Fixes for building on Ubuntu Noble (#114)

tesseract-robotics · Oct 9, 2024 · 25e56e0 · 25e56e0
1 parent 5bf036f
commit 25e56e0
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Showing 9 changed files with 89 additions and 100 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.15.0)
 # Extract package name and version
 find_package(ros_industrial_cmake_boilerplate REQUIRED)
 extract_package_metadata(pkg)
-project(${pkg_extracted_name} VERSION ${pkg_extracted_version} LANGUAGES CXX)
+project(${pkg_extracted_name} VERSION ${pkg_extracted_version} LANGUAGES C CXX)
 
 list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake/")
 

diff --git a/acm/CMakeLists.txt b/acm/CMakeLists.txt
@@ -6,7 +6,12 @@ find_package(Qt5 COMPONENTS Core Widgets REQUIRED)
 # Load variable for clang tidy args, compiler options and cxx version
 tesseract_variables()
 
-qt5_wrap_cpp(ACM_MODEL_headers_MOC include/tesseract_qt/acm/models/allowed_collision_matrix_model.h)
+set(CMAKE_AUTOMOC ON)
+set(CMAKE_AUTOUIC ON)
+
+set(CMAKE_AUTOUIC_SEARCH_PATHS include/tesseract_qt/acm/widgets)
+
+set(ACM_MODEL_headers_MOC include/tesseract_qt/acm/models/allowed_collision_matrix_model.h)
 
 add_library(${PROJECT_NAME}_acm_models SHARED ${ACM_MODEL_headers_MOC} src/models/allowed_collision_matrix_model.cpp)
 
@@ -21,19 +26,14 @@ target_include_directories(
   ${PROJECT_NAME}_acm_models PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
                                     "$<BUILD_INTERFACE:${CMAKE_BINARY_DIR}/acm>" "$<INSTALL_INTERFACE:include>")
 
-qt5_wrap_cpp(
-  ACM_WIDGET_headers_MOC
-  include/tesseract_qt/acm/widgets/allowed_collision_matrix_widget.h
-  include/tesseract_qt/acm/widgets/allowed_collision_matrix_editor_widget.h
-  include/tesseract_qt/acm/widgets/add_allowed_collision_entry_dialog.h)
-
-qt5_wrap_ui(ACM_WIDGET_headers_UI include/tesseract_qt/acm/widgets/allowed_collision_matrix_editor_widget.ui
-            include/tesseract_qt/acm/widgets/add_allowed_collision_entry_dialog.ui)
+set(ACM_WIDGET_headers_MOC
+    include/tesseract_qt/acm/widgets/allowed_collision_matrix_widget.h
+    include/tesseract_qt/acm/widgets/allowed_collision_matrix_editor_widget.h
+    include/tesseract_qt/acm/widgets/add_allowed_collision_entry_dialog.h)
 
 add_library(
   ${PROJECT_NAME}_acm_widgets SHARED
   ${ACM_WIDGET_headers_MOC}
-  ${ACM_WIDGET_headers_UI}
   src/widgets/allowed_collision_matrix_widget.cpp
   src/widgets/allowed_collision_matrix_editor_widget.cpp
   src/widgets/add_allowed_collision_entry_dialog.cpp)

diff --git a/common/CMakeLists.txt b/common/CMakeLists.txt
@@ -14,47 +14,38 @@ find_package(
 # Load variable for clang tidy args, compiler options and cxx version
 tesseract_variables()
 
-qt5_wrap_cpp(
-  COMMON_WIDGETS_headers_MOC
-  include/tesseract_qt/common/environment_manager.h
-  include/tesseract_qt/common/environment_wrapper.h
-  include/tesseract_qt/common/models/json_model.h
-  include/tesseract_qt/common/models/yaml_model.h
-  include/tesseract_qt/common/models/component_info_manager_model.h
-  include/tesseract_qt/common/widgets/cartesian_editor_widget.h
-  include/tesseract_qt/common/widgets/combo_box.h
-  include/tesseract_qt/common/widgets/image_viewer_widget.h
-  include/tesseract_qt/common/widgets/tree_view.h
-  include/tesseract_qt/common/widgets/component_info_dialog.h
-  include/tesseract_qt/common/widgets/component_info_manager_widget.h
-  include/tesseract_qt/common/widgets/component_info_widget.h
-  include/tesseract_qt/common/widgets/create_child_component_info_dialog.h
-  include/tesseract_qt/common/widgets/create_component_info_dialog.h
-  include/tesseract_qt/common/widgets/load_environment_widget.h
-  include/tesseract_qt/common/widgets/load_environment_dialog.h)
+set(CMAKE_AUTOMOC ON)
+set(CMAKE_AUTORCC ON)
+set(CMAKE_AUTOUIC ON)
 
