Update to Qt6 and hope

Author: Stephanie Eng

moveit_ros/visualization/CMakeLists.txt

@@ -10,6 +10,13 @@ moveit_package()
 add_definitions(-DBOOST_MATH_DISABLE_FLOAT128)
 
 find_package(ament_cmake REQUIRED)
+
+find_package(Qt6 REQUIRED Core Widgets)
+set(QT_LIBRARIES Qt6::Widgets)
+macro(QT_WRAP_UI)
+  qt6_wrap_ui(${ARGN})
+endmacro()
+
 find_package(class_loader REQUIRED)
 find_package(geometric_shapes REQUIRED)
 find_package(interactive_markers REQUIRED)
@@ -38,13 +45,6 @@ find_package(rviz_ogre_vendor REQUIRED)
 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

@@ -4,7 +4,7 @@ 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
+qt6_wrap_ui(UIC_FILES src/ui/motion_planning_rviz_plugin_frame.ui
             src/ui/motion_planning_rviz_plugin_frame_joints.ui)
 
 include_directories(${CMAKE_CURRENT_BINARY_DIR})
@@ -38,7 +38,7 @@ ament_target_dependencies(
   moveit_ros_warehouse
   rviz2
   rviz_ogre_vendor
-  Qt5
+  Qt6
   pluginlib)
 target_include_directories(moveit_motion_planning_rviz_plugin_core
                            PRIVATE "${OGRE_PREFIX_DIR}/include")

moveit_ros/visualization/package.xml

@@ -25,8 +25,7 @@
 
   <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>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 Qt6::Widgets)
 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 Qt6::Widgets)
 
 ament_target_dependencies(
   moveit_rviz_plugin_render_tools