remove boost and unused files (#122)

* replace boost functionality by standard C++ * remove ROS nodelet metadata * store parameter callback * remove ROS1 node * remove unused os import Co-authored-by: Christian Rauch <Rauch.Christian@gmx.de>
ros-drivers · Feb 23, 2023 · c930cd7 · c930cd7
1 parent 2a22f7d
commit c930cd7
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Showing 18 changed files with 120 additions and 255 deletions.
diff --git a/openni2_camera/CMakeLists.txt b/openni2_camera/CMakeLists.txt
@@ -5,7 +5,6 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)
 endif()
 
-find_package(Boost REQUIRED COMPONENTS system thread)
 find_package(ament_cmake REQUIRED)
 find_package(builtin_interfaces REQUIRED)
 find_package(camera_info_manager REQUIRED)
@@ -28,7 +27,6 @@ rosidl_generate_interfaces(${PROJECT_NAME}
 
 include_directories(
   include
-  ${Boost_INCLUDE_DIRS}
   ${PC_OPENNI2_INCLUDE_DIRS}
 )
 
@@ -45,7 +43,6 @@ add_library(openni2_wrapper SHARED
   src/openni2_video_mode.cpp
 )
 target_link_libraries(openni2_wrapper
-  ${Boost_LIBRARIES}
   ${PC_OPENNI2_LIBRARIES}
 )
 ament_target_dependencies(openni2_wrapper
@@ -59,14 +56,13 @@ ament_target_dependencies(openni2_wrapper
 )
 
 #add_executable(test_wrapper test/test_wrapper.cpp)
-#target_link_libraries(test_wrapper openni2_wrapper ${Boost_LIBRARIES})
+#target_link_libraries(test_wrapper openni2_wrapper)
 
 add_library(openni2_camera_lib SHARED
   src/openni2_driver.cpp
 )
 target_link_libraries(openni2_camera_lib
   openni2_wrapper
-  ${Boost_LIBRARIE}
 )
 ament_target_dependencies(openni2_camera_lib
   camera_info_manager

diff --git a/openni2_camera/include/openni2_camera/openni2_device.h b/openni2_camera/include/openni2_camera/openni2_device.h
@@ -36,10 +36,7 @@
 
 #include "openni2_camera/openni2_exception.h"
 
-#include <boost/shared_ptr.hpp>
-#include <boost/cstdint.hpp>
-#include <boost/bind.hpp>
-#include <boost/function.hpp>
+#include <functional>
 
 #include <rclcpp/rclcpp.hpp>
 #include <sensor_msgs/msg/image.hpp>
@@ -58,7 +55,7 @@ class SensorInfo;
 namespace openni2_wrapper
 {
 
-typedef boost::function<void(sensor_msgs::msg::Image::SharedPtr image)> FrameCallbackFunction;
+typedef std::function<void(sensor_msgs::msg::Image::SharedPtr image)> FrameCallbackFunction;
 
 class OpenNI2FrameListener;
 
@@ -139,20 +136,20 @@ class OpenNI2Device
 protected:
   void shutdown();
 
-  boost::shared_ptr<openni::VideoStream> getIRVideoStream() const;
-  boost::shared_ptr<openni::VideoStream> getColorVideoStream() const;
-  boost::shared_ptr<openni::VideoStream> getDepthVideoStream() const;
+  std::shared_ptr<openni::VideoStream> getIRVideoStream() const;
+  std::shared_ptr<openni::VideoStream> getColorVideoStream() const;
+  std::shared_ptr<openni::VideoStream> getDepthVideoStream() const;
 
-  boost::shared_ptr<openni::Device> openni_device_;
-  boost::shared_ptr<openni::DeviceInfo> device_info_;
+  std::shared_ptr<openni::Device> openni_device_;
+  std::shared_ptr<openni::DeviceInfo> device_info_;
 
-  boost::shared_ptr<OpenNI2FrameListener> ir_frame_listener;
-  boost::shared_ptr<OpenNI2FrameListener> color_frame_listener;
-  boost::shared_ptr<OpenNI2FrameListener> depth_frame_listener;
+  std::shared_ptr<OpenNI2FrameListener> ir_frame_listener;
+  std::shared_ptr<OpenNI2FrameListener> color_frame_listener;
+  std::shared_ptr<OpenNI2FrameListener> depth_frame_listener;
 
