fix compile with qt6

Fixed a rviz_default_plugin compilation error when using qt6.
The error is silent if you have qt5 and qt6 installed

Author: mosfet80

moveit_ros/visualization/CMakeLists.txt

@@ -37,13 +37,12 @@ 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()
+find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Test Widgets)
+find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Test Widgets)
+
+
 
 set(CMAKE_INCLUDE_CURRENT_DIR ON)
 set(CMAKE_AUTOMOC ON)
@@ -116,7 +115,7 @@ install(
   DESTINATION include/moveit_ros_visualization)
 
 ament_export_targets(moveit_ros_visualizationTargets HAS_LIBRARY_TARGET)
-ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
+ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS} Qt${QT_VERSION_MAJOR} )
 
 ament_package(CONFIG_EXTRAS ConfigExtras.cmake)
 

moveit_ros/visualization/motion_planning_rviz_plugin/CMakeLists.txt

@@ -1,10 +1,13 @@
+find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Widgets)
+find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets)
+
 set(HEADERS
     include/moveit/motion_planning_rviz_plugin/motion_planning_display.hpp
     include/moveit/motion_planning_rviz_plugin/motion_planning_frame.hpp
     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
+qt_wrap_ui(UIC_FILES src/ui/motion_planning_rviz_plugin_frame.ui
             src/ui/motion_planning_rviz_plugin_frame_joints.ui)
 
 include_directories(${CMAKE_CURRENT_BINARY_DIR})
@@ -38,7 +41,7 @@ ament_target_dependencies(
   moveit_ros_warehouse
   rviz2
   rviz_ogre_vendor
-  Qt5
+  Qt${QT_VERSION_MAJOR}
   pluginlib)
 target_include_directories(moveit_motion_planning_rviz_plugin_core
                            PRIVATE "${OGRE_PREFIX_DIR}/include")

moveit_ros/visualization/planning_scene_rviz_plugin/CMakeLists.txt

@@ -1,3 +1,5 @@
+find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Widgets)
+find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets)
 add_library(
   moveit_planning_scene_rviz_plugin_core SHARED
   src/planning_scene_display.cpp src/background_processing.cpp
@@ -27,7 +29,7 @@ add_library(moveit_planning_scene_rviz_plugin SHARED src/plugin_init.cpp)
 set_target_properties(moveit_planning_scene_rviz_plugin
                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 target_link_libraries(moveit_planning_scene_rviz_plugin
-                      moveit_planning_scene_rviz_plugin_core Qt5::Widgets)
+                      moveit_planning_scene_rviz_plugin_core Qt${QT_VERSION_MAJOR}::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

@@ -1,3 +1,6 @@
+find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Widgets)
+find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets)
+
 set(HEADERS
     include/moveit/rviz_plugin_render_tools/octomap_render.hpp
     include/moveit/rviz_plugin_render_tools/planning_link_updater.hpp
@@ -24,7 +27,7 @@ add_library(
 set_target_properties(moveit_rviz_plugin_render_tools
                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 
-target_link_libraries(moveit_rviz_plugin_render_tools Qt5::Widgets)
+target_link_libraries(moveit_rviz_plugin_render_tools Qt${QT_VERSION_MAJOR}::Widgets)
 
 ament_target_dependencies(
   moveit_rviz_plugin_render_tools

moveit_setup_assistant/moveit_setup_assistant/CMakeLists.txt

@@ -12,17 +12,17 @@ find_package(Boost REQUIRED program_options)
 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(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Widgets)
+find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets)
 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:
@@ -32,7 +32,7 @@ set(HEADERS include/moveit_setup_assistant/navigation_widget.hpp
 set(CMAKE_AUTOMOC ON)
 add_definitions(-DQT_NO_KEYWORDS)
 
-qt5_wrap_cpp(MOC_FILES ${HEADERS})
+qt${QT_VERSION_MAJOR}_wrap_cpp(MOC_FILES ${HEADERS})
 
 add_executable(
   moveit_setup_assistant src/main.cpp src/setup_assistant_widget.cpp

moveit_setup_assistant/moveit_setup_framework/CMakeLists.txt

@@ -12,8 +12,8 @@ find_package(fmt REQUIRED)
 find_package(moveit_core REQUIRED)
 find_package(moveit_ros_planning REQUIRED)
 find_package(moveit_ros_visualization REQUIRED)
-find_package(Qt5Core REQUIRED)
-find_package(Qt5Widgets REQUIRED)
+find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Widgets)
+find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets)
 find_package(pluginlib REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rviz_common REQUIRED)
@@ -23,7 +23,7 @@ find_package(urdf REQUIRED)
 
 set(CMAKE_INCLUDE_CURRENT_DIR ON)
 
-qt5_wrap_cpp(
+qt_wrap_cpp(
   MOC_FILES
   include/moveit_setup_framework/qt/helper_widgets.hpp
   include/moveit_setup_framework/qt/setup_step_widget.hpp
@@ -54,8 +54,8 @@ ament_target_dependencies(
   moveit_ros_planning
   moveit_ros_visualization
   pluginlib
-  Qt5Core
-  Qt5Widgets
+  Qt${QT_VERSION_MAJOR}Core
+  Qt${QT_VERSION_MAJOR}Widgets
   rclcpp
   rviz_common
   rviz_rendering
@@ -80,8 +80,8 @@ install(
 
 ament_export_dependencies(fmt)
 ament_export_dependencies(rclcpp)
-ament_export_dependencies(Qt5Core)
-ament_export_dependencies(Qt5Widgets)
+ament_export_dependencies(Qt${QT_VERSION_MAJOR}Core)
+ament_export_dependencies(Qt${QT_VERSION_MAJOR}Widgets)
 ament_export_dependencies(moveit_common)
 ament_export_dependencies(moveit_core)
 ament_export_dependencies(moveit_ros_planning)