Enable Qt6 compatibility (ros-visualization#1813)

* QLayout::setMargin(int) -> setContentsMargins(...)
* QRegExp -> QRegularExpression
* QMouseEvent::[x|y]() -> position().[x|y]()
* Allow specifying an order of Qt versions to consider
* CI: Build against Qt 6

Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>

.github/workflows/Dockerfile

@@ -21,6 +21,8 @@ RUN --mount=type=bind,target=/tmp/rviz \
     apt-get -q install --no-install-recommends -y \
         # Some basic requirements
         wget git sudo \
+        # Qt6 packages for Jammy
+        $(test "$ROS_DISTRO" = "one" && echo "qt6-base-dev qt6-base-dev-tools libqt6opengl6-dev") \
         # Preferred build tools
         clang clang-format-12 clang-tidy clang-tools ccache && \
     #

.github/workflows/ci.yaml

@@ -16,24 +16,31 @@ jobs:
         distro: [noetic, jammy]
         ogre: ["1.9", "1.12"]
         include:
+          - qt: 5
+            cxxflags: -Werror
           - distro: noetic
             ogre: 1.9
             env:
               CLANG_TIDY: true
+          - distro: jammy
+            ogre: 1.12
+            qt: 6
+            cxxflags: -Wno-deprecated-declarations -Werror
 
     env:
-      CXXFLAGS: "-DRVIZ_DEPRECATE_QT4_SLOTS -Werror -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wno-strict-aliasing -Wno-sign-compare"
+      CXXFLAGS: "-DRVIZ_DEPRECATE_QT4_SLOTS -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wno-strict-aliasing -Wno-sign-compare ${{ matrix.cxxflags}}"
       UPSTREAM_WORKSPACE: ${{ matrix.distro != 'jammy' && 'github:rhaschke/python_qt_binding#silent-external-warnings' || '' }}
       AFTER_INSTALL_TARGET_DEPENDENCIES: apt install -qq -y libogre-${{ matrix.ogre }}-dev
       CATKIN_LINT: true
+      CMAKE_ARGS: -DRVIZ_QT_VERSIONS="${{ matrix.qt }}"
       CCACHE_DIR: ${{ github.workspace }}/.ccache
       BASEDIR: /home/runner/work
       DOCKER_IMAGE: rhaschke/ici:rviz-${{ matrix.distro }}-ros
       CACHE_PREFIX: ${{ matrix.distro }}
       # perform full clang-tidy check only on manual trigger (workflow_dispatch), PRs do check changed files, otherwise nothing
       CLANG_TIDY_BASE_REF: ${{ github.event_name != 'workflow_dispatch' && (github.base_ref || github.ref) || '' }}
 
-    name: "${{ matrix.distro }} • ogre ${{ matrix.ogre }}${{ matrix.env.CLANG_TIDY && (github.event_name != 'workflow_dispatch' && ' • clang-tidy (delta)' || ' • clang-tidy (all)') || '' }}"
+    name: "${{ matrix.distro }} • ogre ${{ matrix.ogre }} • Qt ${{ matrix.qt }}${{ matrix.env.CLANG_TIDY && (github.event_name != 'workflow_dispatch' && ' • clang-tidy (delta)' || ' • clang-tidy (all)') || '' }}"
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v3

CMakeLists.txt

@@ -97,17 +97,29 @@ if(APPLE)
   add_definitions(-D__ASSERT_MACROS_DEFINE_VERSIONS_WITHOUT_UNDERSCORES=0)
 endif()
 
-# Prefer newer vender-specific OpenGL library
+# Prefer newer vendor-specific OpenGL library
 if (POLICY CMP0072)
   cmake_policy(SET CMP0072 NEW)
 endif()
 find_package(OpenGL REQUIRED)
 
 set(CMAKE_AUTOMOC ON)
 
-find_package(Qt5 REQUIRED COMPONENTS Core Widgets OpenGL)
-set(QT_LIBRARIES Qt5::Widgets)
-set(QTVERSION ${Qt5Widgets_VERSION})
+set(RVIZ_QT_VERSIONS "5;6" CACHE STRING "List of Qt versions to consider (in order)")
+foreach(_current_version ${RVIZ_QT_VERSIONS})
+  find_package(Qt${_current_version} QUIET COMPONENTS Core Widgets OpenGL)
+  if (Qt${_current_version}_FOUND)
+    set(QTVERSION ${Qt${_current_version}_VERSION})
+    set(QT_LIBRARIES Qt${_current_version}::Widgets)
+    break() # early break from loop
+  else()
+    message(WARNING "Qt${_current_version} not found.")
+  endif()
+endforeach()
+if(NOT QTVERSION)
+  message(FATAL_ERROR "Failed to find a suitable Qt version.")
+endif()
+message(STATUS "Found Qt ${QTVERSION}")
 add_definitions(-DQT_NO_KEYWORDS)
 
 find_package(catkin REQUIRED

src/CMakeLists.txt

@@ -3,4 +3,6 @@ add_subdirectory(image_view)
 if (CATKIN_ENABLE_TESTING)
   add_subdirectory(test)
 endif()
-add_subdirectory(python_bindings)
+if (QT_VERSION_MAJOR EQUAL 5)
+  add_subdirectory(python_bindings)
+endif()

src/rviz/default_plugin/depth_cloud_display.cpp

@@ -27,6 +27,7 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 #include <QObject>
+#include <QRegularExpression>
 
