fix qt6compile

.github/workflows/format.yaml

@@ -16,8 +16,8 @@ jobs:
       - uses: actions/checkout@v6
         with:
           submodules: recursive
-      - name: Install clang-format-14
-        run: sudo apt-get install clang-format-14
+      - name: Install clang-format-18
+        run: sudo apt-get install clang-format-18
       - uses: pre-commit/action@v3.0.1
         id: precommit
       - name: Upload pre-commit changes

.github/workflows/prerelease.yaml

@@ -10,7 +10,7 @@ on:
         type: string
         required: true
         description: 'ROS distribution codename:'
-        default: noetic
+        default: humble
 
 permissions:
   contents: read # to fetch code (actions/checkout)

.pre-commit-config.yaml

@@ -29,7 +29,7 @@ repos:
       - id: trailing-whitespace
 
   - repo: https://github.com/psf/black
-    rev: 26.3.1
+    rev: 26.5.1
     hooks:
       - id: black
         args: ["--line-length", "100"]
@@ -39,7 +39,7 @@ repos:
       - id: clang-format
         name: clang-format
         description: Format files with ClangFormat.
-        entry: clang-format-14
+        entry: clang-format-18
         language: system
         files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
         args: ["-fallback-style=none", "-i"]

core/include/moveit/task_constructor/stage.h

@@ -43,6 +43,7 @@
 #include "utils.h"
 #include <moveit/macros/class_forward.hpp>
 #include <moveit/task_constructor/storage.h>
+#include <string_view>
 #include <vector>
 #include <list>
 

core/src/cost_terms.cpp

@@ -253,8 +253,6 @@ Clearance::Clearance(bool with_world, bool cumulative, std::string group_propert
   , distance_to_cost{ [](double d) { return 1.0 / (d + 1e-5); } } {}
 
 double Clearance::operator()(const SubTrajectory& s, std::string& comment) const {
-	static const std::string PREFIX{ "Clearance: " };
-
 	collision_detection::DistanceRequest request;
 	request.type =
 	    cumulative ? collision_detection::DistanceRequestType::SINGLE : collision_detection::DistanceRequestType::GLOBAL;
@@ -298,7 +296,7 @@ double Clearance::operator()(const SubTrajectory& s, std::string& comment) const
 	} };
 
 	auto collision_comment = [=](const auto& distance) {
-		return fmt::format(PREFIX + "allegedly valid solution collides between '{}' and '{}'", distance.link_names[0],
+		return fmt::format("Clearance: allegedly valid solution collides between '{}' and '{}'", distance.link_names[0],
 		                   distance.link_names[1]);
 	};
 
@@ -313,10 +311,10 @@ double Clearance::operator()(const SubTrajectory& s, std::string& comment) const
 		}
 		distance = distance_data.distance;
 		if (!cumulative)
-			comment = fmt::format(PREFIX + "distance {} between '{}' and '{}'", distance, distance_data.link_names[0],
+			comment = fmt::format("Clearance: distance {} between '{}' and '{}'", distance, distance_data.link_names[0],
 			                      distance_data.link_names[1]);
 		else
-			comment = fmt::format(PREFIX + "cumulative distance {}", distance);
+			comment = fmt::format("Clearance: cumulative distance {}", distance);
 	} else {  // check trajectory
 		for (size_t i = 0; i < s.trajectory()->getWayPointCount(); ++i) {
 			auto distance_data = check_distance(state, s.trajectory()->getWayPoint(i));
@@ -327,7 +325,7 @@ double Clearance::operator()(const SubTrajectory& s, std::string& comment) const
 			distance += distance_data.distance;
 		}
 		distance /= s.trajectory()->getWayPointCount();
-		comment = fmt::format(PREFIX + "average{} distance: {}", (cumulative ? " cumulative" : ""), distance);
+		comment = fmt::format("Clearance: average{} distance: {}", (cumulative ? " cumulative" : ""), distance);
 	}
 
 	return distance_to_cost(distance);

core/src/stage.cpp

@@ -311,7 +311,7 @@ Stage::Stage(StagePrivate* impl) : pimpl_(impl) {
 	assert(impl);
 	auto& p = properties();
 	p.declare<double>("timeout", "timeout per run (s)");
-	p.declare<std::string>("marker_ns", name(), "marker namespace");
+	p.declare<std::string_view>("marker_ns", name(), "marker namespace");
 	p.declare<TrajectoryExecutionInfo>("trajectory_execution_info", TrajectoryExecutionInfo(),
 	                                   "settings used when executing the trajectory");
 
