Merge pull request #992 from ros-visualization/wjwwood-qt5

make Qt5 the default for Kinetic, fix issues

CMakeLists.txt

@@ -94,7 +94,7 @@ find_package(OpenGL REQUIRED)
 set(CMAKE_AUTOMOC ON)
 set(CMAKE_INCLUDE_CURRENT_DIR ON)
 
-option(UseQt5 "UseQt5" OFF)
+option(UseQt5 "UseQt5" ON)
 if (UseQt5)
   find_package(Qt5Widgets REQUIRED)
   find_package(Qt5Core REQUIRED)

package.xml

@@ -27,8 +27,8 @@
   <build_depend>interactive_markers</build_depend>
   <build_depend>laser_geometry</build_depend>
   <build_depend>libogre-dev</build_depend>
-  <build_depend>libqt4-dev</build_depend>
-  <build_depend>libqt4-opengl-dev</build_depend>
+  <build_depend>qtbase5-dev</build_depend>
+  <build_depend>libqt5-opengl-dev</build_depend>
   <build_depend>map_msgs</build_depend>
   <build_depend>message_filters</build_depend>
   <build_depend>nav_msgs</build_depend>
@@ -58,8 +58,10 @@
   <run_depend>interactive_markers</run_depend>
   <run_depend>laser_geometry</run_depend>
   <run_depend>libogre-dev</run_depend>
-  <run_depend>libqt4-dev</run_depend>
-  <run_depend>libqt4-opengl-dev</run_depend>
+  <run_depend>libqt5-core</run_depend>
+  <run_depend>libqt5-gui</run_depend>
+  <run_depend>libqt5-widgets</run_depend>
+  <run_depend>libqt5-opengl</run_depend>
   <run_depend>map_msgs</run_depend>
   <run_depend>media_export</run_depend>
   <run_depend>message_filters</run_depend>

rviz.sublime-project

@@ -10,24 +10,26 @@
 		"sublimeclang_options":
 		[
 			"-I/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/../include/c++/v1",
-			"-I/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/../lib/clang/7.0.2/include",
+			"-I/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/../lib/clang/7.3.0/include",
 			"-I/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/include",
 			"-I/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX10.11.sdk/usr/include",
 			"-I/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX10.11.sdk/System/Library/Frameworks",
-			"-framework QtCore",
-			"-framework QtGui",
-			"-I/usr/local/Cellar/qt/4.8.6/lib/QtCore.framework/Versions/4/Headers",
-			"-I/usr/local/Cellar/qt/4.8.6/lib/QtGui.framework/Versions/4/Headers",
+			// "-framework QtCore",
+			// "-framework QtGui",
+			// "-I/usr/local/Cellar/qt/4.8.6/lib/QtCore.framework/Versions/4/Headers",
+			// "-I/usr/local/Cellar/qt/4.8.6/lib/QtGui.framework/Versions/4/Headers",
+			"-I/usr/local/Cellar/qt5/5.5.1_2/include",
+			"-I/usr/local/Cellar/qt5/5.5.1_2/Frameworks/QtCore.framework/Versions/Current/Headers",
+			"-I/usr/local/Cellar/qt5/5.5.1_2/Frameworks/QtGui.framework/Versions/Current/Headers",
+			"-I/usr/local/Cellar/qt5/5.5.1_2/Frameworks/QtWidgets.framework/Versions/Current/Headers",
 			"-I/usr/local/Cellar/ogre-1.9/1.9.0/include",
 			"-I/usr/local/Cellar/ogre-1.9/1.9.0/include/OGRE",
-			"-I/Users/william/indigo/install/include",
+			"-I/usr/local/Cellar/ogre-1.9/1.9.0/include/OGRE/Overlay",
+			"-I/Users/william/rviz_ws/install_isolated/include",
 			"-I${folder:${project_path:rviz.sublime-project}}/src",
-			"-I/Library/Developer/CommandLineTools/usr/bin/../include/c++/v1",
-			"-I/usr/local/include",
-			"-I/Library/Developer/CommandLineTools/usr/bin/../lib/clang/6.1.0/include",
-			"-I/Library/Developer/CommandLineTools/usr/include",
-			"-I/usr/include",
-			"-Wno-deprecated-register"
+			"-I${folder:${project_path:rviz.sublime-project}}/src/rviz",
+			"-DROS_PACKAGE_NAME=\"rviz\"",
+			"-Wno-deprecated-register",
 		]
 	}
 }

