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fix compile with Qt6 #282

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ea17646
Qt6 fix
mosfet80 Jun 23, 2025
de3e489
Update CMakeLists.txt
mosfet80 Jan 7, 2026
dca593f
Merge branch 'ros2' into qt6
nbbrooks Jan 15, 2026
5824f63
Remove Qt5::Widgets from target link libraries
mosfet80 Jan 15, 2026
cd86454
Fix indentation in CMakeLists.txt for Qt version check
mosfet80 Jan 16, 2026
5fc0c86
update package.zml
ahcorde Jan 19, 2026
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57 changes: 45 additions & 12 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,9 +1,9 @@
cmake_minimum_required(VERSION 3.20)
project(rviz_visual_tools)

# Default to C++14
# Default to C++17
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD 17)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
Expand Down Expand Up @@ -40,7 +40,21 @@ find_package(rviz_common REQUIRED)
find_package(rviz_rendering REQUIRED)
find_package(rviz_default_plugins REQUIRED)

find_package(Qt5 REQUIRED COMPONENTS Widgets)

find_package(QT NAMES Qt6 Qt5 COMPONENTS Test Widgets)

if(Qt${QT_VERSION_MAJOR} STREQUAL "6")
find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Test Widgets Core5Compat)
else()#Qt5
find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Test Widgets)
if(${QT_VERSION} VERSION_LESS 5.15.0)
function(qt_wrap_cpp out)
qt5_wrap_cpp(_sources ${ARGN})
set("${out}" ${_sources} PARENT_SCOPE)
endfunction()
endif()
endif()
Comment on lines 44 to 56
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@nbbrooks nbbrooks Jan 15, 2026 •
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Suggested change
find_package(QT NAMES Qt6 Qt5 COMPONENTS Test Widgets)
if(Qt${QT_VERSION_MAJOR} STREQUAL "6")
find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Test Widgets Core5Compat)
if(${QT_VERSION} VERSION_LESS 5.15.0)
function(qt_wrap_cpp out)
qt5_wrap_cpp(_sources ${ARGN})
set("${out}" ${_sources} PARENT_SCOPE)
endfunction()
endif()
else()#Qt5
find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Test Widgets)
endif()
find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Test Widgets)
find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets)
if(${QT_VERSION} VERSION_LESS 5.15.0)
function(qt_wrap_cpp out)
qt5_wrap_cpp(_sources ${ARGN})
set("${out}" ${_sources} PARENT_SCOPE)
endfunction()
endif()
if(Qt${QT_VERSION_MAJOR} STREQUAL "6")
find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Core5Compat)
endif()

CI problem might be here. if(${QT_VERSION} VERSION_LESS 5.15.0) is inside the if(Qt${QT_VERSION_MAJOR} STREQUAL "6") block.

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@nbbrooks nbbrooks Jan 15, 2026

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Adding the explicit check might just move the failure to find_package time, as we have nothing in package.xml to selectively install stuff like libqt6-core and libqt6core5compat6-dev

I don't know enough about qt5 and qt6 support to know what should get changed there though.

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@nbbrooks nbbrooks Jan 16, 2026

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Nevermind about the explciit check, I do see it is in find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Test Widgets Core5Compat) already

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@nbbrooks nbbrooks Jan 16, 2026

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But it is inside the incorrect if(Qt${QT_VERSION_MAJOR} STREQUAL "6") syntax. OK let's see what my suggested change does. Prob move the error to find_package time. And then we may need to figure out how to support selective package.xml dependencies based on ROS version (a topic that came up in the December community meeting)



## Qt5 boilerplate options from http://doc.qt.io/qt-5/cmake-manual.html
set(CMAKE_INCLUDE_CURRENT_DIR ON)
Expand Down Expand Up @@ -83,8 +97,12 @@ target_link_libraries(${PROJECT_NAME}_gui PUBLIC
rviz_rendering::rviz_rendering
rviz_default_plugins::rviz_default_plugins
rviz_ogre_vendor::OgreMain
Qt5::Widgets
)
if(Qt${QT_VERSION_MAJOR} STREQUAL "6")
target_link_libraries(${PROJECT_NAME}_gui PUBLIC Qt${QT_VERSION_MAJOR}::Widgets Qt${QT_VERSION_MAJOR}::Core5Compat ${PROJECT_NAME}_remote_control)
elseif()
target_link_libraries(${PROJECT_NAME}_gui PUBLIC Qt${QT_VERSION_MAJOR}::Widgets ${PROJECT_NAME}_remote_control)
endif()

