Qt6 fix

Author: mosfet80

CMakeLists.txt

@@ -1,9 +1,9 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.20)
 project(rviz_visual_tools)
 
-# Default to C++14
+# Default to C++17
 if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD 17)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
@@ -40,7 +40,21 @@ find_package(rviz_common REQUIRED)
 find_package(rviz_rendering REQUIRED)
 find_package(rviz_default_plugins REQUIRED)
 
-find_package(Qt5 REQUIRED COMPONENTS Widgets)
+
+find_package(QT NAMES Qt6 Qt5 COMPONENTS Test Widgets Core5Compat)
+
+if(Qt${QT_VERSION_MAJOR} EGUAL 6)
+	find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Test Widgets Core5Compat)
+	if(${QT_VERSION} VERSION_LESS 5.15.0)
+  		function(qt_wrap_cpp out)
+    			qt5_wrap_cpp(_sources ${ARGN})
+    			set("${out}" ${_sources} PARENT_SCOPE)
+  		endfunction()
+	endif()
+elseif()#Qt5
+	find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Test Widgets)
+endif()
+	
 
 ## Qt5 boilerplate options from http://doc.qt.io/qt-5/cmake-manual.html
 set(CMAKE_INCLUDE_CURRENT_DIR ON)
@@ -84,7 +98,7 @@ ament_target_dependencies(${PROJECT_NAME}_gui PUBLIC
   rviz_default_plugins
   rviz_ogre_vendor
 )
-target_link_libraries(${PROJECT_NAME}_gui PUBLIC Qt5::Widgets)
+target_link_libraries(${PROJECT_NAME}_gui PUBLIC Qt${QT_VERSION_MAJOR}::Widgets Qt${QT_VERSION_MAJOR}::Core5Compat)
 
 # prevent pluginlib from using boost
 target_compile_definitions(${PROJECT_NAME}_gui PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
@@ -121,6 +135,7 @@ target_compile_definitions(${PROJECT_NAME} PRIVATE _USE_MATH_DEFINES)
 ament_target_dependencies(${PROJECT_NAME} PUBLIC Eigen3)
 target_link_libraries(${PROJECT_NAME}
   ${PROJECT_NAME}_remote_control
+  Qt${QT_VERSION_MAJOR}::Core5Compat
 )
 ament_target_dependencies(${PROJECT_NAME}
   rclcpp