@@ -909,33 +909,34 @@ bool Connecting::compatible(const InterfaceState& from_state, const InterfaceSta
 	const planning_scene::PlanningSceneConstPtr& from = from_state.scene();
 	const planning_scene::PlanningSceneConstPtr& to = to_state.scene();
 
-	auto false_with_debug = [](auto... args) {
-		RCLCPP_DEBUG_STREAM(rclcpp::get_logger("Connecting"), fmt::format(args...));
+	auto false_with_debug = [](auto args...) {
+		RCLCPP_DEBUG_STREAM(rclcpp::get_logger("Connecting"), args);
 		return false;
 	};
 
-	if (from->getWorld()->size() != to->getWorld()->size())
-		return false_with_debug("{}: different number of collision objects", name());
+	if (from->getWorld()->size() != to->getWorld()->size()) {
+			return false_with_debug("{}: different number of collision objects", name().c_str());
+	}
 
 	// both scenes should have the same set of collision objects, at the same location
 	for (const auto& from_object_pair : *from->getWorld()) {
 		const std::string& from_object_name = from_object_pair.first;
 		const collision_detection::World::ObjectPtr& from_object = from_object_pair.second;
 		const collision_detection::World::ObjectConstPtr& to_object = to->getWorld()->getObject(from_object_name);
 		if (!to_object)
-			return false_with_debug("{}: object missing: {}", name(), from_object_name);
+			return false_with_debug("{}: object missing: {}", name().c_str(), from_object_name.c_str());
 
 		if (!(from_object->pose_.matrix() - to_object->pose_.matrix()).isZero(1e-4))
-			return false_with_debug("{}: different object pose: {}", name(), from_object_name);
+			return false_with_debug("{}: different object pose: {}", name().c_str(), from_object_name.c_str());
 
 		if (from_object->shape_poses_.size() != to_object->shape_poses_.size())
-			return false_with_debug("{}: different object shapes: {}", name(), from_object_name);
+			return false_with_debug("{}: different object shapes: {}", name().c_str(), from_object_name.c_str());
 
 		for (auto from_it = from_object->shape_poses_.cbegin(), from_end = from_object->shape_poses_.cend(),
 		          to_it = to_object->shape_poses_.cbegin();
 		     from_it != from_end; ++from_it, ++to_it)
 			if (!(from_it->matrix() - to_it->matrix()).isZero(1e-4))
-				return false_with_debug("{}: different shape pose: {}", name(), from_object_name);
+				return false_with_debug("{}: different shape pose: {}", name().c_str(), from_object_name.c_str());
 	}
 
 	// Also test for attached objects which have a different storage
@@ -944,31 +945,33 @@ bool Connecting::compatible(const InterfaceState& from_state, const InterfaceSta
 	from->getCurrentState().getAttachedBodies(from_attached);
 	to->getCurrentState().getAttachedBodies(to_attached);
 	if (from_attached.size() != to_attached.size())
-		return false_with_debug("{}: different number of objects", name());
+		return false_with_debug("{}: different number of objects", name().c_str());
 
 	for (const moveit::core::AttachedBody* from_object : from_attached) {
 		auto it = std::find_if(to_attached.cbegin(), to_attached.cend(),
 		                       [from_object](const moveit::core::AttachedBody* object) {
 			                       return object->getName() == from_object->getName();
 		                       });
 		if (it == to_attached.cend())
-			return false_with_debug("{}: object missing: {}", name(), from_object->getName());
+			return false_with_debug("{}: object missing: {}", name().c_str(), from_object->getName().c_str());
 
 		const moveit::core::AttachedBody* to_object = *it;
 		if (from_object->getAttachedLink() != to_object->getAttachedLink())
 			return false_with_debug("{}: different attach links: {} attached to {} vs. {}",  //
-			                        name(), from_object->getName(),  //
-			                        from_object->getAttachedLink()->getName(), to_object->getAttachedLink()->getName());
+			                        name().c_str(), from_object->getName().c_str(),  //
+			                        from_object->getAttachedLink()->getName().c_str(),
+									to_object->getAttachedLink()->getName().c_str());
 