-qt5_wrap_ui(
-  COMMON_WIDGETS_headers_UI
-  include/tesseract_qt/common/widgets/cartesian_editor_widget.ui
-  include/tesseract_qt/common/widgets/image_viewer_widget.ui
-  include/tesseract_qt/common/widgets/component_info_dialog.ui
-  include/tesseract_qt/common/widgets/component_info_manager_widget.ui
-  include/tesseract_qt/common/widgets/component_info_widget.ui
-  include/tesseract_qt/common/widgets/create_child_component_info_dialog.ui
-  include/tesseract_qt/common/widgets/create_component_info_dialog.ui
-  include/tesseract_qt/common/widgets/load_environment_widget.ui
-  include/tesseract_qt/common/widgets/load_environment_dialog.ui)
+set(CMAKE_AUTOUIC_SEARCH_PATHS include/tesseract_qt/common/widgets)
 
-qt5_add_resources(
-  COMMON_WIDGETS_resources_RCC
-  include/tesseract_qt/common/resources/tesseract_qt_resources.qrc
-  include/tesseract_qt/common/resources/themes/dark/qdarkstyle_dark.qrc
-  include/tesseract_qt/common/resources/themes/light/qdarkstyle_light.qrc)
+set(COMMON_WIDGETS_headers_MOC
+    include/tesseract_qt/common/environment_manager.h
+    include/tesseract_qt/common/environment_wrapper.h
+    include/tesseract_qt/common/models/json_model.h
+    include/tesseract_qt/common/models/yaml_model.h
+    include/tesseract_qt/common/models/component_info_manager_model.h
+    include/tesseract_qt/common/widgets/cartesian_editor_widget.h
+    include/tesseract_qt/common/widgets/combo_box.h
+    include/tesseract_qt/common/widgets/image_viewer_widget.h
+    include/tesseract_qt/common/widgets/tree_view.h
+    include/tesseract_qt/common/widgets/component_info_dialog.h
+    include/tesseract_qt/common/widgets/component_info_manager_widget.h
+    include/tesseract_qt/common/widgets/component_info_widget.h
+    include/tesseract_qt/common/widgets/create_child_component_info_dialog.h
+    include/tesseract_qt/common/widgets/create_component_info_dialog.h
+    include/tesseract_qt/common/widgets/load_environment_widget.h
+    include/tesseract_qt/common/widgets/load_environment_dialog.h)
+
+set(COMMON_WIDGETS_resources_RCC
+    include/tesseract_qt/common/resources/tesseract_qt_resources.qrc
+    include/tesseract_qt/common/resources/themes/dark/qdarkstyle_dark.qrc
+    include/tesseract_qt/common/resources/themes/light/qdarkstyle_light.qrc)
 
 add_library(
   ${PROJECT_NAME}_common SHARED
   ${COMMON_WIDGETS_headers_MOC}
-  ${COMMON_WIDGETS_headers_UI}
   ${COMMON_WIDGETS_resources_RCC}
   src/events/component_events.cpp
   src/events/allowed_collision_matrix_events.cpp

diff --git a/common/src/utils.cpp b/common/src/utils.cpp
@@ -33,6 +33,8 @@
 #include <QStatusBar>
 #include <QApplication>
 
+#include <fstream>
+
 namespace tesseract_gui
 {
 std::vector<std::string> getNamespaces(const std::string& namespace_str, const std::string& separator)

diff --git a/environment/CMakeLists.txt b/environment/CMakeLists.txt
@@ -5,7 +5,12 @@ find_package(Qt5 COMPONENTS Core Gui Widgets REQUIRED)
 # Load variable for clang tidy args, compiler options and cxx version
 tesseract_variables()
 
-qt5_wrap_cpp(ENVIRONMENT_MODEL_headers_MOC include/tesseract_qt/environment/models/environment_commands_model.h)
+set(CMAKE_AUTOMOC ON)
+set(CMAKE_AUTOUIC ON)
+
+set(CMAKE_AUTOUIC_SEARCH_PATHS include/tesseract_qt/environment/widgets)
+
+set(ENVIRONMENT_MODEL_headers_MOC include/tesseract_qt/environment/models/environment_commands_model.h)
 
 add_library(
   ${PROJECT_NAME}_environment_models SHARED
@@ -50,16 +55,12 @@ target_include_directories(
   PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>" "$<BUILD_INTERFACE:${CMAKE_BINARY_DIR}/environment>"
          "$<INSTALL_INTERFACE:include>")
 
