From 455d7304c594a3bfac6969f2af7220ed80bab1a6 Mon Sep 17 00:00:00 2001
From: Alejandro Hernandez Cordero <ahcorde@gmail.com>
Date: Wed, 25 Feb 2026 23:47:51 +0100
Subject: [PATCH] Support Qt6

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
---
 fuse_viz/CMakeLists.txt | 29 +++++++++++++++++++++--------
 fuse_viz/package.xml    |  2 +-
 2 files changed, 22 insertions(+), 9 deletions(-)

diff --git a/fuse_viz/CMakeLists.txt b/fuse_viz/CMakeLists.txt
index 5a24db7cf..6a375eb97 100644
--- a/fuse_viz/CMakeLists.txt
+++ b/fuse_viz/CMakeLists.txt
@@ -23,18 +23,31 @@ find_package(tf2_geometry_msgs REQUIRED)
 
 find_package(Eigen3 REQUIRED)
 find_package(gtest_vendor)
-find_package(Qt5 COMPONENTS Core Widgets REQUIRED)
+find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Widgets Core)
+find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets Core)
+
+message("Compiling with Qt${QT_VERSION_MAJOR}")
 
 ###########
 ## Build ##
 ###########
 
-qt5_wrap_cpp(moc_files
-  include/fuse_viz/mapped_covariance_property.hpp
-  include/fuse_viz/pose_2d_stamped_property.hpp
-  include/fuse_viz/relative_pose_2d_stamped_constraint_property.hpp
-  include/fuse_viz/serialized_graph_display.hpp
-)
+if (${QT_VERSION_MAJOR} GREATER "5")
+  qt_standard_project_setup()
+  qt_wrap_cpp(moc_files
+    include/fuse_viz/mapped_covariance_property.hpp
+    include/fuse_viz/pose_2d_stamped_property.hpp
+    include/fuse_viz/relative_pose_2d_stamped_constraint_property.hpp
+    include/fuse_viz/serialized_graph_display.hpp
+  )
+else()
+  qt5_wrap_cpp(moc_files
+    include/fuse_viz/mapped_covariance_property.hpp
+    include/fuse_viz/pose_2d_stamped_property.hpp
+    include/fuse_viz/relative_pose_2d_stamped_constraint_property.hpp
+    include/fuse_viz/serialized_graph_display.hpp
+  )
+endif()
 
 add_library(${PROJECT_NAME} SHARED
   src/mapped_covariance_property.cpp
@@ -56,12 +69,12 @@ target_link_libraries(${PROJECT_NAME} PRIVATE
   rviz_common::rviz_common
   rviz_rendering::rviz_rendering
   tf2_geometry_msgs::tf2_geometry_msgs
+  Qt${QT_VERSION_MAJOR}::Widgets
 )
 
 target_include_directories(${PROJECT_NAME} PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
-  ${Qt5Widgets_INCLUDE_DIRS}
 )
 
 #############
diff --git a/fuse_viz/package.xml b/fuse_viz/package.xml
index 471e970f4..9147196c6 100644
--- a/fuse_viz/package.xml
+++ b/fuse_viz/package.xml
@@ -13,7 +13,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <build_depend>qtbase5-dev</build_depend>
+  <build_depend>qt6-base-dev</build_depend>
 
   <depend>ament_cmake_ros</depend>
   <depend>eigen</depend>