# prevent pluginlib from using boost
target_compile_definitions(${PROJECT_NAME}_gui PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
Expand Down Expand Up @@ -118,20 +136,32 @@ add_library(${PROJECT_NAME} SHARED
src/tf_visual_tools.cpp
)
target_compile_definitions(${PROJECT_NAME} PRIVATE _USE_MATH_DEFINES)
target_link_libraries(${PROJECT_NAME}

set(${PROJECT_NAME}_LINK_LIBRARIES
${PROJECT_NAME}_remote_control
Eigen3::Eigen
rclcpp::rclcpp
rclcpp_components::component
${visualization_msgs_TARGETS}
tf2::tf2
tf2_eigen::tf2_eigen
${tf2_geometry_msgs_TARGETS}
${sensor_msgs_TARGETS}
${shape_msgs_TARGETS}
${std_msgs_TARGETS}
${trajectory_msgs_TARGETS}
${visualization_msgs_TARGETS}
eigen_stl_containers::eigen_stl_containers
rclcpp::rclcpp
rclcpp_components::component
rclcpp_components::component_manager
sensor_msgs::sensor_msgs_library
tf2::tf2
tf2_eigen::tf2_eigen
tf2_geometry_msgs::tf2_geometry_msgs
)

if(QT_VERSION_MAJOR STREQUAL "6")
list(APPEND ${PROJECT_NAME}_LINK_LIBRARIES
Qt6::Core5Compat
)
endif()

target_link_libraries(${PROJECT_NAME}
${${PROJECT_NAME}_LINK_LIBRARIES}
)

# Library
Expand All @@ -157,6 +187,7 @@ add_executable(${PROJECT_NAME}_demo
target_compile_definitions(${PROJECT_NAME}_demo PRIVATE _USE_MATH_DEFINES)
target_link_libraries(${PROJECT_NAME}_demo
${PROJECT_NAME}
${PROJECT_NAME}_remote_control
rclcpp::rclcpp
${geometry_msgs_TARGETS}
${std_msgs_TARGETS}
Expand All @@ -167,6 +198,7 @@ add_executable(${PROJECT_NAME}_imarker_simple_demo
src/imarker_simple_demo.cpp)
target_compile_definitions(${PROJECT_NAME}_imarker_simple_demo PRIVATE _USE_MATH_DEFINES)
target_link_libraries(${PROJECT_NAME}_imarker_simple_demo
${PROJECT_NAME}_remote_control
${PROJECT_NAME}_imarker_simple
rclcpp::rclcpp
)
Expand Down Expand Up @@ -242,6 +274,7 @@ if (BUILD_TESTING)
target_compile_definitions(${PROJECT_NAME}_rvt_test PRIVATE _USE_MATH_DEFINES)
target_link_libraries(${PROJECT_NAME}_rvt_test
${PROJECT_NAME}
${PROJECT_NAME}_remote_control
rclcpp::rclcpp
)
endif()
Expand Down
2 changes: 1 addition & 1 deletion include/rviz_visual_tools/tf_visual_tools.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -45,7 +45,7 @@
// Eigen
#include <Eigen/Geometry>

#include <tf2_ros/transform_broadcaster.h>
#include <tf2_ros/transform_broadcaster.hpp>

namespace rviz_visual_tools
{
Expand Down
4 changes: 2 additions & 2 deletions package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -39,11 +39,11 @@
<depend>std_msgs</depend>
<depend>trajectory_msgs</depend>

<build_depend>qtbase5-dev</build_depend>
<build_depend>qt6-base-dev</build_depend>
<build_depend>eigen</build_depend>

<build_export_depend>eigen</build_export_depend>
<exec_depend>libqt5-widgets</exec_depend>
<exec_depend>libqt6widgets6t64</exec_depend>

<!-- Launch files -->
<exec_depend>ament_index_python</exec_depend>
Expand Down
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