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Qt5 and Qt6 compatibility (#157)
## Bug fix ### Fixed bug Closes #155 ### Fix applied Follows the approach proposed in #155 (comment), we can: * Remove Qt dependencies and just use the Qt version that is brought in by `gz-gui`. * Use unversioned functions for CMake. * Check at the `qml` level for the Qt version and adapt the class names with a leading underscore for qt >= 6. * Remove `LightTuning` altogether since most of its content is now available in upstream Gazebo, it has also been untested for a long time since it's not part of the default plugins but I can try to readd it if there is need for it. I tested this in a 24.04 distrobox with either rolling or jazzy and it seems to work OK, but happy to get another pair of eyes. Note that rolling has a few other issues, open-rmf/rmf_visualization#87 and gazebo failing to run (at least for me) because of an invalid command. I had to run Gazebo manually instead of using the launch file: ``` $: export GZ_SIM_RESOURCE_PATH=~/rmf_ws/install/rmf_demos_assets/share/rmf_demos_assets/models:~/rmf_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/models/ $: gz sim -r -v 3 /usr/local/google/home/lucadv/noble_ws/install/rmf_demos_maps/share/rmf_demos_maps/maps/hotel/hotel.world -z 100 ``` --------- Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
1 parent e4d9a36 commit 00e0460

16 files changed

Lines changed: 27 additions & 1804 deletions

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‎rmf_building_sim_gz_plugins/CMakeLists.txt‎

Lines changed: 3 additions & 15 deletions
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@@ -37,13 +37,6 @@ find_package(gz_rendering_vendor REQUIRED)
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find_package(gz-rendering REQUIRED)
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find_package(rmf_fleet_msgs REQUIRED)
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find_package(Qt5
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COMPONENTS
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Core
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Qml
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Quick
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REQUIRED
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)
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find_package(menge_vendor REQUIRED)
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ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in")
@@ -128,7 +121,7 @@ target_link_libraries(crowd_simulator
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# toggle charging
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###############################
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QT5_ADD_RESOURCES(resources_RCC src/toggle_charging/toggle_charging.qrc)
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QT_ADD_RESOURCES(resources_RCC src/toggle_charging/toggle_charging.qrc)
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add_library(toggle_charging SHARED ${headers_MOC}
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src/toggle_charging/toggle_charging.cpp
@@ -137,19 +130,17 @@ add_library(toggle_charging SHARED ${headers_MOC}
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target_link_libraries(toggle_charging
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gz-sim::core
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gz-gui::core
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gz-msgs::core
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gz-transport::core
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Qt5::Core
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Qt5::Qml
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Qt5::Quick
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rclcpp::rclcpp
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)
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###############################
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# toggle floors
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###############################
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QT5_ADD_RESOURCES(resources_RCC src/toggle_floors/toggle_floors.qrc)
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QT_ADD_RESOURCES(resources_RCC src/toggle_floors/toggle_floors.qrc)
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add_library(toggle_floors SHARED ${headers_MOC}
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src/toggle_floors/toggle_floors.cpp
@@ -163,9 +154,6 @@ target_link_libraries(toggle_floors
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gz-plugin::core
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gz-rendering::core
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gz-transport::core
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Qt5::Core
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Qt5::Qml
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Qt5::Quick
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rclcpp::rclcpp
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${rmf_fleet_msgs_TARGETS}
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)

‎rmf_building_sim_gz_plugins/package.xml‎

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@@ -18,9 +18,6 @@
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<depend>rmf_door_msgs</depend>
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<depend>rmf_lift_msgs</depend>
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<depend>rmf_fleet_msgs</depend>
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<depend>libqt5-core</depend>
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<depend>libqt5-qml</depend>
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<depend>libqt5-quick</depend>
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<depend>menge_vendor</depend>
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<depend>gz_gui_vendor</depend>
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<depend>gz_msgs_vendor</depend>

‎rmf_building_sim_gz_plugins/src/toggle_charging/toggle_charging.cpp‎

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@@ -74,6 +74,7 @@ void toggle_charging::LoadConfig(const tinyxml2::XMLElement* _pluginElem)
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if (this->title.empty())
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this->title = "Toggle Charging";
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this->Context()->setContextProperty("qt_version", QVariant(QT_VERSION));
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}
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void toggle_charging::OnEnableCharge(bool checked)

