jun 25, 2025
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18 changes: 7 additions & 11 deletions rviz_marker_tools/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -5,16 +5,11 @@ find_package(ament_cmake REQUIRED)
find_package(moveit_common REQUIRED)
moveit_package()

set(THIS_PACKAGE_INCLUDE_DEPENDS
eigen3_cmake_module
Eigen3
geometry_msgs
rclcpp
tf2_eigen
urdfdom_headers
std_msgs
visualization_msgs
)
find_package(urdfdom_headers REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(tf2_eigen REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(visualization_msgs REQUIRED)

foreach(dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
find_package(${dependency} REQUIRED)
Expand All @@ -28,7 +23,8 @@ add_library(${PROJECT_NAME} SHARED
src/marker_creation.cpp
)

ament_target_dependencies(${PROJECT_NAME} ${THIS_PACKAGE_INCLUDE_DEPENDS})
target_link_libraries(${PROJECT_NAME}
Eigen3::Eigen tf2_eigen::tf2_eigen tf2_geometry_msgs::tf2_geometry_msgs urdfdom_headers::urdfdom_headers ${visualization_msgs_TARGETS})
target_include_directories(${PROJECT_NAME}
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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29 changes: 17 additions & 12 deletions visualization/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,5 +1,8 @@
cmake_minimum_required(VERSION 3.16)
project(moveit_task_constructor_visualization)
# Qt Stuff
find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Widgets)
find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets)

find_package(ament_cmake REQUIRED)
find_package(fmt REQUIRED)
Expand All @@ -18,12 +21,13 @@ find_package(rviz_ogre_vendor REQUIRED)
# definition needed for boost/math/constants/constants.hpp included by Ogre to compile
add_definitions(-DBOOST_MATH_DISABLE_FLOAT128)

# Qt Stuff
find_package(Qt5 REQUIRED COMPONENTS Core Widgets)
set(QT_LIBRARIES Qt5::Widgets)
macro(qt_wrap_ui)
qt5_wrap_ui(${ARGN})
endmacro()


function(qt_wrap_cpp out)
qt_wrap_cpp(_sources ${ARGN})
set("${out}" ${_sources} PARENT_SCOPE)
endfunction()


set(CMAKE_INCLUDE_CURRENT_DIR ON)
set(CMAKE_AUTOMOC ON)
Expand All @@ -41,12 +45,13 @@ install(DIRECTORY icons DESTINATION share)
pluginlib_export_plugin_description_file(rviz_common motion_planning_tasks_rviz_plugin_description.xml)

ament_export_include_directories(include)
ament_export_libraries(motion_planning_tasks_utils
motion_planning_tasks_properties
motion_planning_tasks_rviz_plugin
moveit_task_visualization_tools
)
ament_export_dependencies(ament_cmake)





ament_export_dependencies(Core5Compat)
#ament_export_dependencies(ament_cmake)
ament_export_dependencies(Boost)
ament_export_dependencies(moveit_core)
ament_export_dependencies(moveit_ros_visualization)
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15 changes: 8 additions & 7 deletions visualization/motion_planning_tasks/properties/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -15,17 +15,18 @@ endif()

add_library(${MOVEIT_LIB_NAME} SHARED ${SOURCES})

target_link_libraries(${MOVEIT_LIB_NAME}
${QT_LIBRARIES} ${YAML_LIBRARIES}
)
target_link_libraries(motion_planning_tasks_properties PUBLIC
moveit_task_constructor_core::moveit_task_constructor_core
moveit_task_constructor_core::moveit_task_constructor_core_stage_plugins
moveit_task_constructor_core::moveit_task_constructor_core_stages
rviz_common::rviz_common
)

target_include_directories(${MOVEIT_LIB_NAME}
PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/..>
PRIVATE ${YAML_INCLUDE_DIRS}
)
ament_target_dependencies(${MOVEIT_LIB_NAME}
moveit_task_constructor_core
rviz_common
)


