Migrate to Qt6 #666

iche033 · 2025-03-25T21:06:47Z

🎉 New feature

Built on top of #657 (and replaces that PR)

Related PR in gz-sim: gazebosim/gz-sim#2832

Summary

See PR description in #657. Apart from updating CMake calls and QML syntax to Qt6, one important change to highlight is:

plugin's name is prepended with an underscore (_) since properties that start with an uppercase letter are not allowed in Qt6

This resulted in changes in almost all the QML files in our GUI plugins. In order to call C++ functions from QML, the syntax is now _ClassName.Function() instead of ClassName.Function().

All TODOs mentioned in that PR has been addressed

CI status

Depends on:

Please see #673 that test these changes using custom CI branches. All checks are now green.

Plugins / Examples Status

I tested all gui plugins and examples in gz-gui (on ubuntu) to make sure they work in Qt6.

Here are their statuses:

Plugins

Examples

standalone:

plugin:

Checklist

Signed all commits for DCO
Added tests
Added example and/or tutorial
Updated documentation (as needed)
Updated migration guide (as needed)
Consider updating Python bindings (if the library has them)
codecheck passed (See contributing)
All tests passed (See test coverage)
While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Before this fix, if the value property has a binding instead of a value, any modification from the GUI (e.g. hitting the up arrow on the spin box) would not actually change the displayed value because it is immediately reset back to the value set by the binding. This is the case in the `GzPose` module and the effect can be easily be seen in the `GridConfig` plugin. To test, run: `gz gui -c examples/config/grid_config.config` You will see that, before this change, modifying the x,y,z,roll,pitch, yaw values actually changes the grid configuration, but the updated values are not displayed in the spinbox. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

…dings Signed-off-by: Ian Chen <ichen@openrobotics.org>

Signed-off-by: Ian Chen <ichen@openrobotics.org>

mergify · 2025-04-08T21:50:41Z

⚠️ The sha of the head commit of this PR conflicts with #673. Mergify cannot evaluate rules on this PR. ⚠️

Signed-off-by: Ian Chen <ichen@openrobotics.org>

caguero

Probably unrelated but I tried to load the minimal_scene plugin from the Gazebo plugin menu. I correctly saw the message that only one 3D scene plugin is supported at a time. When I tried to close the panel of that plugin, I got a crash.

caguero

Very minor: The Publisher plugin shows the message type cropped for me.

caguero

Just checking: When running the gz_components example this is what I got:

Is the style correct?

caguero

Just a few minor comments/questions. Other than that I was able to load all of the plugins and examples 🎈 .

Signed-off-by: Ian Chen <ichen@openrobotics.org>

iche033 · 2025-04-17T20:58:19Z

Probably unrelated but I tried to load the minimal_scene plugin from the Gazebo plugin menu. I correctly saw the message that only one 3D scene plugin is supported at a time. When I tried to close the panel of that plugin, I got a crash.

Fixed in 8d7e045. Noticed that this also happens on Ionic so will backport the fix as well.

iche033 · 2025-04-17T20:59:54Z

Very minor: The Publisher plugin shows the message type cropped for me.

Updated layout in 43a4763. Now it looks like this:

will also backport to other release branches

iche033 · 2025-04-17T21:01:52Z

Just checking: When running the gz_components example this is what I got:

Is the style correct?

I believe that's on purpose. It shows an integer spinbox with default width, and a double spinbox with width explicitly set to 300

Signed-off-by: Ian Chen <ichen@openrobotics.org>

iche033 · 2025-04-18T22:33:18Z

testing with updated gz-gui homebrew formula that uses Qt6: https://build.osrfoundation.org/job/gz_gui-ci-pr_any-homebrew-amd64/218/

iche033 · 2025-04-18T22:42:55Z

testing with updated gz-gui homebrew formula that uses Qt6: https://build.osrfoundation.org/job/gz_gui-ci-pr_any-homebrew-amd64/218/

homebrew CI is green, merging!

azeey added 7 commits February 21, 2025 15:23

WIP

51aa0a1

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Handle decimal factor changes

