swri-robotics · danthony06 · Jun 7, 2023 · Jun 5, 2023 · Jun 5, 2023 · Jun 6, 2023
diff --git a/mapviz/CMakeLists.txt b/mapviz/CMakeLists.txt
@@ -133,9 +133,15 @@ target_compile_definitions(rqt_${PROJECT_NAME}
   PRIVATE
     USE_NEW_TF2_TOMSG=${USE_NEW_TF2_TOMSG}
 )
+
+# Foxy uses TF2 .h files, not .hpp files
+if ("$ENV{ROS_DISTRO}" STRLESS_EQUAL "galactic")
+  target_compile_definitions(rqt_${PROJECT_NAME} PRIVATE "-DUSE_TF2_H_FILES")
+endif()
+
 target_link_libraries(rqt_${PROJECT_NAME}
   OpenGL::GL
-  ${GLUT_LIBRARY}
+  ${GLUT_LIBRARIES}
   GLEW::GLEW
   opencv_core
   opencv_highgui

diff --git a/mapviz/include/mapviz/config_item.h b/mapviz/include/mapviz/config_item.h
@@ -50,7 +50,7 @@ class ConfigItem : public QWidget
   Q_OBJECT
 
 public:
-  explicit ConfigItem(QWidget *parent = nullptr, Qt::WindowFlags flags = nullptr);
+  explicit ConfigItem(QWidget *parent = nullptr, Qt::WindowFlags flags = Qt::WindowFlags());
   ~ConfigItem() override = default;
 
   void SetName(QString name);

diff --git a/mapviz/include/mapviz/map_canvas.h b/mapviz/include/mapviz/map_canvas.h
@@ -41,7 +41,11 @@
 #include <rclcpp/rclcpp.hpp>
 #include <tf2/transform_datatypes.h>
 #include <tf2_ros/transform_listener.h>
+#ifdef USE_TF2_H_FILES
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#else
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+#endif
 
 #include <mapviz/mapviz_plugin.h>
 

diff --git a/mapviz/include/mapviz/mapviz.hpp b/mapviz/include/mapviz/mapviz.hpp
@@ -83,7 +83,7 @@ class Mapviz : public QMainWindow
     int argc,
     char** argv,
     QWidget *parent = 0,
-    Qt::WindowFlags flags = 0);
+    Qt::WindowFlags flags = Qt::WindowFlags());
   ~Mapviz();
 
   rclcpp::Node::SharedPtr GetNode();

diff --git a/mapviz/include/mapviz/widgets.h b/mapviz/include/mapviz/widgets.h
@@ -27,8 +27,8 @@
 //
 // *****************************************************************************
 
-#ifndef MAPVIZ__WIDGETS_H_
-#define MAPVIZ__WIDGETS_H_
+#ifndef MAPVIZ_WIDGETS_H_
+#define MAPVIZ_WIDGETS_H_
 
 // QT libraries
 #include <QWidget>
@@ -87,7 +87,7 @@ class SingleClickLabel : public QLabel
   Q_OBJECT
 
 public:
-  explicit SingleClickLabel(QWidget *parent = 0, Qt::WindowFlags flags = 0) :
+  explicit SingleClickLabel(QWidget *parent = 0, Qt::WindowFlags flags = Qt::WindowFlags()) :
     QLabel(parent, flags) {}
 
   ~SingleClickLabel() override = default;
@@ -107,7 +107,7 @@ class DoubleClickWidget : public QWidget
   Q_OBJECT
 
 public:
-  explicit DoubleClickWidget(QWidget *parent = 0, Qt::WindowFlags flags = 0) :
+  explicit DoubleClickWidget(QWidget *parent = 0, Qt::WindowFlags flags = Qt::WindowFlags()) :
     QWidget(parent, flags) {}
 
