Removing some boost usage

[henrygerardmoore]

Description

Taking over from #1118, this is part 1 of the work that will be done. More boost usage can be (somewhat) easily removed, but the PR is already quite large so that will take place in another PR. The changes included in this PR are

• boost::array -> std::array
• boost::function -> std::function
• boost::mutex and similar objects (boost::shared_lock etc) -> std::mutex
• boost::starts_with(name, object.first) -> name.rfind(object.first, 0) == 0
• boost::math::tools::epsilon<double>() -> std::numeric_limits<double>::min()
• boost::filesystem -> std::filesystem
• boost::thread -> std::thread
• Adding now-necessary includes
• Changing some calls that differ between boost and the std equivalent

In a future PR, the following will be done:

• replace boost::regex
• replace boost::noncopyable
• replace boost::lexical_cast
• replace boost::optional
• replace boost::thread_group

When MoveIt is updated to C++20, any use of boost::math::constants can be replaced with std::numbers constants

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

[codecov]

Codecov Report

Merging #1331 (46670a2) into main (212af0f) will increase coverage by 0.02%.
The diff coverage is 29.47%.

@@            Coverage Diff             @@
##             main    #1331      +/-   ##
==========================================
+ Coverage   61.57%   61.58%   +0.02%     
==========================================
  Files         274      274              
  Lines       24965    24965              
==========================================
+ Hits        15369    15372       +3     
+ Misses       9596     9593       -3     

Impacted Files	Coverage Δ
...lude/moveit/collision_detection/collision_common.h	83.88% <ø> (ø)
...lude/moveit/collision_detection/collision_matrix.h	100.00% <ø> (ø)
...include/moveit/collision_detection/occupancy_map.h	0.00% <ø> (ø)
...tection/include/moveit/collision_detection/world.h	100.00% <ø> (ø)
..._core/collision_detection/src/collision_matrix.cpp	37.15% <ø> (ø)
...e/collision_detection_fcl/src/collision_common.cpp	73.76% <ø> (ø)
...sion_distance_field/collision_env_distance_field.h	4.77% <ø> (ø)
...it/collision_distance_field/collision_env_hybrid.h	0.00% <ø> (ø)
...e/include/moveit/kinematics_base/kinematics_base.h	75.76% <ø> (ø)
...ene/include/moveit/planning_scene/planning_scene.h	43.55% <ø> (ø)
... and 37 more

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[mergify]

This pull request is in conflict. Could you fix it @henrygerardmoore?

[henningkayser]

Thanks for continuing on this effort. It's a lot of changes, but I assume it's fine squash-merging this since everything is pretty straight-forward. @Abishalini should be mentioned as co-author as she has prepared a sizeable portion of these changes (this can be added with the squash-merge commit).

@henrygerardmoore Are there any packages that don't depend on boost anymore? This should be reflected in the CMakeLists.txt fiels, possibly also in the package.xml dependencies. Could you verify this?

[mergify]

This pull request is in conflict. Could you fix it @henrygerardmoore?

[henrygerardmoore]

Removed boost from as many CMakeLists as I think is possible, and also made sure it wasn't unnecessarily in any package.xml files. I believe the PR should be good to go now.

[Abishalini]

Found some headers that can be removed

[Abishalini]

Looks good to me! Thanks for this

[tylerjw]

Thank you for taking this on and getting it over the finish line!