Use sip-build and python3_add_library for Qt5/Qt6

CMakeLists.txt

@@ -4,12 +4,23 @@ project(python_qt_binding)
 find_package(ament_cmake REQUIRED)
 find_package(ament_cmake_python REQUIRED)
 
+# Copy python package into binary directory
+file(COPY src/${PROJECT_NAME} DESTINATION ${CMAKE_CURRENT_BINARY_DIR})
+
+include(python_qt_binding-extras.cmake)
+
+# Generate a version.py file inside the copied package directory
+file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}/version.py
+  "QT_MAJOR_VERSION = ${python_qt_binding_QT_MAJOR_VERSION}\n"
+)
+
+# Install the package from the binary directory
 ament_python_install_package(${PROJECT_NAME}
-  PACKAGE_DIR src/${PROJECT_NAME})
+  PACKAGE_DIR ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME})
 
 install(FILES
+  cmake/pyproject.toml.in
   cmake/shiboken_helper.cmake
-  cmake/sip_configure.py
   cmake/sip_helper.cmake
   DESTINATION share/${PROJECT_NAME}/cmake)
 
@@ -27,4 +38,6 @@ if(BUILD_TESTING)
     TIMEOUT 90)
 endif()
 
-ament_package()
+ament_package(
+  CONFIG_EXTRAS "python_qt_binding-extras.cmake"
+)

cmake/pyproject.toml.in

@@ -0,0 +1,22 @@
+[build-system]
+requires = ["sip >=6, <7"]
+build-backend = "sipbuild.api"
+
+[project]
+name = "@PROJECT_NAME@"
+version = "1.0.0"
+
+[tool.sip]
+project-factory = "pyqtbuild:PyQtProject"
+
+[tool.sip.builder]
+qmake = "@python_qt_binding_QMAKE_EXECUTABLE@"
+
+[tool.sip.project]
+build-dir = "@SIP_BUILD_DIR@"
+sip-files-dir = "@sip_SOURCE_DIR@"
+sip-include-dirs = ["@__PYQT_BINDINGS_DIR@"]
+abi-version = "@__QT_SIP_ABI_VERSION@"
+
+[tool.sip.bindings.@PROJECT_NAME@]
+sip-file = "@SIP_FILE_NAME@"