-qt5_wrap_cpp(ENVIRONMENT_WIDGET_headers_MOC include/tesseract_qt/environment/widgets/environment_commands_widget.h
-             include/tesseract_qt/environment/widgets/environment_widget.h)
-qt5_wrap_ui(ENVIRONMENT_WIDGET_headers_UI include/tesseract_qt/environment/widgets/environment_widget.ui)
+set(ENVIRONMENT_WIDGET_headers_MOC include/tesseract_qt/environment/widgets/environment_commands_widget.h
+                                   include/tesseract_qt/environment/widgets/environment_widget.h)
 
 add_library(
-  ${PROJECT_NAME}_environment_widgets SHARED
-  ${ENVIRONMENT_WIDGET_headers_MOC}
-  ${ENVIRONMENT_WIDGET_headers_UI}
-  src/widgets/environment_widget.cpp
-  src/widgets/environment_commands_widget.cpp)
+  ${PROJECT_NAME}_environment_widgets SHARED ${ENVIRONMENT_WIDGET_headers_MOC} src/widgets/environment_widget.cpp
+                                             src/widgets/environment_commands_widget.cpp)
 target_link_libraries(
   ${PROJECT_NAME}_environment_widgets
   PUBLIC tesseract::tesseract_environment

diff --git a/joint_trajectory/CMakeLists.txt b/joint_trajectory/CMakeLists.txt
@@ -6,7 +6,12 @@ find_package(Qt5 COMPONENTS Core Gui Widgets REQUIRED)
 # Load variable for clang tidy args, compiler options and cxx version
 tesseract_variables()
 
-qt5_wrap_cpp(TRAJ_MODEL_headers_MOC include/tesseract_qt/joint_trajectory/models/joint_trajectory_model.h)
+set(CMAKE_AUTOMOC ON)
+set(CMAKE_AUTOUIC ON)
+
+set(CMAKE_AUTOUIC_SEARCH_PATHS include/tesseract_qt/joint_trajectory/widgets)
+
+set(TRAJ_MODEL_headers_MOC include/tesseract_qt/joint_trajectory/models/joint_trajectory_model.h)
 
 add_library(
   ${PROJECT_NAME}_joint_trajectory_models SHARED
@@ -26,18 +31,14 @@ target_include_directories(
   ${PROJECT_NAME}_joint_trajectory_models PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
                                                  "$<INSTALL_INTERFACE:include>")
 
-qt5_wrap_cpp(
-  TRAJ_WIDGET_headers_MOC
-  include/tesseract_qt/joint_trajectory/widgets/joint_trajectory_widget.h
-  include/tesseract_qt/joint_trajectory/widgets/joint_trajectory_tool_bar.h
-  include/tesseract_qt/joint_trajectory/widgets/joint_trajectory_plot_dialog.h)
-qt5_wrap_ui(TRAJ_WIDGET_headers_UI include/tesseract_qt/joint_trajectory/widgets/joint_trajectory_widget.ui
-            include/tesseract_qt/joint_trajectory/widgets/joint_trajectory_plot_dialog.ui)
+set(TRAJ_WIDGET_headers_MOC
+    include/tesseract_qt/joint_trajectory/widgets/joint_trajectory_widget.h
+    include/tesseract_qt/joint_trajectory/widgets/joint_trajectory_tool_bar.h
+    include/tesseract_qt/joint_trajectory/widgets/joint_trajectory_plot_dialog.h)
 
 add_library(
   ${PROJECT_NAME}_joint_trajectory_widgets SHARED
   ${TRAJ_WIDGET_headers_MOC}
-  ${TRAJ_WIDGET_headers_UI}
   src/widgets/joint_trajectory_tool_bar.cpp
   src/widgets/joint_trajectory_widget.cpp
   src/widgets/joint_trajectory_plot_dialog.cpp)

diff --git a/manipulation/CMakeLists.txt b/manipulation/CMakeLists.txt
@@ -6,16 +6,16 @@ find_package(Qt5 COMPONENTS Core Widgets REQUIRED)
 # Load variable for clang tidy args, compiler options and cxx version
 tesseract_variables()
 
