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Fix compilation errors for new RViz with Qt6 #820

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Merged
SteveMacenski merged 8 commits into from
Nov 22, 2025
Merged

Fix compilation errors for new RViz with Qt6 #820

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9bd423a
Add getParamMinimumTravelHeadingInRadians() to Mapper class
cosmicog Oct 16, 2025
9ff3fb3
Make use of the param minimum_travel_heading, fixes #807
cosmicog Oct 16, 2025
1665905
Merge branch 'SteveMacenski:ros2' into ros2
cosmicog Oct 23, 2025
f349c59
Add param check_minimum_travels_precisely
cosmicog Oct 24, 2025
6cf4aeb
Refactor check_minimum_travels_precisely to check_min_dist_and_headin…
cosmicog Nov 18, 2025
271f974
Merge branch 'SteveMacenski:ros2' into ros2
cosmicog Nov 18, 2025
54b6337
Merge branch 'SteveMacenski:ros2' into ros2
cosmicog Nov 21, 2025
01e3e5d
Fix build for new rviz with Qt6
cosmicog Nov 21, 2025
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11 changes: 7 additions & 4 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,10 @@ find_package(rviz_default_plugins REQUIRED)
find_package(rviz_ogre_vendor REQUIRED)
find_package(rviz_rendering REQUIRED)
find_package(interactive_markers REQUIRED)
find_package(Qt5 REQUIRED COMPONENTS Core Gui Widgets Test Concurrent)

find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Core Gui Widgets Test Concurrent)
find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Core Gui Widgets Test Concurrent)

find_package(rclcpp_components REQUIRED)

#karto_sdk lib
Expand Down Expand Up @@ -66,7 +69,7 @@ set(dependencies
rviz_ogre_vendor
rviz_rendering
interactive_markers
Qt5
Qt${QT_VERSION_MAJOR}
rclcpp_components
)

Expand Down Expand Up @@ -121,7 +124,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
)

#### rviz Plugin
qt5_wrap_cpp(MOC_FILES rviz_plugin/slam_toolbox_rviz_plugin.hpp)
qt_wrap_cpp(MOC_FILES rviz_plugin/slam_toolbox_rviz_plugin.hpp)
add_library(SlamToolboxPlugin SHARED
rviz_plugin/slam_toolbox_rviz_plugin.cpp
${MOC_FILES})
Expand All @@ -138,6 +141,7 @@ target_link_libraries(SlamToolboxPlugin PUBLIC
interactive_markers::interactive_markers
message_filters::message_filters
pluginlib::pluginlib
Qt${QT_VERSION_MAJOR}::Widgets
rclcpp::rclcpp
rclcpp_components::component
rclcpp_components::component_manager
Expand All @@ -153,7 +157,6 @@ target_link_libraries(SlamToolboxPlugin PUBLIC
tf2_sensor_msgs::tf2_sensor_msgs
)
target_include_directories(SlamToolboxPlugin PUBLIC
${Qt5Widgets_INCLUDE_DIRS}
${OGRE_INCLUDE_DIRS}
)
target_link_libraries(SlamToolboxPlugin PUBLIC ${QT_LIBRARIES} rviz_common::rviz_common)
Expand Down
2 changes: 1 addition & 1 deletion src/slam_toolbox_common.cpp
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Expand Up @@ -21,7 +21,7 @@
#include <string>
#include <chrono>
#include "slam_toolbox/slam_toolbox_common.hpp"
#include "rclcpp/rclcpp/qos.hpp"
#include "rclcpp/qos.hpp"
#include "slam_toolbox/serialization.hpp"

namespace slam_toolbox
Expand Down