-  mutable boost::shared_ptr<openni::VideoStream> ir_video_stream_;
-  mutable boost::shared_ptr<openni::VideoStream> color_video_stream_;
-  mutable boost::shared_ptr<openni::VideoStream> depth_video_stream_;
+  mutable std::shared_ptr<openni::VideoStream> ir_video_stream_;
+  mutable std::shared_ptr<openni::VideoStream> color_video_stream_;
+  mutable std::shared_ptr<openni::VideoStream> depth_video_stream_;
 
   mutable std::vector<OpenNI2VideoMode> ir_video_modes_;
   mutable std::vector<OpenNI2VideoMode> color_video_modes_;

diff --git a/openni2_camera/include/openni2_camera/openni2_device_info.h b/openni2_camera/include/openni2_camera/openni2_device_info.h
@@ -34,8 +34,6 @@
 
 #include <ostream>
 
-#include <boost/cstdint.hpp>
-
 namespace openni2_wrapper
 {
 

diff --git a/openni2_camera/include/openni2_camera/openni2_device_manager.h b/openni2_camera/include/openni2_camera/openni2_device_manager.h
@@ -34,8 +34,6 @@
 
 #include "openni2_camera/openni2_device_info.h"
 
-#include <boost/thread/mutex.hpp>
-
 #include <rclcpp/rclcpp.hpp>
 
 #include <vector>
@@ -54,21 +52,21 @@ class OpenNI2DeviceManager
   OpenNI2DeviceManager();
   virtual ~OpenNI2DeviceManager();
 
-  static boost::shared_ptr<OpenNI2DeviceManager> getSingelton();
+  static std::shared_ptr<OpenNI2DeviceManager> getSingelton();
 
-  boost::shared_ptr<std::vector<OpenNI2DeviceInfo> > getConnectedDeviceInfos() const;
-  boost::shared_ptr<std::vector<std::string> > getConnectedDeviceURIs() const;
+  std::shared_ptr<std::vector<OpenNI2DeviceInfo> > getConnectedDeviceInfos() const;
+  std::shared_ptr<std::vector<std::string> > getConnectedDeviceURIs() const;
   std::size_t getNumOfConnectedDevices() const;
 
-  boost::shared_ptr<OpenNI2Device> getAnyDevice(rclcpp::Node* node);
-  boost::shared_ptr<OpenNI2Device> getDevice(const std::string& device_URI, rclcpp::Node* node);
+  std::shared_ptr<OpenNI2Device> getAnyDevice(rclcpp::Node* node);
+  std::shared_ptr<OpenNI2Device> getDevice(const std::string& device_URI, rclcpp::Node* node);
 
   std::string getSerial(const std::string& device_URI) const;
 
 protected:
-  boost::shared_ptr<OpenNI2DeviceListener> device_listener_;
+  std::shared_ptr<OpenNI2DeviceListener> device_listener_;
 
-  static boost::shared_ptr<OpenNI2DeviceManager> singelton_;
+  static std::shared_ptr<OpenNI2DeviceManager> singelton_;
 };
 
 

diff --git a/openni2_camera/include/openni2_camera/openni2_driver.h b/openni2_camera/include/openni2_camera/openni2_driver.h
@@ -32,10 +32,7 @@
 #ifndef OPENNI2_DRIVER_H
 #define OPENNI2_DRIVER_H
 
-#include <boost/shared_ptr.hpp>
-#include <boost/cstdint.hpp>
-#include <boost/bind.hpp>
-#include <boost/function.hpp>
+#include <functional>
 
 #include <sensor_msgs/msg/image.hpp>
 
@@ -110,8 +107,8 @@ class OpenNI2Driver : public rclcpp::Node
 
   void forceSetExposure();
 