-qt5_wrap_cpp(MANIPULATION_WIDGET_headers_MOC include/tesseract_qt/manipulation/manipulation_widget.h
-             include/tesseract_qt/manipulation/manipulation_tool_bar.h)
-qt5_wrap_ui(MANIPULATION_WIDGET_headers_UI include/tesseract_qt/manipulation/manipulation_widget.ui)
-
-add_library(
-  ${PROJECT_NAME}_manipulation_widgets SHARED
-  ${MANIPULATION_WIDGET_headers_MOC}
-  ${MANIPULATION_WIDGET_headers_UI}
-  src/manipulation_widget.cpp
-  src/manipulation_tool_bar.cpp)
+set(CMAKE_AUTOMOC ON)
+set(CMAKE_AUTOUIC ON)
+
+set(CMAKE_AUTOUIC_SEARCH_PATHS include/tesseract_qt/manipulation)
+
+set(MANIPULATION_WIDGET_headers_MOC include/tesseract_qt/manipulation/manipulation_widget.h
+                                    include/tesseract_qt/manipulation/manipulation_tool_bar.h)
+
+add_library(${PROJECT_NAME}_manipulation_widgets SHARED ${MANIPULATION_WIDGET_headers_MOC} src/manipulation_widget.cpp
+                                                        src/manipulation_tool_bar.cpp)
 
 target_link_libraries(
   ${PROJECT_NAME}_manipulation_widgets

diff --git a/planning/CMakeLists.txt b/planning/CMakeLists.txt
@@ -5,7 +5,9 @@ find_package(Qt5 COMPONENTS Core Widgets REQUIRED)
 # Load variable for clang tidy args, compiler options and cxx version
 tesseract_variables()
 
-qt5_wrap_cpp(PLANNING_headers_MOC include/tesseract_qt/planning/task_composer_problem_model.h)
+set(CMAKE_AUTOMOC ON)
+
+set(PLANNING_headers_MOC include/tesseract_qt/planning/task_composer_problem_model.h)
 
 add_library(
   ${PROJECT_NAME}_planning SHARED

diff --git a/plot/CMakeLists.txt b/plot/CMakeLists.txt
@@ -12,34 +12,26 @@ find_package(Qwt REQUIRED)
 # Load variable for clang tidy args, compiler options and cxx version
 tesseract_variables()
 
-qt5_wrap_ui(
-  PLOT_headers_UI
-  include/tesseract_qt/plot/plot_widget_editor.ui
-  include/tesseract_qt/plot/plot_widget_transforms.ui
-  include/tesseract_qt/plot/transforms/first_derivative.ui
-  include/tesseract_qt/plot/transforms/integral_transform.ui
-  include/tesseract_qt/plot/transforms/moving_average_filter.ui
-  include/tesseract_qt/plot/transforms/moving_rms.ui
-  include/tesseract_qt/plot/transforms/outlier_removal.ui
-  include/tesseract_qt/plot/transforms/scale_transform.ui
-  include/tesseract_qt/plot/transforms/transform_selector.ui)
-qt5_wrap_cpp(
-  PLOT_headers_MOC
-  include/tesseract_qt/plot/custom_tracker.h
-  include/tesseract_qt/plot/plot_legend.h
-  include/tesseract_qt/plot/plot_magnifier.h
-  include/tesseract_qt/plot/plot_widget.h
-  include/tesseract_qt/plot/plot_widget_base.h
-  include/tesseract_qt/plot/plot_widget_editor.h
-  include/tesseract_qt/plot/plot_widget_transforms.h
-  include/tesseract_qt/plot/plot_zoomer.h
-  include/tesseract_qt/plot/plot_subplots.h
-  include/tesseract_qt/plot/transform_function.h
-  include/tesseract_qt/plot/transforms/transform_selector.h)
+set(CMAKE_AUTOMOC ON)
+set(CMAKE_AUTOUIC ON)
+
+set(CMAKE_AUTOUIC_SEARCH_PATHS include/tesseract_qt/plot include/tesseract_qt/plot/transforms)
+
+set(PLOT_headers_MOC
+    include/tesseract_qt/plot/custom_tracker.h
+    include/tesseract_qt/plot/plot_legend.h
+    include/tesseract_qt/plot/plot_magnifier.h
+    include/tesseract_qt/plot/plot_widget.h
+    include/tesseract_qt/plot/plot_widget_base.h
+    include/tesseract_qt/plot/plot_widget_editor.h
+    include/tesseract_qt/plot/plot_widget_transforms.h
+    include/tesseract_qt/plot/plot_zoomer.h
+    include/tesseract_qt/plot/plot_subplots.h
+    include/tesseract_qt/plot/transform_function.h
+    include/tesseract_qt/plot/transforms/transform_selector.h)
 
 add_library(
   ${PROJECT_NAME}_plot SHARED
-  ${PLOT_headers_UI}
   ${PLOT_headers_MOC}
   src/custom_tracker.cpp
   src/plot_data.cpp