feat: support both qt5 and qt6

rviz2/CMakeLists.txt

@@ -18,24 +18,25 @@ find_package(rviz_common REQUIRED)
 
 find_package(rviz_ogre_vendor REQUIRED)
 
-find_package(Qt5 REQUIRED COMPONENTS Widgets)
+find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Widgets)
+find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets)
 # TODO(wjwwood): this block is to setup the windeployqt tool, could be removed later.
-if(Qt5_FOUND AND WIN32 AND TARGET Qt5::qmake AND NOT TARGET Qt5::windeployqt)
-  get_target_property(_qt5_qmake_location Qt5::qmake IMPORTED_LOCATION)
+if(Qt${QT_VERSION_MAJOR}_FOUND AND WIN32 AND TARGET Qt${QT_VERSION_MAJOR}::qmake AND NOT TARGET Qt${QT_VERSION_MAJOR}::windeployqt)
+  get_target_property(_qt_qmake_location Qt${QT_VERSION_MAJOR}::qmake IMPORTED_LOCATION)
 
   execute_process(
-    COMMAND "${_qt5_qmake_location}" -query QT_INSTALL_PREFIX
+    COMMAND "${_qt_qmake_location}" -query QT${QT_VERSION_MAJOR}_INSTALL_PREFIX
     RESULT_VARIABLE return_code
-    OUTPUT_VARIABLE qt5_install_prefix
+    OUTPUT_VARIABLE qt_install_prefix
     OUTPUT_STRIP_TRAILING_WHITESPACE
   )
 
-  set(imported_location "${qt5_install_prefix}/bin/windeployqt.exe")
+  set(imported_location "${qt_install_prefix}/bin/windeployqt.exe")
 
   if(EXISTS ${imported_location})
-    add_executable(Qt5::windeployqt IMPORTED)
+    add_executable(Qt${QT_VERSION_MAJOR}::windeployqt IMPORTED)
 
-    set_target_properties(Qt5::windeployqt PROPERTIES
+    set_target_properties(Qt${QT_VERSION_MAJOR}::windeployqt PROPERTIES
       IMPORTED_LOCATION ${imported_location}
     )
   endif()
@@ -48,21 +49,21 @@ target_link_libraries(${PROJECT_NAME}
   rviz_common::rviz_common
   rviz_ogre_vendor::OgreMain
   rviz_ogre_vendor::OgreOverlay
-  Qt5::Widgets
+  Qt${QT_VERSION_MAJOR}::Widgets
 )
 
 # TODO(wjwwood): find a way to make this optional or to run without "deploying" the
 #                necessary dlls and stuff to the bin folder.
 #                see:
 # https://stackoverflow.com/questions/41193584/deploy-all-qt-dependencies-when-building#41199492
-if(TARGET Qt5::windeployqt)
+if(TARGET Qt${QT_VERSION_MAJOR}::windeployqt)
   # execute windeployqt in a tmp directory after build
   add_custom_command(TARGET ${PROJECT_NAME}
     POST_BUILD
     COMMAND ${CMAKE_COMMAND} -E remove_directory "${CMAKE_CURRENT_BINARY_DIR}/windeployqt"
-    COMMAND set PATH=%PATH%$<SEMICOLON>${qt5_install_prefix}/bin
+    COMMAND set PATH=%PATH%$<SEMICOLON>${qt_install_prefix}/bin
     COMMAND
-    Qt5::windeployqt
+    Qt${QT_VERSION_MAJOR}::windeployqt
     --dir "${CMAKE_CURRENT_BINARY_DIR}/windeployqt"
     "$<TARGET_FILE_DIR:${PROJECT_NAME}>/$<TARGET_FILE_NAME:${PROJECT_NAME}>"
   )

rviz_common/CMakeLists.txt

@@ -31,7 +31,14 @@ find_package(ament_cmake REQUIRED)
 # do find_package(rviz_ogre_vendor) first to make sure the custom OGRE is found
 find_package(rviz_ogre_vendor REQUIRED)
 