 		if (from_object->getShapes().size() != to_object->getShapes().size())
-			return false_with_debug("{}: different object shapes: {}", name(), from_object->getName());
+			return false_with_debug("{}: different object shapes: {}", name().c_str(), from_object->getName().c_str());
 
 		auto from_it = from_object->getShapePosesInLinkFrame().cbegin();
 		auto from_end = from_object->getShapePosesInLinkFrame().cend();
 		auto to_it = to_object->getShapePosesInLinkFrame().cbegin();
 		for (; from_it != from_end; ++from_it, ++to_it)
 			if (!(from_it->matrix() - to_it->matrix()).isZero(1e-4))
-				return false_with_debug("{}: different pose of attached object shape: {}", name(), from_object->getName());
+				return false_with_debug("{}: different pose of attached object shape: {}", name().c_str(),
+										from_object->getName().c_str());
 	}
 	return true;
 }

core/test/test_move_relative.cpp

@@ -173,16 +173,16 @@ TEST_F(PandaMoveRelativeCartesian, cartesianRotateAttachedIKFrame) {
 TEST_F(PandaMoveRelativeJoint, jointOutsideBound) {
 	// move joint inside limit
 	auto initial_jpos = scene->getCurrentState().getJointPositions("panda_joint7");
-	move->setDirection([initial_jpos] {
-		return std::map<std::string, double>{ { "panda_joint7", 2.0 - *initial_jpos } };
+	move->setDirection(
+		[initial_jpos] { return std::map<std::string, double>{ { "panda_joint7", 2.0 - *initial_jpos } };
 	}());
 	EXPECT_TRUE(this->t.plan()) << "Plan should succeed, joint inside limit";
 
 	this->t.reset();
 
 	// move joint outside limit: 2.8973
-	move->setDirection([initial_jpos] {
-		return std::map<std::string, double>{ { "panda_joint7", 3.0 - *initial_jpos } };
+	move->setDirection(
+		[initial_jpos] { return std::map<std::string, double>{ { "panda_joint7", 3.0 - *initial_jpos } };
 	}());
 
 	EXPECT_FALSE(this->t.plan()) << "Plan should fail, joint outside limit";

rviz_marker_tools/CMakeLists.txt

@@ -5,14 +5,11 @@ find_package(ament_cmake REQUIRED)
 find_package(moveit_common REQUIRED)
 moveit_package()
 
-set(THIS_PACKAGE_INCLUDE_DEPENDS
-	rclcpp
-	tf2_eigen
-	urdfdom_headers
-	geometry_msgs
-	std_msgs
-	visualization_msgs
-)
+find_package(urdfdom_headers REQUIRED)
+find_package(Eigen3 REQUIRED)
+find_package(tf2_eigen REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+find_package(visualization_msgs REQUIRED)
 
 foreach(dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
 	find_package(${dependency} REQUIRED)
@@ -26,14 +23,8 @@ add_library(${PROJECT_NAME} SHARED
 	src/marker_creation.cpp
 )
 
-target_link_libraries(${PROJECT_NAME} PUBLIC
-	rclcpp::rclcpp
-	${tf2_eigen_TARGETS}
-	${urdfdom_headers_TARGETS}
-	${geometry_msgs_TARGETS}
-	${std_msgs_TARGETS}
-	${visualization_msgs_TARGETS}
-)
+target_link_libraries(${PROJECT_NAME}
+	Eigen3::Eigen  tf2_eigen::tf2_eigen tf2_geometry_msgs::tf2_geometry_msgs  urdfdom_headers::urdfdom_headers ${visualization_msgs_TARGETS})
 target_include_directories(${PROJECT_NAME}
 	PUBLIC
 	$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>

visualization/CMakeLists.txt

@@ -1,5 +1,8 @@
 cmake_minimum_required(VERSION 3.16)
 project(moveit_task_constructor_visualization)
+# Qt Stuff
+find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Widgets)
+find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets)
 
 find_package(ament_cmake REQUIRED)
 find_package(fmt REQUIRED)
@@ -18,12 +21,13 @@ find_package(rviz_ogre_vendor REQUIRED)
 # definition needed for boost/math/constants/constants.hpp included by Ogre to compile
 add_definitions(-DBOOST_MATH_DISABLE_FLOAT128)
 