   ~DoubleClickWidget() override = default;
@@ -137,7 +137,7 @@ class IconWidget : public QWidget
   Q_OBJECT
 
 public:
-  explicit IconWidget(QWidget *parent = nullptr, Qt::WindowFlags flags = nullptr) :
+  explicit IconWidget(QWidget *parent = nullptr, Qt::WindowFlags flags = Qt::WindowFlags()) :
     QWidget(parent, flags)
   {
     pixmap_ = QPixmap(16, 16);

diff --git a/mapviz/src/map_canvas.cpp b/mapviz/src/map_canvas.cpp
@@ -252,8 +252,7 @@ void MapCanvas::paintEvent(QPaintEvent* event)
   QPainter p(this);
   p.setRenderHints(QPainter::Antialiasing |
                    QPainter::TextAntialiasing |
-                   QPainter::SmoothPixmapTransform |
-                   QPainter::HighQualityAntialiasing,
+                   QPainter::SmoothPixmapTransform,
                    enable_antialiasing_);
   p.beginNativePainting();
   // .beginNativePainting() disables blending and clears a handful of other
@@ -330,7 +329,7 @@ void MapCanvas::popGlMatrices()
 
 void MapCanvas::wheelEvent(QWheelEvent* e)
 {
-  float numDegrees = e->delta() / -8;
+  float numDegrees = e->angleDelta().y() / -8;
 
   Zoom(numDegrees / 10.0);
 }

diff --git a/mapviz/src/mapviz.cpp b/mapviz/src/mapviz.cpp
@@ -1471,7 +1471,7 @@ void Mapviz::SelectBackgroundColor(const QColor &color)
 void Mapviz::SetCaptureDirectory()
 {
   QFileDialog dialog(this, "Select Capture Directory");
-  dialog.setFileMode(QFileDialog::DirectoryOnly);
+  dialog.setOption(QFileDialog::ShowDirsOnly, true);
 
   dialog.exec();
 

diff --git a/mapviz_plugins/CMakeLists.txt b/mapviz_plugins/CMakeLists.txt
@@ -167,12 +167,20 @@ add_library(${PROJECT_NAME} SHARED
     ${SRC_FILES}
     ${UI_SRC_FILES}
 )
+
 target_include_directories(${PROJECT_NAME} 
   PUBLIC
     include)
+
 target_compile_definitions(${PROJECT_NAME}
   PUBLIC
     "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
+
+# Iron and later switched some cv_bridge files to .hpp from .h
+if ("$ENV{ROS_DISTRO}" STRLESS "iron")
+  target_compile_definitions(${PROJECT_NAME} PRIVATE "-DUSE_CVBRIDGE_H_FILES")
+endif()
+
 ament_target_dependencies(${PROJECT_NAME}
     ament_cmake
     ament_index_cpp

diff --git a/mapviz_plugins/include/mapviz_plugins/disparity_plugin.h b/mapviz_plugins/include/mapviz_plugins/disparity_plugin.h
@@ -40,7 +40,11 @@
 #include <QWidget>
 
 // ROS libraries
+#ifdef USE_CVBRIDGE_H_FILES
 #include <cv_bridge/cv_bridge.h>
+#else
+#include <cv_bridge/cv_bridge.hpp>
+#endif
 #include <opencv2/highgui.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <stereo_msgs/msg/disparity_image.hpp>

diff --git a/mapviz_plugins/include/mapviz_plugins/image_plugin.h b/mapviz_plugins/include/mapviz_plugins/image_plugin.h
@@ -43,7 +43,11 @@
 #include <tf2/transform_datatypes.h>
 #include <sensor_msgs/msg/image.hpp>
 #include <opencv2/highgui.hpp>
+#ifdef USE_CVBRIDGE_H_FILES
 #include <cv_bridge/cv_bridge.h>
+#else
+#include <cv_bridge/cv_bridge.hpp>
+#endif
 #include <image_transport/image_transport.hpp>
 
 #include <mapviz/map_canvas.h>

diff --git a/mapviz_plugins/src/attitude_indicator_plugin.cpp b/mapviz_plugins/src/attitude_indicator_plugin.cpp
@@ -62,7 +62,7 @@ namespace mapviz_plugins
 
