Support Qt6

package.xml

@@ -17,6 +17,9 @@
   <author email="mabel@openrobotics.org">Mabel Zhang</author>
   <author email="logans@cottsay.net">Scott K Logan</author>
 
+  <build_depend>qt6-base-dev</build_depend>
+  <build_depend>libqt6widgets6t64</build_depend>
+
   <exec_depend>ament_index_python</exec_depend>
   <exec_depend version_gte="0.2.19">python_qt_binding</exec_depend>
   <exec_depend>python3-matplotlib</exec_depend>

src/rqt_plot/data_plot/__init__.py

@@ -31,7 +31,7 @@
 
 from python_qt_binding import QT_BINDING
 from python_qt_binding.QtCore import Qt, qWarning, Signal
-from python_qt_binding.QtGui import QColor
+from python_qt_binding.QtGui import QColor, QColorConstants
 from python_qt_binding.QtWidgets import QHBoxLayout, QWidget
 from qt_gui_py_common.simple_settings_dialog import SimpleSettingsDialog
 from rqt_py_common.ini_helper import pack, unpack
@@ -112,8 +112,10 @@ class DataPlot(QWidget):
     SCALE_VISIBLE = 2
     SCALE_EXTEND = 4
 
-    _colors = [Qt.blue, Qt.red, Qt.cyan, Qt.magenta, Qt.green,
-               Qt.darkYellow, Qt.black, Qt.darkCyan, Qt.darkRed, Qt.gray]
+    _colors = [QColorConstants.Blue, QColorConstants.Red, QColorConstants.Cyan,
+               QColorConstants.Magenta, QColorConstants.Green,
+               QColorConstants.DarkYellow, QColorConstants.Black,
+               QColorConstants.DarkCyan, QColorConstants.DarkRed, QColorConstants.Gray]
 
     limits_changed = Signal()
     _redraw = Signal()

src/rqt_plot/data_plot/mat_data_plot.py

@@ -32,7 +32,7 @@
 from matplotlib.backends.backend_qt5agg import NavigationToolbar2QT as NavigationToolbar
 from matplotlib.figure import Figure
 
-from python_qt_binding import QT_BINDING, QT_BINDING_VERSION
+from python_qt_binding import QT_BINDING, QT_BINDING_VERSION, QtWidgets
 
 try:
     from pkg_resources import parse_version
@@ -48,7 +48,7 @@ def parse_version(s):
         raise ImportError('A PySide version newer than 1.1.0 is required.')
 
 from python_qt_binding.QtCore import Qt, Signal
-from python_qt_binding.QtGui import QColor
+from python_qt_binding.QtGui import QColorConstants
 from python_qt_binding.QtWidgets import QSizePolicy, QVBoxLayout, QWidget
 
 if QT_BINDING == 'pyside':
@@ -77,7 +77,7 @@ def __init__(self, parent=None):
             self.axes = self.figure.add_subplot(111)
             self.axes.grid(True, color='gray')
             self.safe_tight_layout()
-            self.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
+            self.setSizePolicy(QtWidgets.QSizePolicy.Policy.Expanding, QtWidgets.QSizePolicy.Policy.Expanding)
             self.updateGeometry()
 
         def resizeEvent(self, event):
@@ -120,7 +120,7 @@ def __init__(self, parent=None):
     def _limits_changed(self, event):
         self.limits_changed.emit()
 
-    def add_curve(self, curve_id, curve_name, curve_color=QColor(Qt.blue), markers_on=False):
+    def add_curve(self, curve_id, curve_name, curve_color=QColorConstants.Blue, markers_on=False):
 
         # adding an empty curve and change the limits, so save and restore them
         x_limits = self.get_xlim()

src/rqt_plot/data_plot/pyqtgraph_data_plot.py

@@ -29,7 +29,7 @@
 from pyqtgraph import mkBrush, mkPen, PlotWidget
 
 from python_qt_binding.QtCore import Qt, Signal
-from python_qt_binding.QtGui import QColor
+from python_qt_binding.QtGui import QColorConstants
 from python_qt_binding.QtWidgets import QVBoxLayout, QWidget
 
 try:
@@ -71,10 +71,10 @@ def __init__(self, parent=None):
         self._curves = {}
         self._current_vline = None
 