src/CMakeLists.txt

@@ -3,8 +3,7 @@ add_subdirectory(image_view)
 if (CATKIN_ENABLE_TESTING)
   add_subdirectory(test)
 endif()
-# Disable Python bindings when using Qt5.
-# Will be re-enabled in Kinetic where our Qt Python packages will support Qt5.
-if (NOT UseQt5)
+# Python bindings are only support with Qt5, PyQt5, and PySide2 for Kinetic+.
+if (UseQt5)
   add_subdirectory(python_bindings)
 endif()

src/python_bindings/CMakeLists.txt

@@ -1,6 +1,7 @@
 set(rviz_BINDINGS "")
 
-add_subdirectory(shiboken)
+# TODO(wjwwood): re-enabled PySide2 support when it is fixed.
+# add_subdirectory(shiboken)
 add_subdirectory(sip)
 
 message("Python binding generators: ${rviz_BINDINGS}")

src/python_bindings/rviz/__init__.py

@@ -1,11 +1,10 @@
-#### Python package 'rviz' initialization.
+# Python package 'rviz' initialization.
 #
 # The actual implementations are defined in C++ and wrapped by
 # shiboken or sip.  This wrapper finds which binding is available and
 # presents it as package rviz.
 
 import sys
-import roslib; roslib.load_manifest('rviz')
 
 # Can use the following setattr() call to force one binding or the other.
 # setattr(sys, 'SELECT_QT_BINDING', 'pyside')

src/python_bindings/sip/rviz.sip

@@ -2,6 +2,7 @@
 
 %Import QtCore/QtCoremod.sip
 %Import QtGui/QtGuimod.sip
+%Import QtWidgets/QtWidgetsmod.sip
 
 %DefaultSupertype sip.simplewrapper
 

src/rviz/CMakeLists.txt

@@ -130,13 +130,14 @@ target_link_libraries(${PROJECT_NAME}
   ${catkin_LIBRARIES}
   ${OGRE_OV_LIBRARIES_ABS}
   ${OPENGL_LIBRARIES}
-  ${QT_LIBRARIES}
   ${rviz_ADDITIONAL_LIBRARIES}
   assimp
   yaml-cpp
 )
-if (UseQt5)
+if(UseQt5)
   target_link_libraries(${PROJECT_NAME} Qt5::Widgets)
+else()
+  target_link_libraries(${PROJECT_NAME} ${QT_LIBRARIES})
 endif()
 
 
@@ -147,9 +148,11 @@ endif(APPLE)
 ########### The rviz executable ###########
 add_executable(executable main.cpp)
 
-target_link_libraries(executable ${PROJECT_NAME} ${QT_LIBRARIES} ${OGRE_OV_LIBRARIES_ABS})
-if (UseQt5)
+target_link_libraries(executable ${PROJECT_NAME} ${OGRE_OV_LIBRARIES_ABS})
+if(UseQt5)
   target_link_libraries(executable Qt5::Widgets)
+else()
+  target_link_libraries(executable ${QT_LIBRARIES})
 endif()
 
 set_target_properties(executable

src/rviz/ogre_helpers/render_system.cpp

@@ -291,7 +291,7 @@ void RenderSystem::setupResources()
   std::vector<std::string> media_paths;
   ros::package::getPlugins( "media_export", "ogre_media_path", media_paths );
   std::string delim(":");
-  for( std::vector<std::string>::iterator iter = media_paths.begin(); iter != media_paths.end(); iter++ )
+  for( std::vector<std::string>::iterator iter = media_paths.begin(); iter != media_paths.end(); ++iter )
   {
     if( !iter->empty() )
     {
@@ -462,7 +462,7 @@ Ogre::RenderWindow* RenderSystem::tryMakeRenderWindow(
         x_baddrawable_error = false;
       }
     }
-    catch( std::exception ex )
+    catch( const std::exception & ex )
     {
       std::cerr << "rviz::RenderSystem: error creating render window: "
                 << ex.what() << std::endl;