diff --git a/capabilities/CMakeLists.txt b/capabilities/CMakeLists.txt
index 09f2542ea..abd32d38b 100644
--- a/capabilities/CMakeLists.txt
+++ b/capabilities/CMakeLists.txt
@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.16)
 project(moveit_task_constructor_capabilities)
 
 find_package(fmt REQUIRED)
+find_package(Boost CONFIG REQUIRED)
 find_package(catkin REQUIRED COMPONENTS
   actionlib
   moveit_core
diff --git a/core/CMakeLists.txt b/core/CMakeLists.txt
index 1b01d4167..f23e31982 100644
--- a/core/CMakeLists.txt
+++ b/core/CMakeLists.txt
@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.16)
 project(moveit_task_constructor_core)
 
-find_package(Boost REQUIRED)
+find_package(Boost CONFIG REQUIRED)
 find_package(fmt REQUIRED)
 find_package(catkin REQUIRED COMPONENTS
 	roslint
diff --git a/visualization/CMakeLists.txt b/visualization/CMakeLists.txt
index 84793ab30..a040d5436 100644
--- a/visualization/CMakeLists.txt
+++ b/visualization/CMakeLists.txt
@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.16)
 project(moveit_task_constructor_visualization)
 
 find_package(fmt REQUIRED)
+find_package(Boost CONFIG REQUIRED)
 find_package(catkin REQUIRED COMPONENTS
 	moveit_core
 	moveit_ros_visualization
@@ -28,18 +29,24 @@ endforeach()
 add_definitions(-DBOOST_MATH_DISABLE_FLOAT128)
 
 # Qt Stuff
-if("${rviz_QT_VERSION}" VERSION_LESS "5")
-	find_package(Qt4 ${rviz_QT_VERSION} REQUIRED QtCore QtGui)
-	include(${QT_USE_FILE})
+if("${rviz_QT_VERSION}" VERSION_GREATER_EQUAL "6")
+	find_package(Qt6 ${rviz_QT_VERSION} REQUIRED Core Widgets)
+	set(QT_LIBRARIES Qt6::Widgets)
 	macro(qt_wrap_ui)
-		qt4_wrap_ui(${ARGN})
+		qt6_wrap_ui(${ARGN})
 	endmacro()
-else()
+elseif("${rviz_QT_VERSION}" VERSION_GREATER_EQUAL "5")
 	find_package(Qt5 ${rviz_QT_VERSION} REQUIRED Core Widgets)
 	set(QT_LIBRARIES Qt5::Widgets)
 	macro(qt_wrap_ui)
 		qt5_wrap_ui(${ARGN})
 	endmacro()
+else()
+	find_package(Qt4 ${rviz_QT_VERSION} REQUIRED QtCore QtGui)
+	include(${QT_USE_FILE})
+	macro(qt_wrap_ui)
+		qt4_wrap_ui(${ARGN})
+	endmacro()
 endif()
 
 set(CMAKE_INCLUDE_CURRENT_DIR ON)
diff --git a/visualization/motion_planning_tasks/src/remote_task_model.cpp b/visualization/motion_planning_tasks/src/remote_task_model.cpp
index 6d5ecc57d..44d7c0c11 100644
--- a/visualization/motion_planning_tasks/src/remote_task_model.cpp
+++ b/visualization/motion_planning_tasks/src/remote_task_model.cpp
@@ -515,7 +515,7 @@ QVariant RemoteSolutionModel::data(const QModelIndex& index, int role) const {
 					return item.creation_rank;
 				case 1:
 					if (std::isinf(item.cost))
-						return tr(u8"∞");
+						return tr(reinterpret_cast<const char*>(u8"∞"));
 					if (std::isnan(item.cost))
 						return QVariant();
 					return QLocale().toString(item.cost, 'f', 4);
diff --git a/visualization/motion_planning_tasks/src/task_list_model.cpp b/visualization/motion_planning_tasks/src/task_list_model.cpp
index 485318ef3..73f1d102b 100644
--- a/visualization/motion_planning_tasks/src/task_list_model.cpp
+++ b/visualization/motion_planning_tasks/src/task_list_model.cpp
@@ -63,9 +63,9 @@ QVariant TaskListModel::horizontalHeader(int column, int role) {
 				case 0:
 					return tr("name");
 				case 1:
-					return tr(u8"✓");
+					return tr(reinterpret_cast<const char*>(u8"✓"));
 				case 2:
-					return tr(u8"✗");
+					return tr(reinterpret_cast<const char*>(u8"✗"));
 				case 3:
 					return tr("time");
 			}
@@ -354,7 +354,11 @@ TaskListView::TaskListView(QWidget* parent) : QTreeView(parent) {}
 
 // dropping onto an item, should expand this item
 void TaskListView::dropEvent(QDropEvent* event) {
+#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
+	QModelIndex index = indexAt(event->position().toPoint());
+#else
 	QModelIndex index = indexAt(event->pos());
+#endif
 	QTreeView::dropEvent(event);
 	if (event->isAccepted())
 		expand(index);
diff --git a/visualization/motion_planning_tasks/utils/icon.cpp b/visualization/motion_planning_tasks/utils/icon.cpp
index 0ee0db95c..9a22e6903 100644
--- a/visualization/motion_planning_tasks/utils/icon.cpp
+++ b/visualization/motion_planning_tasks/utils/icon.cpp
@@ -32,6 +32,7 @@
 #include <QPainter>
 #include <QPaintEngine>
 #include <QWidget>
+#include <QWindow>
 
 namespace moveit_rviz_plugin {
 namespace utils {
@@ -196,10 +197,15 @@ QString Icon::imageFileName() const {
 QIcon Icon::combinedIcon(const QList<QIcon>& icons) {
 	QIcon result;
 	QWindow* window = QApplication::allWidgets().first()->windowHandle();
+
 	for (const QIcon& icon : icons)
 		for (const QIcon::Mode mode : { QIcon::Disabled, QIcon::Normal })
 			for (const QSize& size : icon.availableSizes(mode))
+#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
+				result.addPixmap(icon.pixmap(size, window->devicePixelRatio(), mode), mode);
+#else
 				result.addPixmap(icon.pixmap(window, size, mode), mode);
+#endif
 	return result;
 }
 }  // namespace utils
diff --git a/visualization/package.xml b/visualization/package.xml
index 47b39f475..4012ac602 100644
--- a/visualization/package.xml
+++ b/visualization/package.xml
@@ -11,7 +11,7 @@
 	<buildtool_depend>catkin</buildtool_depend>
 
 	<depend>fmt</depend>
-	<build_depend>qtbase5-dev</build_depend>
+	<build_depend>qt-base-dev</build_depend>
 	<depend>moveit_core</depend>
 	<depend>moveit_task_constructor_msgs</depend>
 	<depend>moveit_task_constructor_core</depend>