Remove use of ament_target_dependencies

[nbbrooks]

Description

Address removal of ament_target_dependencies in ament/ament_cmake#614

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 0.00%. Comparing base (c154f94) to head (caf50c1).

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #3708       +/-   ##
==========================================
- Coverage   46.22%   0.00%   -46.21%     
==========================================
  Files         726     515      -211     
  Lines       59503   46480    -13023     
  Branches     7623    6025     -1598     
==========================================
- Hits        27499       0    -27499     
- Misses      31836   46480    +14644     
+ Partials      168       0      -168     

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[urfeex]

Thanks for the effort! I tested that branch locally and it compiled fine and was usable. (Tested the RViz path planning plugin with an existing moveit config).

@nbbrooks Do you need any help in finishing this?

[nbbrooks]

@urfeex let me see if this latest version rebased onto the Qt6 fixes from #3707 still passes and then I could use a sanity check from you again :)

[urfeex]

With the current version I get a different build error than the CI job:

--- stderr: moveit_ros_visualization
CMake Error at /opt/ros/rolling/share/rviz_rendering/cmake/rviz_renderingExport.cmake:61 (set_target_properties):
  The link interface of target "rviz_rendering::rviz_rendering" contains:

    Qt6::Widgets

  but the target was not found.  Possible reasons include:

    * There is a typo in the target name.
    * A find_package call is missing for an IMPORTED target.
    * An ALIAS target is missing.

Call Stack (most recent call first):
  /opt/ros/rolling/share/rviz_rendering/cmake/ament_cmake_export_targets-extras.cmake:9 (include)
  /opt/ros/rolling/share/rviz_rendering/cmake/rviz_renderingConfig.cmake:41 (include)
  /opt/ros/rolling/share/rviz_common/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /opt/ros/rolling/share/rviz_common/cmake/rviz_commonConfig.cmake:41 (include)
  CMakeLists.txt:47 (find_package)

[nbbrooks]

Interesting, what OS and version of ros2 are you on? I guess this would be ros2 rolling.

Are you building anything from source other than moveit2?

[urfeex]

Interesting, what OS and version of ros2 are you on? I guess this would be ros2 rolling.

Are you building anything from source other than moveit2?

I'm using Ubuntu 24.04 with Rolling. I have a ros2_control master-source build as an underlay, but I don't think, this is affecting this. My main assumption would be that this comes from the fact that I have both, Qt5 and Qt6 installed on my system (Which may be the case for many users, though not the build farm)

My workspace:

========= geometric_shapes =========
## ros2...origin/ros2
========= moveit2 =========
## pr-remove-ament-target-dependencies
========= moveit_msgs =========
## ros2...origin/ros2
========= moveit_resources =========
## ros2...origin/ros2
========= moveit_task_constructor =========
## ros2...origin/ros2
?? visualization/COLCON_IGNORE
========= srdfdom =========
## ros2...origin/ros2

[nbbrooks]

Hmmm sounds like ros2/rviz#1689 but I thought I had some cmake code to cover that case in my moveit2 qt6 pr

[urfeex]

I thought so, as well looking at the changes and the previous version before the rebase also worked for me.

Edit:
https://github.com/moveit/moveit2/pull/3708/changes#diff-32b1b6c9a593167f8865334c0e4a5fcbd1af91d039af4ceb66077cf94179af22L30

You removed finding rviz2. This, the check for rviz2_version didn't work. That doesn't fix things for me, though:

--- stderr: moveit_ros_visualization
moveit_ros_visualization: You did not request a specific build type: Choosing 'Release' for maximum performance
CMake Error at /usr/lib/x86_64-linux-gnu/cmake/Qt6Core/Qt6CoreVersionlessTargets.cmake:42 (message):
  Some (but not all) targets in this export set were already defined.