install(TARGETS ${MOVEIT_LIB_NAME}
EXPORT export_${MOVEIT_LIB_NAME}
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7 changes: 5 additions & 2 deletions visualization/motion_planning_tasks/utils/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
set(MOVEIT_LIB_NAME motion_planning_tasks_utils)

find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Core Widgets)
find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Core Widgets)
set(SOURCES
flat_merge_proxy_model.cpp
tree_merge_proxy_model.cpp
Expand All @@ -8,7 +9,9 @@ set(SOURCES
add_library(${MOVEIT_LIB_NAME} SHARED ${SOURCES})

target_link_libraries(${MOVEIT_LIB_NAME}
${QT_LIBRARIES}
rclcpp::rclcpp
Qt${QT_VERSION_MAJOR}::Widgets
Qt${QT_VERSION_MAJOR}::Core
)
target_include_directories(${MOVEIT_LIB_NAME}
PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/..>
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61 changes: 45 additions & 16 deletions visualization/visualization_tools/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,5 +1,9 @@
set(MOVEIT_LIB_NAME moveit_task_visualization_tools)

find_package(moveit_core REQUIRED)
find_package(rviz_default_plugins REQUIRED)
find_package(moveit_ros_visualization REQUIRED)
find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Core Widgets)
find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Core Widgets)
set(PROJECT_INCLUDE ${CMAKE_CURRENT_SOURCE_DIR}/include/moveit/visualization_tools)

set(HEADERS
Expand All @@ -18,24 +22,49 @@ add_library(${MOVEIT_LIB_NAME} SHARED
src/task_solution_visualization.cpp
)
set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
target_link_libraries(${MOVEIT_LIB_NAME}
${QT_LIBRARIES}
rviz_ogre_vendor::OgreMain
fmt::fmt
)
target_link_libraries(moveit_task_visualization_tools PUBLIC
${moveit_task_constructor_msgs_TARGETS}
moveit_core::moveit_collision_detection
moveit_core::moveit_collision_detection_bullet
moveit_core::moveit_collision_detection_fcl
moveit_core::moveit_collision_distance_field
moveit_core::moveit_constraint_samplers
moveit_core::moveit_distance_field
moveit_core::moveit_dynamics_solver
moveit_core::moveit_exceptions
moveit_core::moveit_kinematic_constraints
moveit_core::moveit_kinematics_base
moveit_core::moveit_kinematics_metrics
moveit_core::moveit_macros
moveit_core::moveit_planning_interface
moveit_core::moveit_planning_scene
moveit_core::moveit_robot_model
moveit_core::moveit_robot_state
moveit_core::moveit_robot_trajectory
moveit_core::moveit_smoothing_base
moveit_core::moveit_test_utils
moveit_core::moveit_trajectory_processing
moveit_core::moveit_transforms
moveit_core::moveit_utils
moveit_ros_visualization::moveit_motion_planning_rviz_plugin
moveit_ros_visualization::moveit_motion_planning_rviz_plugin_core
moveit_ros_visualization::moveit_planning_scene_rviz_plugin
moveit_ros_visualization::moveit_planning_scene_rviz_plugin_core
moveit_ros_visualization::moveit_robot_state_rviz_plugin
moveit_ros_visualization::moveit_robot_state_rviz_plugin_core
moveit_ros_visualization::moveit_rviz_plugin_render_tools
moveit_ros_visualization::moveit_trajectory_rviz_plugin
moveit_ros_visualization::moveit_trajectory_rviz_plugin_core
pluginlib::pluginlib
rclcpp::rclcpp
rviz_common::rviz_common
rviz_default_plugins::rviz_default_plugins
)

target_include_directories(${MOVEIT_LIB_NAME}
PUBLIC include
)
ament_target_dependencies(${MOVEIT_LIB_NAME}
Boost
pluginlib
moveit_task_constructor_msgs
moveit_ros_visualization
moveit_core
rclcpp
rviz_common
rviz_default_plugins
)


install(DIRECTORY include/ DESTINATION include)

Expand Down