Optional support for Qt6 by simonschmeisser · Pull Request #3582 · moveit/moveit

simonschmeisser · 2024-03-23T21:07:47Z

Description

This enables compiling against Qt6 if rviz has been compiled against Qt6 as well.

I noticed that the CMake code allows compiling against Qt4 but there are usages of QRegularExpression which was introduced in Qt 5.0.0 only. I started adding conditional use of QRegularExpression but I'm wondering if this is really necessary so the PR is currently inconsistent.

QStringView was introduced in Qt 5.10 and replaces QStringRef since Qt 6.0.0, I added a condition on >= 6.0.0 but it could be 5.10.0 just as well.

Checklist

Required by CI: Code is auto formatted using clang-format
Extend the tutorials / documentation reference
Document API changes relevant to the user in the MIGRATION.md notes
Create tests, which fail without this PR reference
Include a screenshot if changing a GUI
While waiting for someone to review your request, please help review another open pull request to support the maintainers

codecov · 2024-03-23T21:53:36Z

Codecov Report

Attention: Patch coverage is 0% with 6 lines in your changes are missing coverage. Please review.

Project coverage is 47.24%. Comparing base (c174715) to head (4092832).
Report is 7 commits behind head on master.

❗ Current head 4092832 differs from pull request most recent head 0bb3c71. Consider uploading reports for the commit 0bb3c71 to get more accurate results

Files	Patch %	Lines
...sistant/src/widgets/configuration_files_widget.cpp	0.00%	3 Missing ⚠️
...tup_assistant/src/tools/collision_linear_model.cpp	0.00%	2 Missing ⚠️
...tup_assistant/src/tools/collision_matrix_model.cpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #3582      +/-   ##
==========================================
+ Coverage   47.15%   47.24%   +0.09%     
==========================================
  Files         603      603              
  Lines       58999    59004       +5     
  Branches     6969     6984      +15     
==========================================
+ Hits        27814    27868      +54     
+ Misses      30773    30718      -55     
- Partials      412      418       +6

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rhaschke

QRegularExpression already exists since Qt 5.0: https://doc.qt.io/qt-5/qregularexpression.html
You can drop the corresponding ifdefs.

moveit_setup_assistant/src/widgets/robot_poses_widget.h

simonschmeisser · 2024-05-12T14:15:59Z

QRegularExpression already exists since Qt 5.0: https://doc.qt.io/qt-5/qregularexpression.html You can drop the corresponding ifdefs.

There is (incomplete) support for Qt 4 still around in some places. Should I ignore this and assume Qt is at least 5.0 or make this more explicit (removing some ifdefs, enforcing in CMake etc)?

rhaschke · 2024-05-12T14:28:40Z

I think we have dropped Qt4 support.

codecov-commenter · 2024-05-12T15:20:13Z

⚠️ Please install the to ensure uploads and comments are reliably processed by Codecov.

Codecov Report

Attention: Patch coverage is 0% with 47 lines in your changes missing coverage. Please review.

Project coverage is 47.50%. Comparing base (3aed1dc) to head (e687586).
Report is 7 commits behind head on master.

Files with missing lines	Patch %	Lines
...setup_assistant/src/widgets/robot_poses_widget.cpp	0.00%	13 Missing ⚠️
...tup_assistant/src/widgets/end_effectors_widget.cpp	0.00%	8 Missing ⚠️
...tup_assistant/src/tools/collision_linear_model.cpp	0.00%	7 Missing ⚠️
...up_assistant/src/widgets/virtual_joints_widget.cpp	0.00%	7 Missing ⚠️
...plugin/src/motion_planning_frame_joints_widget.cpp	0.00%	4 Missing ⚠️
...sistant/src/widgets/configuration_files_widget.cpp	0.00%	3 Missing ⚠️
...planning_rviz_plugin/src/motion_planning_frame.cpp	0.00%	2 Missing ⚠️
...tup_assistant/src/tools/xml_syntax_highlighter.cpp	0.00%	2 Missing ⚠️
...tup_assistant/src/tools/collision_matrix_model.cpp	0.00%	1 Missing ⚠️

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Additional details and impacted files

@@            Coverage Diff             @@
##           master    #3582      +/-   ##
==========================================
- Coverage   47.88%   47.50%   -0.38%     
==========================================
  Files         604      604              
  Lines       61141    61557     +416     
  Branches     7059     7023      -36     
==========================================
- Hits        29270    29234      -36     
- Misses      31462    31905     +443     
- Partials      409      418       +9