 #include "depth_cloud_display.h"
 #include <rviz/visualization_manager.h>
@@ -78,8 +79,7 @@ DepthCloudDisplay::DepthCloudDisplay()
 
 {
   // Depth map properties
-  QRegExp depth_filter("depth");
-  depth_filter.setCaseSensitivity(Qt::CaseInsensitive);
+  QRegularExpression depth_filter("depth", QRegularExpression::CaseInsensitiveOption);
 
   topic_filter_property_ =
       new Property("Topic Filter", true,
@@ -100,8 +100,7 @@ DepthCloudDisplay::DepthCloudDisplay()
   depth_transport_property_->setStdString("raw");
 
   // color image properties
-  QRegExp color_filter("color|rgb|bgr|gray|mono");
-  color_filter.setCaseSensitivity(Qt::CaseInsensitive);
+  QRegularExpression color_filter("color|rgb|bgr|gray|mono", QRegularExpression::CaseInsensitiveOption);
 
   color_topic_property_ = new RosFilteredTopicProperty(
       "Color Image Topic", "",

src/rviz/default_plugin/depth_cloud_display.h

@@ -54,6 +54,7 @@
 #endif
 
 #include <QMap>
+#include <QtCore/QRegularExpression>
 
 using namespace message_filters::sync_policies;
 
@@ -81,7 +82,7 @@ class RosFilteredTopicProperty : public RosTopicProperty
                            const QString& default_value = QString(),
                            const QString& message_type = QString(),
                            const QString& description = QString(),
-                           const QRegExp& filter = QRegExp(),
+                           const QRegularExpression& filter = QRegularExpression(),
                            Property* parent = nullptr)
     : RosTopicProperty(name, default_value, message_type, description, parent)
     , filter_(filter)
@@ -94,7 +95,7 @@ class RosFilteredTopicProperty : public RosTopicProperty
                            const QString& default_value,
                            const QString& message_type,
                            const QString& description,
-                           const QRegExp& filter,
+                           const QRegularExpression& filter,
                            Property* parent,
                            Func&& changed_slot,
                            const R* receiver)
@@ -109,7 +110,7 @@ class RosFilteredTopicProperty : public RosTopicProperty
                            const QString& default_value,
                            const QString& message_type,
                            const QString& description,
-                           const QRegExp& filter,
+                           const QRegularExpression& filter,
                            P* parent,
                            Func&& changed_slot)
     : RosFilteredTopicProperty(name, default_value, message_type, description, filter, parent)
@@ -124,7 +125,7 @@ class RosFilteredTopicProperty : public RosTopicProperty
     fillTopicList();
   }
 
-  QRegExp filter() const
+  QRegularExpression filter() const
   {
     return filter_;
   }
@@ -142,7 +143,7 @@ protected Q_SLOTS:
   }
 
 private:
-  QRegExp filter_;
+  QRegularExpression filter_;
   bool filter_enabled_;
 };
 

src/rviz/properties/property_tree_model.cpp

@@ -29,6 +29,7 @@
 
 #include <stdio.h>
 
+#include <QIODevice>
 #include <QStringList>
 #include <QMimeData>
 

src/rviz/tool_manager.cpp

@@ -28,7 +28,7 @@
  */
 
 #include <QKeyEvent>
-#include <QRegExp>
+#include <QRegularExpression>
 
 #include <ros/assert.h>
 
@@ -42,7 +42,7 @@ namespace rviz
 {
 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();
 }

src/rviz/viewport_mouse_event.h

@@ -54,8 +54,13 @@ class ViewportMouseEvent
     : panel(p)
     , viewport(vp)
     , type(e->type())
+#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
+    , x(e->position().x())
+    , y(e->position().y())
+#else
     , x(e->x())
     , y(e->y())
+#endif
     , wheel_delta(0)
     , acting_button(e->button())
     , buttons_down(e->buttons())

src/rviz/visualization_frame.cpp

@@ -31,6 +31,7 @@
 #include <memory>
 
 #include <QAction>
+#include <QActionGroup>
 #include <QShortcut>
 #include <QApplication>
 #include <QCoreApplication>
@@ -274,7 +275,7 @@ void VisualizationFrame::initialize(const QString& display_config_file)
   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);