  Targets Defined: Qt::Core

  Targets not yet defined: Qt::CorePrivate

Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/Qt6Core/Qt6CoreConfig.cmake:65 (include)
  /usr/share/cmake-3.28/Modules/CMakeFindDependencyMacro.cmake:76 (find_package)
  /usr/lib/x86_64-linux-gnu/cmake/Qt6/QtPublicDependencyHelpers.cmake:108 (find_dependency)
  /usr/lib/x86_64-linux-gnu/cmake/Qt6Widgets/Qt6WidgetsDependencies.cmake:39 (_qt_internal_find_qt_dependencies)
  /usr/lib/x86_64-linux-gnu/cmake/Qt6Widgets/Qt6WidgetsConfig.cmake:50 (include)
  /usr/lib/x86_64-linux-gnu/cmake/Qt6/Qt6Config.cmake:167 (find_package)
  CMakeLists.txt:38 (find_package)


CMake Warning at /usr/lib/x86_64-linux-gnu/cmake/Qt6/Qt6Config.cmake:167 (find_package):
  Found package configuration file:

    /usr/lib/x86_64-linux-gnu/cmake/Qt6Widgets/Qt6WidgetsConfig.cmake

  but it set Qt6Widgets_FOUND to FALSE so package "Qt6Widgets" is considered
  to be NOT FOUND.
Call Stack (most recent call first):
  CMakeLists.txt:38 (find_package)

Which seems like something, I have seen before.

[nbbrooks]

I thought so, as well looking at the changes and the previous version before the rebase also worked for me.

That is ....odd. I would have expected qt5 v. qt6 issues in the version before the rebase. Do you think it was compiling for Qt5 in that version, despite the rviz2 change?

[urfeex]

I did a clean build today with the version from fe0fc9d and it compiled and was usable :-)

I noticed, that using the dropdown menus for selecting a start / goal state in the MotionPlanning RViz plugin did not work, though. That might be Qt6-related, hence I am mentioning it here.

---

Edit: I noticed the following output

[rviz2-3] qt.core.qobject.connect: QObject::connect: No such signal QComboBox::activated(QString)
[rviz2-3] qt.core.qobject.connect: QObject::connect:  (sender name:   'start_state_combo_box')
[rviz2-3] qt.core.qobject.connect: QObject::connect:  (receiver name: 'MotionPlanningUI')
[rviz2-3] qt.core.qobject.connect: QObject::connect: No such signal QComboBox::activated(QString)
[rviz2-3] qt.core.qobject.connect: QObject::connect:  (sender name:   'goal_state_combo_box')
[rviz2-3] qt.core.qobject.connect: QObject::connect:  (receiver name: 'MotionPlanningUI')
[rviz2-3] qt.core.qobject.connect: QObject::connect: No such signal QComboBox::currentIndexChanged(QString)
[rviz2-3] qt.core.qobject.connect: QObject::connect:  (sender name:   'planning_group_combo_box')
[rviz2-3] qt.core.qobject.connect: QObject::connect:  (receiver name: 'MotionPlanningUI')

---

Edit 2: This solved it for me:

diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
index 81ba5e291..b187078c4 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
@@ -119,9 +119,9 @@ MotionPlanningFrame::MotionPlanningFrame(MotionPlanningDisplay* pdisplay, rviz_c
   connect(ui_->execute_button, SIGNAL(clicked()), this, SLOT(executeButtonClicked()));
   connect(ui_->plan_and_execute_button, SIGNAL(clicked()), this, SLOT(planAndExecuteButtonClicked()));
   connect(ui_->stop_button, SIGNAL(clicked()), this, SLOT(stopButtonClicked()));
-  connect(ui_->start_state_combo_box, SIGNAL(activated(QString)), this, SLOT(startStateTextChanged(QString)));
-  connect(ui_->goal_state_combo_box, SIGNAL(activated(QString)), this, SLOT(goalStateTextChanged(QString)));
-  connect(ui_->planning_group_combo_box, SIGNAL(currentIndexChanged(QString)), this,
+  connect(ui_->start_state_combo_box, SIGNAL(textActivated(QString)), this, SLOT(startStateTextChanged(QString)));
+  connect(ui_->goal_state_combo_box, SIGNAL(textActivated(QString)), this, SLOT(goalStateTextChanged(QString)));
+  connect(ui_->planning_group_combo_box, SIGNAL(currentTextChanged(QString)), this,
           SLOT(planningGroupTextChanged(QString)));
   connect(ui_->database_connect_button, SIGNAL(clicked()), this, SLOT(databaseConnectButtonClicked()));
   connect(ui_->save_scene_button, SIGNAL(clicked()), this, SLOT(saveSceneButtonClicked()));