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Use default CXX, use boost::placeholders::_1 instead of _1 #750

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May 24, 2022
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Use default CXX, use boost::placeholders::_1 instead of _1 #750

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2 changes: 0 additions & 2 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -49,8 +49,6 @@ if(NOT EIGEN3_FOUND)
set(EIGEN_PACKAGE Eigen)
endif()

set(CMAKE_CXX_STANDARD 14)
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Why did this need to be removed?

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@lucasw lucasw May 20, 2022 •
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It's a log4cxx 0.12 issue that results in

/usr/include/log4cxx/boost-std-configuration.h:10:18: error: ‘shared_mutex’ in namespace ‘std’ does not name a type
   10 |     typedef std::shared_mutex shared_mutex;
      |                  ^~~~~~~~~~~~```

when building with < C++17.

Ubuntu 20.04 noetic already defaults to C++14 and has an older log4cxx, newer systems with newer log4cxx default to C++17, and no need to support older systems in this noetic branch, so removing it seems cleanest, but I can see setting it to 17 instead. Also putting it into a separate commit in this PR, or a separate PR (or don't accept if at all if you prefer, it's easy to maintain a fork with one line of difference but much nicer for others with the newer log4cxx not to have to).

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I'm fine with the branch assuming whatever standard is adopted by the ROS release in question. Thanks for the info!


if(NOT MSVC)
set_directory_properties(PROPERTIES COMPILE_OPTIONS "-Wall;-Werror")
endif()
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14 changes: 9 additions & 5 deletions src/ros_filter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1112,7 +1112,8 @@ namespace RobotLocalization
{
topicSubs_.push_back(
nh_.subscribe<nav_msgs::Odometry>(odomTopic, odomQueueSize,
boost::bind(&RosFilter::odometryCallback, this, _1, odomTopicName, poseCallbackData, twistCallbackData),
boost::bind(&RosFilter::odometryCallback, this, boost::placeholders::_1,
odomTopicName, poseCallbackData, twistCallbackData),
ros::VoidPtr(), ros::TransportHints().tcpNoDelay(nodelayOdom)));
}
else
Expand Down Expand Up @@ -1229,7 +1230,8 @@ namespace RobotLocalization

topicSubs_.push_back(
nh_.subscribe<geometry_msgs::PoseWithCovarianceStamped>(poseTopic, poseQueueSize,
boost::bind(&RosFilter::poseCallback, this, _1, callbackData, worldFrameId_, baseLinkFrameId_, false),
boost::bind(&RosFilter::poseCallback, this, boost::placeholders::_1,
callbackData, worldFrameId_, baseLinkFrameId_, false),
ros::VoidPtr(), ros::TransportHints().tcpNoDelay(nodelayPose)));

if (differential)
Expand Down Expand Up @@ -1306,7 +1308,8 @@ namespace RobotLocalization

topicSubs_.push_back(
nh_.subscribe<geometry_msgs::TwistWithCovarianceStamped>(twistTopic, twistQueueSize,
boost::bind(&RosFilter<T>::twistCallback, this, _1, callbackData, baseLinkFrameId_),
boost::bind(&RosFilter<T>::twistCallback, this, boost::placeholders::_1,
callbackData, baseLinkFrameId_),
ros::VoidPtr(), ros::TransportHints().tcpNoDelay(nodelayTwist)));

twistVarCounts[StateMemberVx] += twistUpdateVec[StateMemberVx];
Expand Down Expand Up @@ -1476,8 +1479,9 @@ namespace RobotLocalization

topicSubs_.push_back(
nh_.subscribe<sensor_msgs::Imu>(imuTopic, imuQueueSize,
boost::bind(&RosFilter<T>::imuCallback, this, _1, imuTopicName, poseCallbackData, twistCallbackData,
accelCallbackData), ros::VoidPtr(), ros::TransportHints().tcpNoDelay(nodelayImu)));
boost::bind(&RosFilter<T>::imuCallback, this, boost::placeholders::_1,
imuTopicName, poseCallbackData, twistCallbackData,
accelCallbackData), ros::VoidPtr(), ros::TransportHints().tcpNoDelay(nodelayImu)));
}
else
{
Expand Down