‎rmf_building_sim_gz_plugins/src/toggle_charging/toggle_charging.qml‎

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@@ -21,7 +21,6 @@ import QtQuick.Controls 2.1
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import QtQuick.Controls.Material 2.2
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import QtQuick.Controls.Material.impl 2.2
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import QtQuick.Layouts 1.3
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import QtQuick.Controls.Styles 1.4
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ToolBar {
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Layout.minimumWidth: 280
@@ -47,7 +46,11 @@ ToolBar {
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Layout.leftMargin: 2
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checked: true
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onClicked: {
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toggle_charging.OnEnableCharge(checked)
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if (qt_version < 0x060000) {
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toggle_charging.OnEnableCharge(checked)
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} else {
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_toggle_charging.OnEnableCharge(checked)
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}
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}
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}
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@@ -58,7 +61,11 @@ ToolBar {
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Layout.leftMargin: 2
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checked: false
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onClicked: {
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toggle_charging.OnEnableInstantCharge(checked)
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if (qt_version < 0x060000) {
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toggle_charging.OnEnableInstantCharge(checked)
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} else {
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_toggle_charging.OnEnableInstantCharge(checked)
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}
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}
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}
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@@ -69,9 +76,13 @@ ToolBar {
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Layout.leftMargin: 2
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checked: true
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onClicked: {
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toggle_charging.OnEnableDrain(checked)
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if (qt_version < 0x060000) {
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toggle_charging.OnEnableDrain(checked)
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} else {
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_toggle_charging.OnEnableDrain(checked)
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}
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}
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}
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}
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}
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}

‎rmf_building_sim_gz_plugins/src/toggle_floors/toggle_floors.cpp‎

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@@ -182,6 +182,7 @@ void toggle_floors::LoadConfig(const tinyxml2::XMLElement* _pluginElem)
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});
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this->Context()->setContextProperty("qfloors", qfloors);
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this->Context()->setContextProperty("qt_version", QVariant(QT_VERSION));
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gz::gui::App()->findChild<
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gz::gui::MainWindow*>()->installEventFilter(this);
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}

‎rmf_building_sim_gz_plugins/src/toggle_floors/toggle_floors.qml‎

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Original file line numberDiff line numberDiff line change
@@ -21,7 +21,6 @@ import QtQuick.Controls 2.1
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import QtQuick.Controls.Material 2.2
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import QtQuick.Controls.Material.impl 2.2
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import QtQuick.Layouts 1.3
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import QtQuick.Controls.Styles 1.4
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ToolBar {
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Layout.minimumWidth: 280
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Layout.leftMargin: 2
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checked: true
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onClicked: {
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toggle_floors.OnFloorChecked(text, checked)
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if (qt_version < 0x060000) {
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toggle_floors.OnFloorChecked(text, checked)
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} else {
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_toggle_floors.OnFloorChecked(text, checked)
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}
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}
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}
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}
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}
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}
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}

‎rmf_robot_sim_gz_plugins/CMakeLists.txt‎

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@@ -26,8 +26,6 @@ find_package(gz_sim_vendor REQUIRED)
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find_package(gz-sim REQUIRED)
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find_package(gz_plugin_vendor REQUIRED)
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find_package(gz-plugin REQUIRED)
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find_package(gz_gui_vendor REQUIRED)
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find_package(gz-gui REQUIRED)
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find_package(gz_msgs_vendor REQUIRED)
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find_package(gz-msgs REQUIRED)
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find_package(gz_transport_vendor REQUIRED)
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find_package(rmf_building_map_msgs REQUIRED)
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find_package(rmf_robot_sim_common REQUIRED)
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find_package(rmf_building_sim_gz_plugins REQUIRED)
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find_package (Qt5
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COMPONENTS
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Core
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Qml
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Quick
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REQUIRED
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)
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ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in")
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${rmf_building_sim_gz_plugins_INCLUDE_DIRS}
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)
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###############################
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# LightTuning
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###############################
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QT5_ADD_RESOURCES(resources_RCC src/LightTuning/LightTuning.qrc)
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add_library(LightTuning SHARED ${headers_MOC}
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src/LightTuning/LightTuning.cpp
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${resources_RCC}
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)
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target_link_libraries(LightTuning
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gz-gui::core
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gz-sim::core
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gz-msgs::core
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gz-transport::core
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gz-rendering::core
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Qt5::Core
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Qt5::Qml
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Qt5::Quick
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rclcpp::rclcpp
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)
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###############################
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# Install Targets
176144
###############################
@@ -181,7 +149,6 @@ install(
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teleport_ingestor
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readonly
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slotcar
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LightTuning
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LIBRARY DESTINATION lib/${PROJECT_NAME}
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ARCHIVE DESTINATION lib/${PROJECT_NAME}
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)

‎rmf_robot_sim_gz_plugins/package.xml‎

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@@ -22,10 +22,6 @@
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<depend>rmf_building_map_msgs</depend>
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<depend>rmf_robot_sim_common</depend>
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<depend>rmf_building_sim_gz_plugins</depend>
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<depend>libqt5-core</depend>
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<depend>libqt5-qml</depend>
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<depend>libqt5-quick</depend>
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<depend>gz_gui_vendor</depend>
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<depend>gz_msgs_vendor</depend>
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<depend>gz_plugin_vendor</depend>
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<depend>gz_rendering_vendor</depend>

‎rmf_robot_sim_gz_plugins/src/LightTuning/LightTuning.config‎

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