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Merged
rhaschke merged 1 commit into from
Aug 16, 2026
+18 −0
Merged

Support Qt5 + Qt6 #757

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12 changes: 12 additions & 0 deletions visualization/motion_planning_tasks/src/task_display.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -184,12 +184,24 @@ void TaskDisplay::calculateOffsetPosition() {
scene_node_->setOrientation(orientation);
}

#if RCLCPP_VERSION_GTE(30, 0, 0)
void TaskDisplay::update(std::chrono::nanoseconds wall_dt, std::chrono::nanoseconds ros_dt) {
requestPanel();
Display::update(wall_dt, ros_dt);
calculateOffsetPosition();
using namespace std::chrono;
float wall_dt_s = duration_cast<duration<float>>(wall_dt).count();
float ros_dt_s = duration_cast<duration<float>>(ros_dt).count();
trajectory_visual_->update(wall_dt_s, ros_dt_s);
}
#else
void TaskDisplay::update(float wall_dt, float ros_dt) {
requestPanel();
Display::update(wall_dt, ros_dt);
calculateOffsetPosition();
trajectory_visual_->update(wall_dt, ros_dt);
}
#endif

void TaskDisplay::changedRobotDescription() {
if (isEnabled())
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6 changes: 6 additions & 0 deletions visualization/motion_planning_tasks/src/task_display.h
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,8 @@

#pragma once

#include <chrono>
#include <rclcpp/version.h>
#include <rviz_common/display.hpp>
#include <rviz_common/ros_integration/ros_client_abstraction_iface.hpp>
#include <moveit/visualization_tools/task_solution_visualization.h>
Expand Down Expand Up @@ -83,7 +85,11 @@ class TaskDisplay : public rviz_common::Display

void loadRobotModel();

#if RCLCPP_VERSION_GTE(30, 0, 0)
void update(std::chrono::nanoseconds wall_dt, std::chrono::nanoseconds ros_dt) override;
#else
void update(float wall_dt, float ros_dt) override;
#endif
void reset() override;
void save(rviz_common::Config config) const override;
void load(const rviz_common::Config& config) override;
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