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Here's an example. This is a very simple Qt5 CMakeLists.txt file.

cmake_minimum_required(VERSION 2.8.9)
set(CMAKE_BUILD_TYPE RELEASE)
project(ros_threading_example)
find_package(catkin REQUIRED COMPONENTS roscpp
                            message_generation
                                      nav_msgs)
find_package(Qt5Widgets REQUIRED)
find_package(Qt5Core REQUIRED)

add_message_files(FILES Pose2D.msg)
generate_messages(DEPENDENCIES std_msgs)

catkin_package(
  CATKIN_DEPENDS roscpp message_generation
  DEPENDS system-lib
)

qt5_wrap_cpp(QT_MOC_HPP src/RobotThread.h)

include_directories(src ${catkin_INCLUDE_DIRS})
include_directories(${Qt5Widgets_INCLUDE_DIRS})

add_executable(pose_echo_threaded src/main.cpp 
                                  src/RobotThread.cpp
                                  ${QT_RESOURCES_CPP}
                                  ${QT_MOC_HPP})

add_executable(pose_echo src/PoseEcho.cc)

add_dependencies(pose_echo ${PROJECT_NAME}_generate_messages_cpp)
add_dependencies(pose_echo_threaded ${PROJECT_NAME}_generate_messages_cpp)

target_link_libraries(pose_echo_threaded ${catkin_LIBRARIES} Qt5::Widgets)
target_link_libraries(pose_echo ${catkin_LIBRARIES})

install(TARGETS pose_echo_threaded pose_echo
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)