Use Qt6 on Rolling and newer distros (#3707)

* Adopt QT_VERSION_MAJOR approach used in rvzi2

* Start using <depend> check on ROS_DISTRO to conditionally require qt5 or qt6 depending on ROS_DISTRO

* Explicitly prefer Qt6 when Qt6 and Qt5 are both present to work around the default CMake ascending ordering resolving to Qt5.
- For Rolling, Qt6 should be used if both are present
- For Jazzy and Kilted, Qt5 should be used if both are present, but this will not cover that edge case

* Adopt Timple's approach ros2/rviz#1635 (comment) for supporting edge case for Jazzy/Kilted with both Qt6 and Qt5, where Qt5 should be picked.

* Set QT_DIR to fix transitive dependencies that should resolve to Qt6 but incorrectly resolve to Qt5 due to default cmake order resolution

Author: nbbrooks

moveit_ros/visualization/CMakeLists.txt

@@ -30,21 +30,28 @@ find_package(rclpy REQUIRED)
 find_package(rviz2 REQUIRED)
 find_package(tf2_eigen REQUIRED)
 find_package(Eigen3 REQUIRED)
+
+# rviz switched to Qt6 in version 15.1: https://github.com/ros2/rviz/pull/1635
+if(rviz2_VERSION VERSION_GREATER_EQUAL 15.1)
+  find_package(Qt6 REQUIRED COMPONENTS Widgets)
+  set(QT_VERSION_MAJOR 6)
+  # Hint for transitive deps that use find_package(QT NAMES Qt6 Qt5 ...) which
+  # may incorrectly resolve to Qt5 due to CMake's ascending path order
+  set(QT_DIR "${Qt6_DIR}")
+else()
+  find_package(Qt5 REQUIRED COMPONENTS Widgets)
+  set(QT_VERSION_MAJOR 5)
+endif()
+set(QT_LIBRARIES Qt${QT_VERSION_MAJOR}::Widgets)
+set(QT_VERSION_NAME Qt${QT_VERSION_MAJOR})
+
 find_package(rviz_common REQUIRED)
 find_package(rviz_default_plugins REQUIRED)
 find_package(rviz_ogre_vendor REQUIRED)
 
 # Finds Boost Components
 include(ConfigExtras.cmake)
 
-# Qt Stuff
-find_package(Qt5 ${rviz_QT_VERSION} REQUIRED Core Widgets)
-set(QT_LIBRARIES Qt5::Widgets)
-# Delegate to QT5 macro
-macro(QT_WRAP_UI)
-  qt5_wrap_ui(${ARGN})
-endmacro()
-
 set(CMAKE_INCLUDE_CURRENT_DIR ON)
 set(CMAKE_AUTOMOC ON)
 set(CMAKE_AUTORCC ON)

moveit_ros/visualization/motion_planning_rviz_plugin/CMakeLists.txt

@@ -4,8 +4,8 @@ set(HEADERS
     include/moveit/motion_planning_rviz_plugin/motion_planning_frame_joints_widget.hpp
     include/moveit/motion_planning_rviz_plugin/motion_planning_param_widget.hpp
     include/moveit/motion_planning_rviz_plugin/interactive_marker_display.hpp)
-qt5_wrap_ui(UIC_FILES src/ui/motion_planning_rviz_plugin_frame.ui
-            src/ui/motion_planning_rviz_plugin_frame_joints.ui)
+qt_wrap_ui(UIC_FILES src/ui/motion_planning_rviz_plugin_frame.ui
+           src/ui/motion_planning_rviz_plugin_frame_joints.ui)
 
 include_directories(${CMAKE_CURRENT_BINARY_DIR})
 
@@ -38,7 +38,7 @@ ament_target_dependencies(
   moveit_ros_warehouse
   rviz2
   rviz_ogre_vendor
-  Qt5
+  ${QT_VERSION_NAME}
   pluginlib)
 target_include_directories(moveit_motion_planning_rviz_plugin_core
                            PRIVATE "${OGRE_PREFIX_DIR}/include")

moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp

@@ -206,7 +206,7 @@ MotionPlanningFrame::MotionPlanningFrame(MotionPlanningDisplay* pdisplay, rviz_c
   connect(ui_->wsize_y, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
   connect(ui_->wsize_z, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
 