     // Set background white
     QPalette p(config_widget_->palette());
-    p.setColor(QPalette::Background, Qt::white);
+    p.setColor(QPalette::Window, Qt::white);
     config_widget_->setPalette(p);
     roll_ = pitch_ = yaw_ = 0;
     topics_.emplace_back("nav_msgs/msg/Odometry");

diff --git a/mapviz_plugins/src/disparity_plugin.cpp b/mapviz_plugins/src/disparity_plugin.cpp
@@ -38,7 +38,11 @@
 #include <sensor_msgs/image_encodings.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 
+#ifdef USE_CVBRIDGE_H_FILES
 #include <cv_bridge/cv_bridge.h>
+#else
+#include <cv_bridge/cv_bridge.hpp>
+#endif
 
 #include <mapviz/select_topic_dialog.h>
 
@@ -74,7 +78,7 @@ namespace mapviz_plugins
 
     // Set background white
     QPalette p(config_widget_->palette());
-    p.setColor(QPalette::Background, Qt::white);
+    p.setColor(QPalette::Window, Qt::white);
     config_widget_->setPalette(p);
 
     // Set status text red

diff --git a/mapviz_plugins/src/draw_polygon_plugin.cpp b/mapviz_plugins/src/draw_polygon_plugin.cpp
@@ -72,7 +72,7 @@ namespace mapviz_plugins
     ui_.color->setColor(Qt::green);
     // Set background white
     QPalette p(config_widget_->palette());
-    p.setColor(QPalette::Background, Qt::white);
+    p.setColor(QPalette::Window, Qt::white);
     config_widget_->setPalette(p);
     // Set status text red
     QPalette p3(ui_.status->palette());

diff --git a/mapviz_plugins/src/float_plugin.cpp b/mapviz_plugins/src/float_plugin.cpp
@@ -63,7 +63,7 @@ namespace mapviz_plugins
     ui_.setupUi(config_widget_);
     // Set background white
     QPalette p(config_widget_->palette());
-    p.setColor(QPalette::Background, Qt::white);
+    p.setColor(QPalette::Window, Qt::white);
     config_widget_->setPalette(p);
 
     // Set status text red

diff --git a/mapviz_plugins/src/gps_plugin.cpp b/mapviz_plugins/src/gps_plugin.cpp
@@ -58,7 +58,7 @@ namespace mapviz_plugins
 
     // Set background white
     QPalette p(config_widget_->palette());
-    p.setColor(QPalette::Background, Qt::white);
+    p.setColor(QPalette::Window, Qt::white);
     config_widget_->setPalette(p);
 
     // Set status text red

diff --git a/mapviz_plugins/src/grid_plugin.cpp b/mapviz_plugins/src/grid_plugin.cpp
@@ -67,7 +67,7 @@ namespace mapviz_plugins
 
     // Set background white
     QPalette p(config_widget_->palette());
-    p.setColor(QPalette::Background, Qt::white);
+    p.setColor(QPalette::Window, Qt::white);
     config_widget_->setPalette(p);
 
     // Set status text red

diff --git a/mapviz_plugins/src/image_plugin.cpp b/mapviz_plugins/src/image_plugin.cpp
@@ -73,7 +73,7 @@ namespace mapviz_plugins
 
     // Set background white
     QPalette p(config_widget_->palette());
-    p.setColor(QPalette::Background, Qt::white);
+    p.setColor(QPalette::Window, Qt::white);
     config_widget_->setPalette(p);
 
     // Set status text red

diff --git a/mapviz_plugins/src/laserscan_plugin.cpp b/mapviz_plugins/src/laserscan_plugin.cpp
@@ -77,7 +77,7 @@ namespace mapviz_plugins
 
     // Set background white
     QPalette p(config_widget_->palette());
-    p.setColor(QPalette::Background, Qt::white);
+    p.setColor(QPalette::Window, Qt::white);
     config_widget_->setPalette(p);
 
