CR 2: Change GUI framework

Customers

• Core RViz developers
• Plugin developers
• RViz users

Current state

RViz uses the GUI library wxWidgets.

Problem Description

wxWidgets is not a popular choice of GUI library. The documentation is not great. For lack of a more specific complaint, it is not much fun to program with.

Technical solution

Switch to Qt. Reasons:

• Qt is fun to program with. The documentation is quite good. It is very popular.

• If we both port to Qt and move most of the classes into libraries, we will enable a lot of people to write programs which use the libraries. Several projects at Willow involve GUIs written in Qt, and then there's rviz running in a separate window alongside.