-  QShortcut* copy_object_shortcut = new QShortcut(QKeySequence(Qt::CTRL + Qt::Key_C), ui_->collision_objects_list);
+  QShortcut* copy_object_shortcut = new QShortcut(QKeySequence(Qt::CTRL | Qt::Key_C), ui_->collision_objects_list);
   connect(copy_object_shortcut, SIGNAL(activated()), this, SLOT(copySelectedCollisionObject()));
 
   ui_->reset_db_button->hide();

moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_joints_widget.cpp

@@ -486,7 +486,11 @@ bool JointsWidgetEventFilter::eventFilter(QObject* /*target*/, QEvent* event)
   if (event->type() == QEvent::MouseButtonPress)
   {
     QAbstractItemView* view = qobject_cast<QAbstractItemView*>(parent());
+#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
+    QModelIndex index = view->indexAt(static_cast<QMouseEvent*>(event)->position().toPoint());
+#else
     QModelIndex index = view->indexAt(static_cast<QMouseEvent*>(event)->pos());
+#endif
     if (index.flags() & Qt::ItemIsEditable)  // mouse event on any editable slider?
     {
       view->setCurrentIndex(index);
@@ -529,7 +533,11 @@ void ProgressBarEditor::mousePressEvent(QMouseEvent* event)
 
 void ProgressBarEditor::mouseMoveEvent(QMouseEvent* event)
 {
+#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
+  double v = std::min(max_, std::max(min_, min_ + event->position().x() * (max_ - min_) / width()));
+#else
   double v = std::min(max_, std::max(min_, min_ + event->x() * (max_ - min_) / width()));
+#endif
   if (value_ != v)
   {
     value_ = v;

moveit_ros/visualization/package.xml

@@ -25,8 +25,9 @@
 
   <build_depend>class_loader</build_depend>
   <build_depend>eigen</build_depend>
-  <build_depend>libqt5-opengl-dev</build_depend>
-  <build_depend>qtbase5-dev</build_depend>
+  <build_depend condition="$ROS_DISTRO == humble or $ROS_DISTRO == jazzy or $ROS_DISTRO == kilted">qtbase5-dev</build_depend>
+  <build_depend condition="$ROS_DISTRO == humble or $ROS_DISTRO == jazzy or $ROS_DISTRO == kilted">libqt5-opengl-dev</build_depend>
+  <build_depend condition="$ROS_DISTRO != humble and $ROS_DISTRO != jazzy and $ROS_DISTRO != kilted">qt6-base-dev</build_depend>
 
   <depend>geometric_shapes</depend>
   <depend>interactive_markers</depend>

moveit_ros/visualization/planning_scene_rviz_plugin/CMakeLists.txt

@@ -27,7 +27,7 @@ add_library(moveit_planning_scene_rviz_plugin SHARED src/plugin_init.cpp)
 set_target_properties(moveit_planning_scene_rviz_plugin
                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 target_link_libraries(moveit_planning_scene_rviz_plugin
-                      moveit_planning_scene_rviz_plugin_core Qt5::Widgets)
+                      moveit_planning_scene_rviz_plugin_core ${QT_LIBRARIES})
 ament_target_dependencies(moveit_planning_scene_rviz_plugin pluginlib
                           rviz_ogre_vendor)
 target_include_directories(moveit_planning_scene_rviz_plugin

moveit_ros/visualization/rviz_plugin_render_tools/CMakeLists.txt

@@ -24,7 +24,7 @@ add_library(
 set_target_properties(moveit_rviz_plugin_render_tools
                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 
-target_link_libraries(moveit_rviz_plugin_render_tools Qt5::Widgets)
+target_link_libraries(moveit_rviz_plugin_render_tools ${QT_LIBRARIES})
 
 ament_target_dependencies(
   moveit_rviz_plugin_render_tools

moveit_setup_assistant/moveit_setup_app_plugins/CMakeLists.txt

@@ -8,6 +8,18 @@ moveit_package()
 find_package(ament_cmake REQUIRED)
 find_package(ament_cmake_ros REQUIRED)
 find_package(ament_index_cpp REQUIRED)
+# rviz switched to Qt6 in version 15.1: https://github.com/ros2/rviz/pull/1635
+find_package(rviz2 QUIET)
+if(rviz2_VERSION VERSION_GREATER_EQUAL 15.1)
+  find_package(Qt6 REQUIRED COMPONENTS Core Widgets)
+  set(QT_VERSION_MAJOR 6)
+  # Hint for transitive deps that use find_package(QT NAMES Qt6 Qt5 ...) which
+  # may incorrectly resolve to Qt5 due to CMake's ascending path order
+  set(QT_DIR "${Qt6_DIR}")
+else()
+  find_package(Qt5 REQUIRED COMPONENTS Core Widgets)
+  set(QT_VERSION_MAJOR 5)
+endif()
 find_package(moveit_ros_visualization REQUIRED)
 find_package(moveit_setup_framework REQUIRED)
 find_package(pluginlib REQUIRED)
@@ -17,9 +29,6 @@ find_package(rclcpp REQUIRED)
 set(CMAKE_AUTOMOC ON)
 add_definitions(-DQT_NO_KEYWORDS)
 