     // Set status text red

diff --git a/mapviz_plugins/src/marker_plugin.cpp b/mapviz_plugins/src/marker_plugin.cpp
@@ -57,7 +57,7 @@ namespace mapviz_plugins
 
     // Set background white
     QPalette p(config_widget_->palette());
-    p.setColor(QPalette::Background, Qt::white);
+    p.setColor(QPalette::Window, Qt::white);
     config_widget_->setPalette(p);
 
     // Set status text red

diff --git a/mapviz_plugins/src/navsat_plugin.cpp b/mapviz_plugins/src/navsat_plugin.cpp
@@ -56,7 +56,7 @@ namespace mapviz_plugins
 
     // Set background white
     QPalette p(config_widget_->palette());
-    p.setColor(QPalette::Background, Qt::white);
+    p.setColor(QPalette::Window, Qt::white);
     config_widget_->setPalette(p);
 
     // Set status text red

diff --git a/mapviz_plugins/src/occupancy_grid_plugin.cpp b/mapviz_plugins/src/occupancy_grid_plugin.cpp
@@ -162,7 +162,7 @@ namespace mapviz_plugins
 
     // Set background white
     QPalette p(config_widget_->palette());
-    p.setColor(QPalette::Background, Qt::white);
+    p.setColor(QPalette::Window, Qt::white);
     config_widget_->setPalette(p);
 
     // Set status text red

diff --git a/mapviz_plugins/src/odometry_plugin.cpp b/mapviz_plugins/src/odometry_plugin.cpp
@@ -68,7 +68,7 @@ namespace mapviz_plugins
 
     // Set background white
     QPalette p(config_widget_->palette());
-    p.setColor(QPalette::Background, Qt::white);
+    p.setColor(QPalette::Window, Qt::white);
     config_widget_->setPalette(p);
 
     // Set status text red

diff --git a/mapviz_plugins/src/path_plugin.cpp b/mapviz_plugins/src/path_plugin.cpp
@@ -62,7 +62,7 @@ namespace mapviz_plugins
 
     // Set background white
     QPalette p(config_widget_->palette());
-    p.setColor(QPalette::Background, Qt::white);
+    p.setColor(QPalette::Window, Qt::white);
     config_widget_->setPalette(p);
 
     // Set status text red
@@ -169,7 +169,7 @@ namespace mapviz_plugins
     bool lines;
     bool points;
     QColor old_color = ui_.path_color->color();
-    QColor color = old_color.dark(200);
+    QColor color = old_color.darker(200);
     SetDrawStyle( LINES );
     lines = DrawPoints(scale);
     SetColor(color);

diff --git a/mapviz_plugins/src/plan_route_plugin.cpp b/mapviz_plugins/src/plan_route_plugin.cpp
@@ -84,7 +84,7 @@ namespace mapviz_plugins
     ui_.color->setColor(Qt::green);
     // Set background white
     QPalette p(config_widget_->palette());
-    p.setColor(QPalette::Background, Qt::white);
+    p.setColor(QPalette::Window, Qt::white);
     config_widget_->setPalette(p);
     // Set status text red
     QPalette p3(ui_.status->palette());

diff --git a/mapviz_plugins/src/pointcloud2_plugin.cpp b/mapviz_plugins/src/pointcloud2_plugin.cpp
@@ -80,7 +80,7 @@ namespace mapviz_plugins
 
     // Set background white
     QPalette p(config_widget_->palette());
-    p.setColor(QPalette::Background, Qt::white);
+    p.setColor(QPalette::Window, Qt::white);
     config_widget_->setPalette(p);
 
     // Set status text red

diff --git a/mapviz_plugins/src/pose_plugin.cpp b/mapviz_plugins/src/pose_plugin.cpp
@@ -68,7 +68,7 @@ namespace mapviz_plugins
 
     // Set background white
     QPalette p(config_widget_->palette());
-    p.setColor(QPalette::Background, Qt::white);
+    p.setColor(QPalette::Window, Qt::white);
     config_widget_->setPalette(p);
 
