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qt_build can be replaced by using Qt in CMake. Here's an example.

cmake_minimum_required(VERSION 2.8.9)
project(ros_qt_controller)
find_package(catkin REQUIRED COMPONENTS roscpp)
find_package(Qt5Widgets REQUIRED)
find_package(Qt5Core REQUIRED)

catkin_package(
  CATKIN_DEPENDS roscpp geometry_msgs
  DEPENDS system-lib
)

qt5_add_resources(QT_RESOURCES_CPP qt_resources/arrows.qrc)
qt5_wrap_cpp(QT_MOC_HPP src/ControlWindow.h
                        src/RobotThread.h)

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

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

target_link_libraries(qt_ros_ctrl ${QT_LIBRARIES}
                      ${catkin_LIBRARIES} Qt5::Widgets)

install(TARGETS qt_ros_ctrl
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)