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Support Qt6 #170

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Support Qt6 #170

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eb20e1a
Support Qt6
ahcorde Jun 27, 2024
0fee1fa
Fixed build
ahcorde Jun 27, 2024
2a66b59
make linters happyu
ahcorde Jul 1, 2024
3c44bfc
Added target_include_directories
ahcorde Jul 2, 2024
941c411
Merge branch 'rolling' into ahcorde/rolling/qt6
ahcorde Jul 10, 2024
0dafd9b
Fixed merged
ahcorde Jul 10, 2024
3d338aa
cleanups
ahcorde Jul 10, 2024
6c82d02
fix
ahcorde Jul 12, 2024
fcd8adb
updated cmake version
ahcorde Jul 17, 2024
a7fb60a
Modified CMakeLists logic
ahcorde Jul 18, 2024
bcbc50b
Make linters happy
ahcorde Jul 18, 2024
de156a0
Fix CMake
ahcorde Jul 31, 2024
34fd921
make linters happy
ahcorde Jul 31, 2024
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39 changes: 33 additions & 6 deletions turtlesim/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
cmake_minimum_required(VERSION 3.5)
cmake_minimum_required(VERSION 3.20)
project(turtlesim)

if(NOT CMAKE_CXX_STANDARD)
Expand All @@ -13,35 +13,54 @@ endif()
find_package(ament_cmake REQUIRED)
find_package(ament_index_cpp REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(Qt5 REQUIRED COMPONENTS Widgets)

find_package(Qt6 COMPONENTS Widgets QUIET)
set(QT_VERSION_MAJOR 6)
if(NOT Qt6_FOUND)
find_package(Qt5 REQUIRED COMPONENTS Widgets)
set(QT_VERSION_MAJOR 5)
endif()
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I'm somewhat concerned about this logic.

In particular, I think we want to continue to use Qt5 right now, but have everything in place so that we could switch to Qt6 in the future.

Because of the way we build binary packages, we will only install Qt5 libraries, and thus we'll continue to build against Qt5 for binaries.

But in from-source builds, it depends on what the user has installed. Thus, I'm a bit afraid that we'll get bug reports from users saying things won't compile properly due to Qt6 being installed. And I don't think we are quite ready for that.

So my suggestion here is to hide this whole thing behind a CMake option, something like USE_QT6. The the logic would be something like:

if (USE_QT6)
  find_package(Qt6 REQUIRED COMPONENTS Widgets)
  set(QT_VERSION_MAJOR 6)
else()
  find_package(Qt5 REQUIRED COMPONENTS Widgets)
  set(QT_VERSION_MAJOR 5)
endif()

What do you think?


find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(std_msgs REQUIRED)
find_package(std_srvs REQUIRED)
find_package(turtlesim_msgs REQUIRED)

include_directories(include ${Qt5Widgets_INCLUDE_DIRS})

qt5_wrap_cpp(turtlesim_node_MOCS include/turtlesim/turtle_frame.hpp)
if(${QT_VERSION_MAJOR} GREATER "5")
qt_standard_project_setup()
qt_wrap_cpp(turtlesim_node_MOCS include/turtlesim/turtle_frame.hpp)
else()
qt5_wrap_cpp(turtlesim_node_MOCS include/turtlesim/turtle_frame.hpp)
endif()

add_executable(turtlesim_node
src/turtlesim.cpp
src/turtle.cpp
src/turtle_frame.cpp
${turtlesim_node_MOCS}
)
target_include_directories(turtlesim_node PRIVATE
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
${Qt${QT_VERSION_MAJOR}Widgets_INCLUDE_DIRS}
)
target_link_libraries(turtlesim_node PRIVATE
ament_index_cpp::ament_index_cpp
${cpp_typesupport_target}
${geometry_msgs_TARGETS}
${turtlesim_msgs_TARGETS}
Qt5::Widgets
Qt${QT_VERSION_MAJOR}::Widgets
rclcpp::rclcpp
rclcpp_action::rclcpp_action
${std_srvs_TARGETS}
)

add_executable(turtle_teleop_key tutorials/teleop_turtle_key.cpp)
target_include_directories(turtle_teleop_key PRIVATE
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
)
target_link_libraries(turtle_teleop_key PRIVATE
${turtlesim_msgs_TARGETS}
${geometry_msgs_TARGETS}
Expand All @@ -50,6 +69,10 @@ target_link_libraries(turtle_teleop_key PRIVATE
)

add_executable(draw_square tutorials/draw_square.cpp)
target_include_directories(draw_square PRIVATE
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
)
target_link_libraries(draw_square PRIVATE
${turtlesim_msgs_TARGETS}
${geometry_msgs_TARGETS}
Expand All @@ -58,6 +81,10 @@ target_link_libraries(draw_square PRIVATE
)

add_executable(mimic tutorials/mimic.cpp)
target_include_directories(mimic PRIVATE
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
)
target_link_libraries(mimic PRIVATE
${turtlesim_msgs_TARGETS}
${geometry_msgs_TARGETS}
Expand Down