-find_package(Qt5 REQUIRED COMPONENTS Widgets)
+find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS 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()
 
 find_package(geometry_msgs REQUIRED)
 find_package(pluginlib REQUIRED)
@@ -131,7 +138,7 @@ set(rviz_common_headers_to_moc
 )
 
 foreach(header "${rviz_common_headers_to_moc}")
-  qt5_wrap_cpp(rviz_common_moc_files "${header}")
+  qt_wrap_cpp(rviz_common_moc_files "${header}")
 endforeach()
 
 set(rviz_common_source_files
@@ -239,7 +246,7 @@ target_link_libraries(rviz_common PUBLIC
   ${geometry_msgs_TARGETS}
   message_filters::message_filters
   pluginlib::pluginlib
-  Qt5::Widgets
+  Qt${QT_VERSION_MAJOR}::Widgets
   rclcpp::rclcpp
   rviz_ogre_vendor::OgreMain
   rviz_ogre_vendor::OgreOverlay
@@ -265,7 +272,7 @@ ament_export_dependencies(
   geometry_msgs
   message_filters
   pluginlib
-  Qt5
+  Qt${QT_VERSION_MAJOR}
   rclcpp
   rviz_ogre_vendor
   rviz_rendering
@@ -324,10 +331,10 @@ if(BUILD_TESTING)
   find_package(ament_cmake_gmock REQUIRED)
   find_package(ament_cmake_gtest REQUIRED)
 
-  qt5_wrap_cpp(rviz_common_test_moc_files test/mock_display.hpp)
-  qt5_wrap_cpp(rviz_common_test_moc_files test/mock_property_change_receiver.hpp)
+  qt_wrap_cpp(rviz_common_test_moc_files test/mock_display.hpp)
+  qt_wrap_cpp(rviz_common_test_moc_files test/mock_property_change_receiver.hpp)
 
-  qt5_wrap_cpp(rviz_common_test_frame_manager_moc src/rviz_common/frame_manager.hpp)
+  qt_wrap_cpp(rviz_common_test_frame_manager_moc src/rviz_common/frame_manager.hpp)
 
   ament_add_gmock(display_factory_test
     test/display_factory_test.cpp
@@ -336,7 +343,7 @@ if(BUILD_TESTING)
   if(TARGET display_factory_test)
     target_compile_definitions(display_factory_test PUBLIC
       -D_TEST_PLUGIN_DESCRIPTIONS="${CMAKE_CURRENT_SOURCE_DIR}")
-    target_link_libraries(display_factory_test rviz_common Qt5::Widgets)
+    target_link_libraries(display_factory_test rviz_common Qt${QT_VERSION_MAJOR}::Widgets)
   endif()
 
   ament_add_gmock(frame_manager_test
@@ -445,7 +452,7 @@ if(BUILD_TESTING)
     test/mock_property_change_receiver.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET rviz_common_display_test)
-    target_link_libraries(rviz_common_display_test rviz_common Qt5::Widgets yaml-cpp::yaml-cpp)
+    target_link_libraries(rviz_common_display_test rviz_common Qt${QT_VERSION_MAJOR}::Widgets yaml-cpp::yaml-cpp)
   endif()
 endif()
 

rviz_common/include/rviz_common/properties/ros_topic_property.hpp

@@ -31,6 +31,8 @@
 
 #include <string>
 
+#include <QRegularExpression>  // NOLINT: cpplint is unable to handle the include order here
+
 #include "rviz_common/properties/editable_enum_property.hpp"
 #include "rviz_common/ros_integration/ros_node_abstraction_iface.hpp"
 #include "rviz_common/visibility_control.hpp"
@@ -89,20 +91,20 @@ class RVIZ_COMMON_PUBLIC RosFilteredTopicProperty
     const QString & default_value = QString(),
     const QString & message_type = QString(),
     const QString & description = QString(),
-    const QRegExp & filter = QRegExp(),
+    const QRegularExpression & filter = QRegularExpression(),
     Property * parent = 0,
     const char * changed_slot = 0,
     QObject * receiver = 0);
 
   void enableFilter(bool enabled);
 