-  boost::shared_ptr<OpenNI2DeviceManager> device_manager_;
-  boost::shared_ptr<OpenNI2Device> device_;
+  std::shared_ptr<OpenNI2DeviceManager> device_manager_;
+  std::shared_ptr<OpenNI2Device> device_;
 
   std::string device_id_;
   int bus_id_;
@@ -131,7 +128,7 @@ class OpenNI2Driver : public rclcpp::Node
   /** \brief get_serial server*/
   rclcpp::Service<openni2_camera::srv::GetSerial>::SharedPtr get_serial_server;
 
-  boost::mutex connect_mutex_;
+  std::mutex connect_mutex_;
   // published topics
   image_transport::CameraPublisher pub_color_;
   image_transport::CameraPublisher pub_depth_;
@@ -145,6 +142,8 @@ class OpenNI2Driver : public rclcpp::Node
   /** \brief Camera info manager objects. */
   std::shared_ptr<camera_info_manager::CameraInfoManager> color_info_manager_, ir_info_manager_;
 
+  OnSetParametersCallbackHandle::SharedPtr parameters_callback_;
+
   OpenNI2VideoMode ir_video_mode_;
   OpenNI2VideoMode color_video_mode_;
   OpenNI2VideoMode depth_video_mode_;

diff --git a/openni2_camera/include/openni2_camera/openni2_frame_listener.h b/openni2_camera/include/openni2_camera/openni2_frame_listener.h
@@ -69,7 +69,7 @@ class OpenNI2FrameListener : public openni::VideoStream::NewFrameListener
   FrameCallbackFunction callback_;
 
   bool user_device_timer_;
-  boost::shared_ptr<OpenNI2TimerFilter> timer_filter_;
+  std::shared_ptr<OpenNI2TimerFilter> timer_filter_;
 
   rclcpp::Node* node_;  // needed for time
   rclcpp::Time prev_time_stamp_;

diff --git a/openni2_camera/launch/camera_only.launch.py b/openni2_camera/launch/camera_only.launch.py
@@ -32,8 +32,6 @@
 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 
-import os
-
 import launch
 import launch_ros.actions
 import launch_ros.descriptions

diff --git a/openni2_camera/launch/camera_with_cloud.launch.py b/openni2_camera/launch/camera_with_cloud.launch.py
@@ -32,8 +32,6 @@
 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 
-import os
-
 import launch
 import launch_ros.actions
 import launch_ros.descriptions

diff --git a/openni2_camera/openni2_nodelets.xml b/openni2_camera/openni2_nodelets.xml
diff --git a/openni2_camera/package.xml b/openni2_camera/package.xml
@@ -14,7 +14,6 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
-  <depend>boost</depend>
   <depend>builtin_interfaces</depend>
   <depend>camera_info_manager</depend>
   <depend>libopenni2-dev</depend>

diff --git a/openni2_camera/ros/openni2_camera_node.cpp b/openni2_camera/ros/openni2_camera_node.cpp
diff --git a/openni2_camera/ros/openni2_camera_nodelet.cpp b/openni2_camera/ros/openni2_camera_nodelet.cpp
diff --git a/openni2_camera/src/list_devices.cpp b/openni2_camera/src/list_devices.cpp
@@ -45,7 +45,7 @@ using openni2_wrapper::OpenNI2Exception;
 int main(int arc, char** argv)
 {
   openni2_wrapper::OpenNI2DeviceManager manager;
-  boost::shared_ptr<std::vector<openni2_wrapper::OpenNI2DeviceInfo> > device_infos = manager.getConnectedDeviceInfos();
+  std::shared_ptr<std::vector<openni2_wrapper::OpenNI2DeviceInfo> > device_infos = manager.getConnectedDeviceInfos();
   std::cout << "Found " << device_infos->size() << " devices:" << std::endl << std::endl;
   for (size_t i = 0; i < device_infos->size(); ++i)
   {

diff --git a/openni2_camera/src/openni2_convert.cpp b/openni2_camera/src/openni2_convert.cpp
@@ -32,8 +32,6 @@
 #include "openni2_camera/openni2_convert.h"
 #include "openni2_camera/openni2_exception.h"
 
-#include <boost/make_shared.hpp>
-
 #include <string>
 
 namespace openni2_wrapper