ros-noetic-rtabmap-rviz-plugins.patch

diff --git a/CMakeLists.txt b/CMakeLists.txt
index a32c45fd6..41fe32c1e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,17 +1,16 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.20)
 project(rtabmap_rviz_plugins)
 
-# For rviz plugins, look for Qt5 before Qt4
-FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui QUIET)
-IF(NOT Qt5_FOUND)
-    FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui REQUIRED)
-    INCLUDE(${QT_USE_FILE})
-ENDIF(NOT Qt5_FOUND)
-
+FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui REQUIRED)
 
 find_package(catkin REQUIRED COMPONENTS
              roscpp sensor_msgs std_msgs pcl_conversions pluginlib rviz tf rtabmap_conversions rtabmap_msgs)
 
+## We also use Ogre for rviz plugins
+# this file doesn't exist post-noetic, but pkg_check_modules still works
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(OGRE OGRE)
+
 catkin_package(
   INCLUDE_DIRS include
   LIBRARIES rtabmap_rviz_plugins
@@ -24,14 +23,16 @@ catkin_package(
 
 include_directories(
   ${CMAKE_CURRENT_SOURCE_DIR}/include
+  ${Qt5_INCLUDE_DIRS}
+  ${Qt5Core_INCLUDE_DIRS}
+  ${Qt5Widgets_INCLUDE_DIRS}
   ${catkin_INCLUDE_DIRS}
+  ${OGRE_INCLUDE_DIRS}
+  # ${Qt5_INCLUDE_DIRS}
+  # ${Qt5Core_INCLUDE_DIRS}
+  # ${Qt5Widgets_INCLUDE_DIRS}
 )
 
-## We also use Ogre for rviz plugins
-# this file doesn't exist post-noetic, but pkg_check_modules still works
-find_package(PkgConfig REQUIRED)
-pkg_check_modules(OGRE OGRE)
-include_directories( ${OGRE_INCLUDE_DIRS} )
 link_directories( ${OGRE_LIBRARY_DIRS} )
 
 SET(Libraries
@@ -40,22 +38,6 @@ SET(Libraries
 )
 
 ## RVIZ plugin
-IF(QT4_FOUND)
-  IF(WIN32)
-    qt4_wrap_cpp(MOC_FILES
-      include/${PROJECT_NAME}/MapCloudDisplay.h
-      include/${PROJECT_NAME}/MapGraphDisplay.h
-      include/${PROJECT_NAME}/InfoDisplay.h
-    )
-  ELSE()
-    qt4_wrap_cpp(MOC_FILES
-      include/${PROJECT_NAME}/MapCloudDisplay.h
-      include/${PROJECT_NAME}/MapGraphDisplay.h
-      include/${PROJECT_NAME}/InfoDisplay.h
-      include/${PROJECT_NAME}/OrbitOrientedViewController.h
-    )
-  ENDIF()
-ELSE()
   IF(WIN32)
     qt5_wrap_cpp(MOC_FILES
       include/${PROJECT_NAME}/MapCloudDisplay.h
@@ -70,7 +52,6 @@ ELSE()
       include/${PROJECT_NAME}/OrbitOrientedViewController.h
     )
   ENDIF()
-ENDIF()
 
 # tf:message_filters, mixing boost and Qt signals
 IF(WIN32)
@@ -101,10 +82,10 @@ add_library(rtabmap_rviz_plugins
 )
 target_link_libraries(rtabmap_rviz_plugins
   ${Libraries}
+  Qt5::Core
+  Qt5::Widgets
+  Qt5::Gui
 )
-IF(Qt5_FOUND)
-    QT5_USE_MODULES(rtabmap_rviz_plugins Widgets Core Gui)
-ENDIF(Qt5_FOUND)
 
 #############
 ## Install ##