-# Qt Stuff
-find_package(Qt5 REQUIRED COMPONENTS Core Widgets)
-set(QT_LIBRARIES Qt5::Widgets)
-macro(qt_wrap_ui)
-	qt5_wrap_ui(${ARGN})
-endmacro()
+
+
+  function(qt_wrap_cpp out)
+    qt_wrap_cpp(_sources ${ARGN})
+    set("${out}" ${_sources} PARENT_SCOPE)
+  endfunction()
+
 
 set(CMAKE_INCLUDE_CURRENT_DIR ON)
 set(CMAKE_AUTOMOC ON)
@@ -41,12 +45,13 @@ install(DIRECTORY icons DESTINATION share)
 pluginlib_export_plugin_description_file(rviz_common motion_planning_tasks_rviz_plugin_description.xml)
 
 ament_export_include_directories(include)
-ament_export_libraries(motion_planning_tasks_utils
-	motion_planning_tasks_properties
-	motion_planning_tasks_rviz_plugin
-	moveit_task_visualization_tools
-)
-ament_export_dependencies(ament_cmake)
+
+
+
+
+
+ament_export_dependencies(Core5Compat)
+#ament_export_dependencies(ament_cmake)
 ament_export_dependencies(Boost)
 ament_export_dependencies(moveit_core)
 ament_export_dependencies(moveit_ros_visualization)

visualization/motion_planning_tasks/properties/CMakeLists.txt

@@ -10,17 +10,18 @@ find_package(yaml REQUIRED)
 
 add_library(${MOVEIT_LIB_NAME} SHARED ${SOURCES})
 
-target_link_libraries(${MOVEIT_LIB_NAME}
-	${QT_LIBRARIES} yaml
-)
+    target_link_libraries(motion_planning_tasks_properties PUBLIC
+      moveit_task_constructor_core::moveit_task_constructor_core
+      moveit_task_constructor_core::moveit_task_constructor_core_stage_plugins
+      moveit_task_constructor_core::moveit_task_constructor_core_stages
+      rviz_common::rviz_common
+    )
+
 target_include_directories(${MOVEIT_LIB_NAME}
 	PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/..>
 	PRIVATE ${YAML_INCLUDE_DIRS}
 )
-target_link_libraries(${MOVEIT_LIB_NAME}
-	${moveit_task_constructor_core_TARGETS}
-	${rviz_common_TARGETS}
-)
+
 
 install(TARGETS ${MOVEIT_LIB_NAME}
 	EXPORT export_${MOVEIT_LIB_NAME}

visualization/motion_planning_tasks/src/remote_task_model.cpp

@@ -526,7 +526,7 @@ QVariant RemoteSolutionModel::data(const QModelIndex& index, int role) const {
 					return item.creation_rank;
 				case 1:
 					if (std::isinf(item.cost))
-						return tr(u8"∞");
+						return tr("∞");
 					if (std::isnan(item.cost))
 						return QVariant();
 					return QLocale().toString(item.cost, 'f', 4);

visualization/motion_planning_tasks/src/task_list_model.cpp

@@ -61,9 +61,9 @@ QVariant TaskListModel::horizontalHeader(int column, int role) {
 				case 0:
 					return tr("name");
 				case 1:
-					return tr(u8"✓");
+					return tr("✓");  // ✓
 				case 2:
-					return tr(u8"✗");
+					return tr("✗");  // ✗
 				case 3:
 					return tr("time");
 			}

visualization/motion_planning_tasks/utils/CMakeLists.txt

@@ -1,5 +1,6 @@
 set(MOVEIT_LIB_NAME motion_planning_tasks_utils)
-
+find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Core Widgets)
+find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Core Widgets)
 set(SOURCES
 	flat_merge_proxy_model.cpp
 	tree_merge_proxy_model.cpp
@@ -8,7 +9,9 @@ set(SOURCES
 add_library(${MOVEIT_LIB_NAME} SHARED ${SOURCES})
 
 target_link_libraries(${MOVEIT_LIB_NAME}
-	${QT_LIBRARIES}
+		rclcpp::rclcpp
+		Qt${QT_VERSION_MAJOR}::Widgets
+		Qt${QT_VERSION_MAJOR}::Core
 )
 target_include_directories(${MOVEIT_LIB_NAME}
 	PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/..>