-    def add_curve(self, curve_id, curve_name, curve_color=QColor(Qt.blue), markers_on=False):
+    def add_curve(self, curve_id, curve_name, curve_color=QColorConstants.Blue, markers_on=False):
         pen = mkPen(curve_color, width=1)
         symbol = 'o'
-        symbolPen = mkPen(QColor(Qt.black))
+        symbolPen = mkPen(QColor(QColorConstants.Black))
         symbolBrush = mkBrush(curve_color)
         # this adds the item to the plot and legend
         if markers_on:

src/rqt_plot/data_plot/qwt_data_plot.py

@@ -31,7 +31,7 @@
 import sys
 
 from python_qt_binding.QtCore import QEvent, QPointF, QSize, Qt, qWarning, Signal
-from python_qt_binding.QtGui import QBrush, QColor, QPen, QVector2D
+from python_qt_binding.QtGui import QBrush, QColorConstants, QPen, QVector2D
 import Qwt
 
 
@@ -45,7 +45,7 @@ class QwtDataPlot(Qwt.QwtPlot):
 
     def __init__(self, *args):
         super(QwtDataPlot, self).__init__(*args)
-        self.setCanvasBackground(Qt.white)
+        self.setCanvasBackground(QColorConstants.White)
         self.insertLegend(Qwt.QwtLegend(), Qwt.QwtPlot.BottomLegend)
 
         self._curves = {}
@@ -66,7 +66,7 @@ def __init__(self, *args):
         self._last_click_coordinates = None
 
         marker_axis_y = Qwt.QwtPlotMarker()
-        marker_axis_y.setLabelAlignment(Qt.AlignRight | Qt.AlignTop)
+        marker_axis_y.setLabelAlignment(Qt.AlignmentFlag.AlignRight | Qt.AlignmentFlag.AlignTop)
         marker_axis_y.setLineStyle(Qwt.QwtPlotMarker.HLine)
         marker_axis_y.setYValue(0.0)
         marker_axis_y.attach(self)
@@ -75,8 +75,8 @@ def __init__(self, *args):
             Qwt.QwtPlot.xBottom, Qwt.QwtPlot.yLeft, Qwt.QwtPicker.PolygonSelection,
             Qwt.QwtPlotPicker.PolygonRubberBand, Qwt.QwtPicker.AlwaysOn, self.canvas()
         )
-        self._picker.setRubberBandPen(QPen(Qt.blue))
-        self._picker.setTrackerPen(QPen(Qt.blue))
+        self._picker.setRubberBandPen(QPen(QColorConstants.Blue))
+        self._picker.setTrackerPen(QPen(QColorConstants.Blue))
 
         # Initialize data
         self.rescale()
@@ -114,7 +114,7 @@ def resizeEvent(self, event):
         Qwt.QwtPlot.resizeEvent(self, event)
         self.rescale()
 
-    def add_curve(self, curve_id, curve_name, curve_color=QColor(Qt.blue), markers_on=False):
+    def add_curve(self, curve_id, curve_name, curve_color=QColorConstants.Blue, markers_on=False):
         curve_id = str(curve_id)
         if curve_id in self._curves:
             return

src/rqt_plot/plot_widget.py

@@ -32,9 +32,15 @@
 
 from ament_index_python.resources import get_resource
 from python_qt_binding import loadUi
+from python_qt_binding import QT_BINDING_VERSION
 from python_qt_binding.QtCore import Qt, QTimer, qWarning, Slot
-from python_qt_binding.QtGui import QIcon
-from python_qt_binding.QtWidgets import QAction, QMenu, QWidget
+from packaging.version import Version
+if Version(QT_BINDING_VERSION) > Version('6.0.0'):
+    from python_qt_binding.QtGui import QAction
+else:
+    from python_qt_binding.QtWidgets import QAction
+from python_qt_binding.QtGui import QColorConstants, QIcon
+from python_qt_binding.QtWidgets import QMenu, QWidget
 
 from rosidl_parser.definition import AbstractGenericString
 from rosidl_parser.definition import AbstractNestedType
@@ -228,8 +234,8 @@ def __init__(self, node, initial_topics=None, start_paused=False):
     def switch_data_plot_widget(self, data_plot):
         self.enable_timer(enabled=False)
 
-        self.data_plot_layout.removeWidget(self.data_plot)
         if self.data_plot is not None:
+            self.data_plot_layout.removeWidget(self.data_plot)
             self.data_plot.close()
 
         self.data_plot = data_plot