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Fix navmap_rviz_plugin build with Qt5 rviz_common and Qt6 installed #44

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Fix navmap_rviz_plugin build with Qt5 rviz_common and Qt6 installed #44

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20 changes: 12 additions & 8 deletions navmap_rviz_plugin/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,18 @@ project(navmap_rviz_plugin)

find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
# Use the same Qt as rviz (Qt5 up to Kilted, Qt6 from Lyrical): mixing both breaks the plugin.
# Read it from rviz_common's exported dependencies before find_package(rviz_common): a Qt5 rviz
# looks for Qt6 first if installed and then fails to find Qt5, so Qt6 must be disabled.
find_file(RVIZ_COMMON_DEPS_FILE ament_cmake_export_dependencies-extras.cmake
PATHS ENV AMENT_PREFIX_PATH PATH_SUFFIXES share/rviz_common/cmake NO_DEFAULT_PATH)
file(READ "${RVIZ_COMMON_DEPS_FILE}" rviz_common_deps)

@fmrico fmrico Nov 5, 2026

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If AMENT_PREFIX_PATH is not set or does not contain rviz_common (e.g. a build that only passes CMAKE_PREFIX_PATH), find_file gives RVIZ_COMMON_DEPS_FILE-NOTFOUND and file(READ) aborts the configure with "failed to open for reading", which does not say what is wrong. Before this change that case worked.

Could it also search CMAKE_PREFIX_PATH, and when the file is not found skip the read and keep the previous detection (get_target_property on rviz_common::rviz_common after find_package(rviz_common))? Something like:

find_file(RVIZ_COMMON_DEPS_FILE ament_cmake_export_dependencies-extras.cmake
  PATHS ENV AMENT_PREFIX_PATH ${CMAKE_PREFIX_PATH}
  PATH_SUFFIXES share/rviz_common/cmake NO_DEFAULT_PATH)
if(RVIZ_COMMON_DEPS_FILE)
  ...
endif()

if(rviz_common_deps MATCHES "Qt6")

@fmrico fmrico Nov 5, 2026

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Nit: MATCHES "Qt6" looks at the whole file. It works with today's content, but matching the list item (e.g. MATCHES "[\";]Qt6[\";]") would not be fooled by a comment or another package name containing Qt6.

set(qt_major 6)
else()
set(qt_major 5)
set(CMAKE_DISABLE_FIND_PACKAGE_Qt6 TRUE)
endif()
find_package(rviz_common REQUIRED)
find_package(rviz_rendering REQUIRED)
find_package(rviz_default_plugins REQUIRED)
Expand All @@ -12,14 +24,6 @@ find_package(navmap_ros_interfaces REQUIRED)
find_package(navmap_ros REQUIRED)
find_package(navmap_core REQUIRED)

# Same Qt as rviz (Qt5 up to Kilted, Qt6 from Lyrical): mixing both breaks loading the plugin.
# Ask rviz_common: other deps (e.g. VTK via PCL) may bring the other Qt along
get_target_property(rviz_common_libs rviz_common::rviz_common INTERFACE_LINK_LIBRARIES)
if("${rviz_common_libs}" MATCHES "Qt6::")
set(qt_major 6)
else()
set(qt_major 5)
endif()
find_package(Qt${qt_major} REQUIRED COMPONENTS Widgets)

qt_wrap_cpp(NAVMAP_MOC_SRCS
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