9e7a0c8

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Remove debug logs

b6f401d

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Merge branch 'fix_gridconfig' into azeey/qt6_simple

e462f9c

WIP

2726836

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Update packages.apt

c2d720d

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

iche033 requested a review from jennuine as a code owner March 25, 2025 21:06

azeey added this to Core development Mar 25, 2025

github-project-automation bot moved this to Inbox in Core development Mar 25, 2025

iche033 mentioned this pull request Mar 25, 2025

Migrate to Qt6 gazebosim/gz-sim#2832

Merged

41 tasks

iche033 marked this pull request as draft March 25, 2025 22:12

fixes for topic viewer's tree view, file dialogs, qml to cpp prop bin…

9c27bd1

…dings Signed-off-by: Ian Chen <ichen@openrobotics.org>

iche033 force-pushed the iche033/qt6 branch from 0f05c67 to 9c27bd1 Compare March 26, 2025 00:54

iche033 added 3 commits March 29, 2025 01:40

fix transport plotting, all examples

9d397a4

Signed-off-by: Ian Chen <ichen@openrobotics.org>

fixing tests

3c3b3cf

Signed-off-by: Ian Chen <ichen@openrobotics.org>

testing

9fe860e

Signed-off-by: Ian Chen <ichen@openrobotics.org>

iche033 changed the base branch from azeey/qt6_simple to main April 3, 2025 01:34

iche033 added 4 commits April 3, 2025 01:35

test sleeping:

f538d69

Signed-off-by: Ian Chen <ichen@openrobotics.org>

fix merge and grid config color dialog

e8a346c

Signed-off-by: Ian Chen <ichen@openrobotics.org>

testing

39aef4b

Signed-off-by: Ian Chen <ichen@openrobotics.org>

increase sleep

f96a1a4

Signed-off-by: Ian Chen <ichen@openrobotics.org>

mergify bot mentioned this pull request Apr 3, 2025

Testing CI with ci_matching_branch/iche033/qt6 #673

Closed

iche033 added 6 commits April 4, 2025 18:24

use Q_DECLARE_OPAQUE_POINTER

dd93d98

Signed-off-by: Ian Chen <ichen@openrobotics.org>

create metal texture

43bc6aa

Signed-off-by: Ian Chen <ichen@openrobotics.org>

deprecation warnings on homebrew

0ec0b21

Signed-off-by: Ian Chen <ichen@openrobotics.org>

merge from main

54fb00f

Signed-off-by: Ian Chen <ichen@openrobotics.org>

fix navsat map plugin on mac

7fcd13d

Signed-off-by: Ian Chen <ichen@openrobotics.org>

fix title in reset dialog on mac

cd5d6cb

Signed-off-by: Ian Chen <ichen@openrobotics.org>

iche033 added 2 commits April 9, 2025 22:41

Merge branch 'ci_matching_branch/iche033/qt6' into iche033/qt6

e483f1f

style

03c2164

Signed-off-by: Ian Chen <ichen@openrobotics.org>

iche033 changed the title ~~More Qt6 changes~~ Migrate to Qt6 Apr 9, 2025

iche033 marked this pull request as ready for review April 9, 2025 23:13

iche033 requested a review from caguero April 9, 2025 23:13

iche033 added the 🪵 jetty Gazebo Jetty label Apr 10, 2025

iche033 mentioned this pull request Apr 10, 2025

Update to use Qt6 gazebo-release/gz-gui10-release#3

Merged

caguero reviewed Apr 17, 2025

View reviewed changes

iche033 added 2 commits April 17, 2025 20:28

update publisher layout

43a4763

Signed-off-by: Ian Chen <ichen@openrobotics.org>

fix shutting down minimal scene

8d7e045

Signed-off-by: Ian Chen <ichen@openrobotics.org>

Merge branch 'main' into iche033/qt6

ddaa4e7

fix doxygen

5c1aa6a

Signed-off-by: Ian Chen <ichen@openrobotics.org>

caguero approved these changes Apr 18, 2025

View reviewed changes

github-project-automation bot moved this from Inbox to In review in Core development Apr 18, 2025

iche033 mentioned this pull request Apr 18, 2025

gz-sim10 and gz-gui10: Use Qt6 osrf/homebrew-simulation#3019

Merged

iche033 merged commit 1ff6eba into main Apr 18, 2025
11 of 12 checks passed

iche033 deleted the iche033/qt6 branch April 18, 2025 22:44

github-project-automation bot moved this from In review to Done in Core development Apr 18, 2025

This was referenced Apr 22, 2025

Backport minimal scene shutdown fix #678

Merged

Backport Publisher plugin layout updates #679

Merged

Migrate to Qt6 #657

Closed

azeey mentioned this pull request Aug 25, 2025

Migrate Qt5 to Qt6 #586

Closed

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🎉 New feature

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