-  QRegExp filter() const;
+  QRegularExpression filter() const;
 
 protected Q_SLOTS:
   void fillTopicList() override;
 
 private:
-  QRegExp filter_;
+  QRegularExpression filter_;
   bool filter_enabled_;
 };
 

rviz_common/rviz_common-extras.cmake

@@ -27,4 +27,5 @@
 
 # find package Qt5 because otherwise using the rviz_common::rviz_common
 # exported target will complain that the Qt5::Widgets target does not exist
-find_package(Qt5 REQUIRED QUIET COMPONENTS Widgets)
+find_package(QT NAMES Qt6 Qt5 QUIET COMPONENTS Widgets)
+find_package(Qt${QT_VERSION_MAJOR} QUIET COMPONENTS Widgets)

rviz_common/src/rviz_common/add_display_dialog.cpp

@@ -46,6 +46,7 @@
 #include <QLabel>  // NOLINT: cpplint is unable to handle the include order here
 #include <QLineEdit>  // NOLINT: cpplint is unable to handle the include order here
 #include <QPushButton>  // NOLINT: cpplint is unable to handle the include order here
+#include <QRegularExpression>  // NOLINT: cpplint is unable to handle the include order here
 #include <QTabWidget>  // NOLINT: cpplint is unable to handle the include order here
 #include <QTextBrowser>  // NOLINT: cpplint is unable to handle the include order here
 #include <QVBoxLayout>  // NOLINT: cpplint is unable to handle the include order here
@@ -590,7 +591,7 @@ void TopicDisplayWidget::findPlugins(DisplayFactory * factory)
       // For now, we assume that all types supported by plugins have the form
       // "<pkg_name>/msg/<type_name>", though in the future zero or more namespaces may be
       // permitted.
-      QRegExp delim("/");
+      QRegularExpression delim("/");
       QStringList topic_type_parts = topic_type.split(delim);
       if (topic_type_parts.size() == 2) {
         topic_type = topic_type_parts.at(0) + "/msg/" + topic_type_parts.at(1);

rviz_common/src/rviz_common/properties/property_tree_model.cpp

@@ -32,6 +32,7 @@
 
 #include <cstdio>
 
+#include <QIODevice>  // NOLINT: cpplint is unable to handle the include order here
 #include <QMimeData>  // NOLINT: cpplint is unable to handle the include order here
 #include <QStringList>  // NOLINT: cpplint is unable to handle the include order here
 

rviz_common/src/rviz_common/properties/ros_topic_property.cpp

@@ -94,7 +94,7 @@ RosFilteredTopicProperty::RosFilteredTopicProperty(
   const QString & default_value,
   const QString & message_type,
   const QString & description,
-  const QRegExp & filter,
+  const QRegularExpression & filter,
   Property * parent,
   const char * changed_slot,
   QObject * receiver)
@@ -110,7 +110,7 @@ void RosFilteredTopicProperty::enableFilter(bool enabled)
   fillTopicList();
 }
 
-QRegExp RosFilteredTopicProperty::filter() const
+QRegularExpression RosFilteredTopicProperty::filter() const
 {
   return filter_;
 }

rviz_common/src/rviz_common/tool_manager.cpp

@@ -35,7 +35,7 @@
 
 #include <QKeyEvent>  // NOLINT: cpplint is unable to handle the include order here
 #include <QKeySequence>  // NOLINT: cpplint is unable to handle the include order here
-#include <QRegExp>  // NOLINT: cpplint is unable to handle the include order here
+#include <QRegularExpression>  // NOLINT: cpplint is unable to handle the include order here
 
 #include "rviz_common/logging.hpp"
 
@@ -52,7 +52,7 @@ using rviz_common::properties::PropertyTreeModel;
 
 QString addSpaceToCamelCase(QString input)
 {
-  QRegExp re = QRegExp("([A-Z])([a-z]*)");
+  QRegularExpression re = QRegularExpression("([A-Z])([a-z]*)");
   input.replace(re, " \\1\\2");
   return input.trimmed();
 }

rviz_common/src/rviz_common/visualization_frame.cpp

@@ -42,6 +42,7 @@
 #include <OgreMeshManager.h>
 #include <OgreMaterialManager.h>
 
+#include <QActionGroup>  // NOLINT cpplint cannot handle include order here
 #include <QApplication>  // NOLINT cpplint cannot handle include order here
 #include <QCloseEvent>  // NOLINT cpplint cannot handle include order here
 #include <QDesktopServices>  // NOLINT cpplint cannot handle include order here
@@ -262,7 +263,7 @@ void VisualizationFrame::initialize(
   QWidget * central_widget = new QWidget(this);
   QHBoxLayout * central_layout = new QHBoxLayout;
   central_layout->setSpacing(0);
-  central_layout->setMargin(0);
+  central_layout->setContentsMargins(0, 0, 0, 0);
 
   render_panel_ = new RenderPanel(central_widget);