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fix compile with Qt6 #282

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51ec5d8
Replace ament_target_dependencies with target_link_libraries
ahcorde May 22, 2025
bcd5bd7
Qt6 fix
mosfet80 Jun 23, 2025
416af6d
Merge remote-tracking branch 'ahcorde/ahcorde/rolling/replace_ament_t…
mosfet80 Oct 3, 2025
84ef40d
Update tf_visual_tools.cpp
mosfet80 Oct 9, 2025
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120 changes: 63 additions & 57 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 3.5)
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)
if(${QT_VERSION} VERSION_LESS 5.15.0)
function(qt_wrap_cpp out)
qt5_wrap_cpp(_sources ${ARGN})
set("${out}" ${_sources} PARENT_SCOPE)
endfunction()
endif()
elseif()#Qt5
find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Test Widgets)
endif()


## Qt5 boilerplate options from http://doc.qt.io/qt-5/cmake-manual.html
set(CMAKE_INCLUDE_CURRENT_DIR ON)
Expand Down Expand Up @@ -77,14 +91,16 @@ set(HEADER_FILES
)

add_library(${PROJECT_NAME}_gui SHARED ${SOURCE_FILES} ${HEADER_FILES})
ament_target_dependencies(${PROJECT_NAME}_gui PUBLIC
rclcpp
rviz_common
rviz_rendering
rviz_default_plugins
rviz_ogre_vendor
target_link_libraries(${PROJECT_NAME}_gui PUBLIC
rclcpp::rclcpp
rviz_common::rviz_common
rviz_rendering::rviz_rendering
rviz_default_plugins::rviz_default_plugins
rviz_ogre_vendor::OgreMain
Qt${QT_VERSION_MAJOR}::Widgets
)
target_link_libraries(${PROJECT_NAME}_gui PUBLIC Qt5::Widgets)



# prevent pluginlib from using boost
target_compile_definitions(${PROJECT_NAME}_gui PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
Expand All @@ -98,18 +114,18 @@ add_library(${PROJECT_NAME}_remote_control SHARED
# Needed for M_PI on Windows
target_compile_definitions(${PROJECT_NAME}_remote_control PRIVATE _USE_MATH_DEFINES)

ament_target_dependencies(${PROJECT_NAME}_remote_control
rclcpp
rclcpp_components
visualization_msgs
tf2
tf2_eigen
tf2_geometry_msgs
sensor_msgs
shape_msgs
std_msgs
trajectory_msgs
eigen_stl_containers
target_link_libraries(${PROJECT_NAME}_remote_control
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}
eigen_stl_containers::eigen_stl_containers
)

# Visualization Tools Library
Expand All @@ -118,22 +134,20 @@ add_library(${PROJECT_NAME} SHARED
src/tf_visual_tools.cpp
)
target_compile_definitions(${PROJECT_NAME} PRIVATE _USE_MATH_DEFINES)
ament_target_dependencies(${PROJECT_NAME} PUBLIC Eigen3)
target_link_libraries(${PROJECT_NAME}
${PROJECT_NAME}_remote_control
)
ament_target_dependencies(${PROJECT_NAME}
rclcpp
rclcpp_components
visualization_msgs
tf2
tf2_eigen
tf2_geometry_msgs
sensor_msgs
shape_msgs
std_msgs
trajectory_msgs
eigen_stl_containers
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}
eigen_stl_containers::eigen_stl_containers
)

# Library
Expand All @@ -143,15 +157,13 @@ add_library(${PROJECT_NAME}_imarker_simple SHARED
target_compile_definitions(${PROJECT_NAME}_imarker_simple PRIVATE _USE_MATH_DEFINES)
target_link_libraries(${PROJECT_NAME}_imarker_simple
${PROJECT_NAME}
)
ament_target_dependencies(${PROJECT_NAME}_imarker_simple
rclcpp
interactive_markers
geometry_msgs
visualization_msgs
sensor_msgs
eigen_stl_containers
Eigen3
rclcpp::rclcpp
interactive_markers::interactive_markers
${geometry_msgs_TARGETS}
${visualization_msgs_TARGETS}
${sensor_msgs_TARGETS}
eigen_stl_containers::eigen_stl_containers
Eigen3::Eigen
)

# Demo executable
Expand All @@ -161,11 +173,9 @@ add_executable(${PROJECT_NAME}_demo
target_compile_definitions(${PROJECT_NAME}_demo PRIVATE _USE_MATH_DEFINES)
target_link_libraries(${PROJECT_NAME}_demo
${PROJECT_NAME}
)
ament_target_dependencies(${PROJECT_NAME}_demo
rclcpp
geometry_msgs
std_msgs
rclcpp::rclcpp
${geometry_msgs_TARGETS}
${std_msgs_TARGETS}
)

# Demo executable
Expand All @@ -174,9 +184,7 @@ add_executable(${PROJECT_NAME}_imarker_simple_demo
target_compile_definitions(${PROJECT_NAME}_imarker_simple_demo PRIVATE _USE_MATH_DEFINES)
target_link_libraries(${PROJECT_NAME}_imarker_simple_demo
${PROJECT_NAME}_imarker_simple
)
ament_target_dependencies(${PROJECT_NAME}_imarker_simple_demo
rclcpp
rclcpp::rclcpp
)

#############
Expand Down Expand Up @@ -248,11 +256,9 @@ if (BUILD_TESTING)
tests/rvt_test.cpp
TIMEOUT 180)
target_compile_definitions(${PROJECT_NAME}_rvt_test PRIVATE _USE_MATH_DEFINES)
ament_target_dependencies(${PROJECT_NAME}_rvt_test
rclcpp
)
target_link_libraries(${PROJECT_NAME}_rvt_test
${PROJECT_NAME}
rclcpp::rclcpp
)
endif()

Expand Down
9 changes: 6 additions & 3 deletions src/rviz_visual_tools.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -42,15 +42,18 @@
#include <rviz_visual_tools/rviz_visual_tools.hpp>

// Conversions
#include <tf2/convert.h>
#include <tf2/LinearMath/Vector3.h>
#include <tf2/LinearMath/Quaternion.h>
#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
#include <tf2_eigen/tf2_eigen.hpp>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
#include <tf2/convert.hpp>
#include <tf2/LinearMath/Vector3.hpp>
#include <tf2/LinearMath/Quaternion.hpp>
#else
#include <tf2_eigen/tf2_eigen.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <tf2/convert.h>
#include <tf2/LinearMath/Vector3.h>
#include <tf2/LinearMath/Quaternion.h>
#endif

// Use (void) to silent unused warnings.
Expand Down
3 changes: 2 additions & 1 deletion src/tf_visual_tools.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,12 +34,13 @@
#include <rclcpp/create_timer.hpp>
#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
#include <tf2_eigen/tf2_eigen.hpp>
#include <tf2/convert.hpp>
#else
#include <tf2_eigen/tf2_eigen.h>
#include <tf2/convert.h>
#endif

// TF
#include <tf2/convert.h>

// C++
#include <string>
Expand Down
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