Fix Rolling build: fmt::runtime, Qt5/Qt6 dual-support, rviz Display::update, char8_t

core/src/cost_terms.cpp

@@ -298,7 +298,7 @@ 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(fmt::runtime(PREFIX + "allegedly valid solution collides between '{}' and '{}'"), distance.link_names[0],
 		                   distance.link_names[1]);
 	};
 
@@ -313,10 +313,10 @@ 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(fmt::runtime(PREFIX + "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(fmt::runtime(PREFIX + "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 +327,7 @@ 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(fmt::runtime(PREFIX + "average{} distance: {}"), (cumulative ? " cumulative" : ""), distance);
 	}
 
 	return distance_to_cost(distance);

core/src/stage.cpp

@@ -909,8 +909,8 @@ 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 fmt_str, auto&&... args) {
+		RCLCPP_DEBUG_STREAM(rclcpp::get_logger("Connecting"), fmt::format(fmt::runtime(fmt_str), std::forward<decltype(args)>(args)...));
 		return false;
 	};
 

visualization/CMakeLists.txt

@@ -19,10 +19,27 @@ find_package(rviz_ogre_vendor REQUIRED)
 add_definitions(-DBOOST_MATH_DISABLE_FLOAT128)
 
 # Qt Stuff
-find_package(Qt5 REQUIRED COMPONENTS Core Widgets)
-set(QT_LIBRARIES Qt5::Widgets)
+# rviz switched to Qt6 in 15.1.14 (ros2/rviz#1635 merged 2025-12-08 but did not
+# land until that patch release; 15.1.13 and earlier are still Qt5). Gate on
+# rviz's version rather than Qt6 availability -- Ubuntu 24.04 ships both Qt5 and
+# Qt6, and linking a Qt6 build against a Qt5 rviz is an ABI mismatch.
+if(rviz_common_VERSION VERSION_GREATER_EQUAL 15.1.14)
+	find_package(Qt6 REQUIRED COMPONENTS Core Widgets)
+	set(QT_VERSION_MAJOR 6)
+	# Hint for transitive deps that use find_package(QT NAMES Qt6 Qt5 ...) which
+	# may incorrectly resolve to Qt5 due to CMake's ascending path order
+	set(QT_DIR "${Qt6_DIR}")
+else()
+	find_package(Qt5 REQUIRED COMPONENTS Core Widgets)
+	set(QT_VERSION_MAJOR 5)
+endif()
+set(QT_LIBRARIES Qt${QT_VERSION_MAJOR}::Widgets)
 macro(qt_wrap_ui)
-	qt5_wrap_ui(${ARGN})
+	if(QT_VERSION_MAJOR EQUAL 5)
+		qt5_wrap_ui(${ARGN})
+	else()
+		qt6_wrap_ui(${ARGN})
+	endif()
 endmacro()
 
 set(CMAKE_INCLUDE_CURRENT_DIR ON)

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(reinterpret_cast<const char*>(u8"∞"));
 					if (std::isnan(item.cost))
 						return QVariant();
 					return QLocale().toString(item.cost, 'f', 4);

visualization/motion_planning_tasks/src/task_display.cpp

@@ -37,6 +37,7 @@
 */
 
 #include "task_display.h"
+#include <rclcpp/version.h>
 #include "task_panel.h"
 #include "task_list_model.h"
 #include "meta_task_list_model.h"
@@ -184,12 +185,24 @@ void TaskDisplay::calculateOffsetPosition() {
 	scene_node_->setOrientation(orientation);
 }
 
+#if RCLCPP_VERSION_GTE(30, 0, 0)
+void TaskDisplay::update(std::chrono::nanoseconds wall_dt, std::chrono::nanoseconds ros_dt) {
+	requestPanel();
+	Display::update(wall_dt, ros_dt);
+	calculateOffsetPosition();
+	using namespace std::chrono;
+	float wall_dt_s = duration_cast<duration<float>>(wall_dt).count();
+	float ros_dt_s = duration_cast<duration<float>>(ros_dt).count();
+	trajectory_visual_->update(wall_dt_s, ros_dt_s);
+}
+#else
 void TaskDisplay::update(float wall_dt, float ros_dt) {
 	requestPanel();
 	Display::update(wall_dt, ros_dt);
 	calculateOffsetPosition();
 	trajectory_visual_->update(wall_dt, ros_dt);
 }
+#endif
 
 void TaskDisplay::changedRobotDescription() {
 	if (isEnabled())

visualization/motion_planning_tasks/src/task_display.h

@@ -39,6 +39,8 @@
 #pragma once
 
 #include <rviz_common/display.hpp>
+#include <rclcpp/version.h>
+#include <chrono>
 #include <rviz_common/ros_integration/ros_client_abstraction_iface.hpp>
 #include <moveit/visualization_tools/task_solution_visualization.h>
 
@@ -83,7 +85,11 @@ class TaskDisplay : public rviz_common::Display
 
 	void loadRobotModel();
 
+#if RCLCPP_VERSION_GTE(30, 0, 0)
+	void update(std::chrono::nanoseconds wall_dt, std::chrono::nanoseconds ros_dt) override;
+#else
 	void update(float wall_dt, float ros_dt) override;
+#endif
 	void reset() override;
 	void save(rviz_common::Config config) const override;
 	void load(const rviz_common::Config& config) override;

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(reinterpret_cast<const char*>(u8"✓"));
 				case 2:
-					return tr(u8"✗");
+					return tr(reinterpret_cast<const char*>(u8"✗"));
 				case 3:
 					return tr("time");
 			}

visualization/package.xml

@@ -11,7 +11,7 @@
 	<buildtool_depend>ament_cmake</buildtool_depend>
 
 	<depend>fmt</depend>
-	<build_depend>qtbase5-dev</build_depend>
+	<build_depend>qt-base-dev</build_depend>
 	<depend>moveit_core</depend>
 	<depend>moveit_task_constructor_msgs</depend>
 	<depend>moveit_task_constructor_core</depend>