-qt5_wrap_cpp(MOC_FILES include/moveit_setup_app_plugins/launches_widget.hpp
-             include/moveit_setup_app_plugins/perception_widget.hpp)
-
 add_library(
   moveit_setup_app_plugins
   src/launches.cpp
@@ -28,7 +37,8 @@ add_library(
   src/perception_config.cpp
   src/perception.cpp
   src/perception_widget.cpp
-  ${MOC_FILES})
+  include/moveit_setup_app_plugins/launches_widget.hpp
+  include/moveit_setup_app_plugins/perception_widget.hpp)
 target_include_directories(
   moveit_setup_app_plugins
   PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>

moveit_setup_assistant/moveit_setup_assistant/CMakeLists.txt

@@ -9,20 +9,30 @@ moveit_package()
 find_package(ament_cmake REQUIRED)
 find_package(ament_index_cpp REQUIRED)
 find_package(Boost REQUIRED program_options)
+# rviz switched to Qt6 in version 15.1: https://github.com/ros2/rviz/pull/1635
+find_package(rviz2 QUIET)
+if(rviz2_VERSION VERSION_GREATER_EQUAL 15.1)
+  find_package(Qt6 REQUIRED COMPONENTS Core Widgets)
+  set(QT_VERSION_MAJOR 6)
+  # Hint for transitive deps that use find_package(QT NAMES Qt6 Qt5 ...) which
+  # may incorrectly resolve to Qt5 due to CMake's ascending path order
+  set(QT_DIR "${Qt6_DIR}")
+else()
+  find_package(Qt5 REQUIRED COMPONENTS Core Widgets)
+  set(QT_VERSION_MAJOR 5)
+endif()
 find_package(moveit_setup_framework REQUIRED)
 find_package(moveit_setup_srdf_plugins REQUIRED)
 find_package(pluginlib REQUIRED)
-find_package(Qt5Core REQUIRED)
-find_package(Qt5Widgets REQUIRED)
 find_package(rclcpp REQUIRED)
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
     ament_index_cpp
     moveit_setup_framework
     moveit_setup_srdf_plugins
     pluginlib
-    Qt5Core
-    Qt5Widgets
+    Qt${QT_VERSION_MAJOR}Core
+    Qt${QT_VERSION_MAJOR}Widgets
     rclcpp)
 
 # Header files that need Qt Moc pre-processing for use with Qt signals, etc:
@@ -32,11 +42,9 @@ set(HEADERS include/moveit_setup_assistant/navigation_widget.hpp
 set(CMAKE_AUTOMOC ON)
 add_definitions(-DQT_NO_KEYWORDS)
 
-qt5_wrap_cpp(MOC_FILES ${HEADERS})
-
 add_executable(
   moveit_setup_assistant src/main.cpp src/setup_assistant_widget.cpp
-                         src/navigation_widget.cpp ${MOC_FILES})
+                         src/navigation_widget.cpp ${HEADERS})
 target_include_directories(
   moveit_setup_assistant
   PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
@@ -53,6 +61,7 @@ target_include_directories(
 
 ament_target_dependencies(moveit_setup_assistant_updater
                           ${THIS_PACKAGE_INCLUDE_DEPENDS})
+target_link_libraries(moveit_setup_assistant_updater ${Boost_LIBRARIES})
 
 set_target_properties(moveit_setup_assistant_updater
                       PROPERTIES OUTPUT_NAME collisions_updater PREFIX "")

moveit_setup_assistant/moveit_setup_assistant/package.xml

@@ -23,7 +23,8 @@
 
   <depend>ament_index_cpp</depend>
   <depend>pluginlib</depend>
-  <depend>qtbase5-dev</depend>
+  <depend condition="$ROS_DISTRO == humble or $ROS_DISTRO == jazzy or $ROS_DISTRO == kilted">qtbase5-dev</depend>
+  <depend condition="$ROS_DISTRO != humble and $ROS_DISTRO != jazzy and $ROS_DISTRO != kilted">qt6-base-dev</depend>
   <depend>rclcpp</depend>
   <depend>moveit_setup_framework</depend>
   <depend>moveit_setup_srdf_plugins</depend> <!-- For collision_updater executable -->