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

rhaschke

In general, this looks good. See the comments below for some small cleanups.
Can you please add a CI path testing against Qt6 - the same way I did for rviz?

moveit_setup_assistant/src/tools/collision_linear_model.cpp

moveit_setup_assistant/src/widgets/configuration_files_widget.cpp

moveit_setup_assistant/src/widgets/robot_poses_widget.h

rhaschke · 2024-12-20T07:07:17Z

@simonschmeisser: I fixed the Jammy + Noble builds on the master branch. Can you please rebase and resolve the conflicts? Then this PR should be mergeable.

simonschmeisser · 2024-12-21T13:56:45Z

I rebased and squashed this a bit. I based the Qt6 build on noble but we could also base it on jammy

simonschmeisser · 2024-12-21T15:12:08Z

Seems like I need to implement Qt6 support for rviz_visual_tools and moveit_visual_tools as well

rhaschke · 2024-12-21T16:01:36Z

Seems like I need to implement Qt6 support for rviz_visual_tools and moveit_visual_tools as well

Yes, please ;-)

Connection from ComboBox was most likely broken due to non-existing signal currentIndexChanged(QString)

* QRegExp has been removed in Qt6 * No longer need to add std::string as QMetaType * QStringRef was removed in Qt6 * Use modern Qt connect syntax * QComboBox::currentIndexChanged(QString) is gone in Qt6 * currentIndexChanged(QString) and modern connect Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>

simonschmeisser requested review from felixvd, rhaschke and tylerjw as code owners March 23, 2024 21:07

simonschmeisser force-pushed the qt6 branch from fb5f49c to 854564b Compare March 23, 2024 21:11

simonschmeisser force-pushed the qt6 branch 2 times, most recently from 4ce7eb6 to 4092832 Compare March 24, 2024 20:53

rhaschke reviewed Mar 30, 2024

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moveit_setup_assistant/src/widgets/robot_poses_widget.h Outdated Show resolved Hide resolved

simonschmeisser force-pushed the qt6 branch from 0bb3c71 to a346236 Compare May 12, 2024 15:04

rhaschke reviewed May 13, 2024

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rhaschke mentioned this pull request May 26, 2024

Qt6: add CI, fix open issues isys-vision/moveit#1

Merged

simonschmeisser requested a review from v4hn as a code owner May 26, 2024 18:32

simonschmeisser force-pushed the qt6 branch from 263ce46 to c4d7dc9 Compare June 6, 2024 06:52

simonschmeisser force-pushed the qt6 branch from c4d7dc9 to c4fba2e Compare October 19, 2024 20:42

rhaschke approved these changes Oct 22, 2024

View reviewed changes

simonschmeisser force-pushed the qt6 branch from c4fba2e to 6f5f54e Compare December 21, 2024 13:53

simonschmeisser mentioned this pull request Dec 21, 2024

Drop Qt4 support, add Qt6 PickNikRobotics/rviz_visual_tools#267

Merged

simonschmeisser added 6 commits January 7, 2025 21:10

Allow using Qt6

0c9b470

QRegExp has been removed in Qt6

1404593

No longer need to add std::string as QMetaType

4b9dec8

QStringRef was removed in Qt6

15f2e39

Use modern Qt connect syntax

8b988c6

Connection from ComboBox was most likely broken due to non-existing signal currentIndexChanged(QString)

fixup: no need to support Qt4

7234ba2

simonschmeisser and others added 5 commits January 7, 2025 21:10

CMake: drop Qt4 support

9b98467

QComboBox::currentIndexChanged(QString) is gone in Qt6

4e53528

currentIndexChanged(QString) and modern connect

1b0ec8f

CI: Add noble-one build with rviz based on Qt6

90ddb0c

Fix Qt6 deprecation warnings

e687586

simonschmeisser force-pushed the qt6 branch from 6f5f54e to e687586 Compare January 7, 2025 20:10

rhaschke merged commit da4131d into moveit:master Jan 9, 2025

rhaschke mentioned this pull request Jun 4, 2025

Qt6 compile fix moveit/moveit2#3493

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Optional support for Qt6#3582

Optional support for Qt6#3582
rhaschke merged 11 commits intomoveit:masterfrom
isys-vision:qt6

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simonschmeisser commented Mar 23, 2024

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