     // Set status text red

diff --git a/mapviz_plugins/src/robot_image_plugin.cpp b/mapviz_plugins/src/robot_image_plugin.cpp
@@ -72,7 +72,7 @@ namespace mapviz_plugins
 
     // Set background white
     QPalette p(config_widget_->palette());
-    p.setColor(QPalette::Background, Qt::white);
+    p.setColor(QPalette::Window, Qt::white);
     config_widget_->setPalette(p);
 
     // Set status text red

diff --git a/mapviz_plugins/src/route_plugin.cpp b/mapviz_plugins/src/route_plugin.cpp
@@ -72,7 +72,7 @@ namespace mapviz_plugins
     ui_.color->setColor(Qt::green);
     // Set background white
     QPalette p(config_widget_->palette());
-    p.setColor(QPalette::Background, Qt::white);
+    p.setColor(QPalette::Window, Qt::white);
     config_widget_->setPalette(p);
     // Set status text red
     QPalette p3(ui_.status->palette());

diff --git a/mapviz_plugins/src/string_plugin.cpp b/mapviz_plugins/src/string_plugin.cpp
@@ -64,7 +64,7 @@ namespace mapviz_plugins
     ui_.setupUi(config_widget_);
     // Set background white
     QPalette p(config_widget_->palette());
-    p.setColor(QPalette::Background, Qt::white);
+    p.setColor(QPalette::Window, Qt::white);
     config_widget_->setPalette(p);
 
     // Set status text red

diff --git a/mapviz_plugins/src/textured_marker_plugin.cpp b/mapviz_plugins/src/textured_marker_plugin.cpp
@@ -71,7 +71,7 @@ TexturedMarkerPlugin::TexturedMarkerPlugin()
 
   // Set background white
   QPalette p(config_widget_->palette());
-  p.setColor(QPalette::Background, Qt::white);
+  p.setColor(QPalette::Window, Qt::white);
   config_widget_->setPalette(p);
 
   // Set status text red

diff --git a/mapviz_plugins/src/tf_frame_plugin.cpp b/mapviz_plugins/src/tf_frame_plugin.cpp
@@ -59,7 +59,7 @@ namespace mapviz_plugins
 
     // Set background white
     QPalette p(config_widget_->palette());
-    p.setColor(QPalette::Background, Qt::white);
+    p.setColor(QPalette::Window, Qt::white);
     config_widget_->setPalette(p);
 
     // Set status text red

diff --git a/mapviz_plugins/ui/coordinate_picker_config.ui b/mapviz_plugins/ui/coordinate_picker_config.ui
@@ -66,8 +66,8 @@
      <property name="readOnly">
       <bool>true</bool>
      </property>
-     <property name="tabStopWidth">
-      <number>4</number>
+     <property name="tabStopDistance">
+      <double>4.000000000000000</double>
      </property>
      <property name="textInteractionFlags">
       <set>Qt::TextSelectableByKeyboard|Qt::TextSelectableByMouse</set>

diff --git a/multires_image/include/multires_image/multires_view_node.h b/multires_image/include/multires_image/multires_view_node.h
@@ -55,7 +55,7 @@ namespace multires_image
     Q_OBJECT
 
   public:
-    MultiresViewNode(int argc, char **argv, QWidget *parent = 0, Qt::WindowFlags flags = 0);
+    MultiresViewNode(int argc, char **argv, QWidget *parent = 0, Qt::WindowFlags flags = Qt::WindowFlags());
     ~MultiresViewNode() override = default;
 
     virtual void showEvent(QShowEvent* event) override;

diff --git a/multires_image/src/QGLMap.cpp b/multires_image/src/QGLMap.cpp
@@ -116,7 +116,7 @@ void QGLMap::SetTiles(TileSet* tiles)
 
 void QGLMap::wheelEvent(QWheelEvent* e)
 {
-  float numDegrees = static_cast<float>(e->delta()) / -8.0f;
+  float numDegrees = static_cast<float>(e->angleDelta().y()) / -8.0f;
 
   m_scale *= pow(1.1, numDegrees / 10.0);