[ROS-O] various patches (#1225)

* do not specify obsolete c++11 standard this breaks with current versions of log4cxx. * update pluginlib include paths the non-hpp headers have been deprecated since kinetic * use lambdas in favor of boost::bind Using boost's _1 as a global system is deprecated since C++11. The ROS packages in Debian removed the implicit support for the global symbols, so this code fails to compile there without the patch.
ros-planning · Nov 9, 2022 · f94f7b0 · f94f7b0
1 parent 47c9c62
commit f94f7b0
Show file tree

Hide file tree

Showing 21 changed files with 51 additions and 51 deletions.
diff --git a/amcl/CMakeLists.txt b/amcl/CMakeLists.txt
@@ -4,10 +4,6 @@ project(amcl)
 include(CheckIncludeFile)
 include(CheckSymbolExists)
 
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 11)
-endif()
-
 find_package(catkin REQUIRED
   COMPONENTS
     diagnostic_updater

diff --git a/base_local_planner/src/odometry_helper_ros.cpp b/base_local_planner/src/odometry_helper_ros.cpp
@@ -94,7 +94,7 @@ void OdometryHelperRos::setOdomTopic(std::string odom_topic)
     if( odom_topic_ != "" )
     {
       ros::NodeHandle gn;
-      odom_sub_ = gn.subscribe<nav_msgs::Odometry>( odom_topic_, 1, boost::bind( &OdometryHelperRos::odomCallback, this, _1 ));
+      odom_sub_ = gn.subscribe<nav_msgs::Odometry>( odom_topic_, 1, [this](auto& msg){ odomCallback(msg); });
     }
     else
     {

diff --git a/base_local_planner/src/trajectory_planner_ros.cpp b/base_local_planner/src/trajectory_planner_ros.cpp
@@ -48,7 +48,7 @@
 
 #include <ros/console.h>
 
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 
 #include <base_local_planner/goal_functions.h>
 #include <nav_msgs/Path.h>
@@ -256,11 +256,15 @@ namespace base_local_planner {
           max_vel_x, min_vel_x, max_vel_th_, min_vel_th_, min_in_place_vel_th_, backup_vel,
           dwa, heading_scoring, heading_scoring_timestep, meter_scoring, simple_attractor, y_vels, stop_time_buffer, sim_period_, angular_sim_granularity);
 
-      map_viz_.initialize(name, global_frame_, boost::bind(&TrajectoryPlanner::getCellCosts, tc_, _1, _2, _3, _4, _5, _6));
+      map_viz_.initialize(name,
+                          global_frame_,
+                          [this](int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost){
+                              return tc_->getCellCosts(cx, cy, path_cost, goal_cost, occ_cost, total_cost);
+                          });
       initialized_ = true;
 
       dsrv_ = new dynamic_reconfigure::Server<BaseLocalPlannerConfig>(private_nh);
-      dynamic_reconfigure::Server<BaseLocalPlannerConfig>::CallbackType cb = boost::bind(&TrajectoryPlannerROS::reconfigureCB, this, _1, _2);
+      dynamic_reconfigure::Server<BaseLocalPlannerConfig>::CallbackType cb = [this](auto& config, auto level){ reconfigureCB(config, level); };
       dsrv_->setCallback(cb);
 
     } else {

diff --git a/carrot_planner/src/carrot_planner.cpp b/carrot_planner/src/carrot_planner.cpp
@@ -36,7 +36,7 @@
 *********************************************************************/
 #include <angles/angles.h>
 #include <carrot_planner/carrot_planner.h>
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 #include <tf2/convert.h>
 #include <tf2/utils.h>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>

diff --git a/clear_costmap_recovery/src/clear_costmap_recovery.cpp b/clear_costmap_recovery/src/clear_costmap_recovery.cpp
@@ -35,7 +35,7 @@
 * Author: Eitan Marder-Eppstein
 *********************************************************************/
 #include <clear_costmap_recovery/clear_costmap_recovery.h>
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 #include <boost/pointer_cast.hpp>
 #include <vector>
 

diff --git a/costmap_2d/plugins/inflation_layer.cpp b/costmap_2d/plugins/inflation_layer.cpp
@@ -40,7 +40,7 @@
 #include <costmap_2d/costmap_math.h>
 #include <costmap_2d/footprint.h>
 #include <boost/thread.hpp>
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 
 PLUGINLIB_EXPORT_CLASS(costmap_2d::InflationLayer, costmap_2d::Layer)
 
@@ -83,8 +83,8 @@ void InflationLayer::onInitialize()
     seen_size_ = 0;
     need_reinflation_ = false;
 
-    dynamic_reconfigure::Server<costmap_2d::InflationPluginConfig>::CallbackType cb = boost::bind(
-        &InflationLayer::reconfigureCB, this, _1, _2);
+    dynamic_reconfigure::Server<costmap_2d::InflationPluginConfig>::CallbackType cb =
+        [this](auto& config, auto level){ reconfigureCB(config, level); };
 
     if (dsrv_ != NULL){
       dsrv_->clearCallback();

diff --git a/costmap_2d/plugins/obstacle_layer.cpp b/costmap_2d/plugins/obstacle_layer.cpp
@@ -39,7 +39,7 @@
 #include <costmap_2d/costmap_math.h>
 #include <tf2_ros/message_filter.h>
 
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 #include <sensor_msgs/point_cloud2_iterator.h>
 
 PLUGINLIB_EXPORT_CLASS(costmap_2d::ObstacleLayer, costmap_2d::Layer)
@@ -158,12 +158,11 @@ void ObstacleLayer::onInitialize()
 
       if (inf_is_valid)
       {
-        filter->registerCallback(boost::bind(&ObstacleLayer::laserScanValidInfCallback, this, _1,
-                                            observation_buffers_.back()));
+        filter->registerCallback([this,buffer=observation_buffers_.back()](auto& msg){ laserScanValidInfCallback(msg, buffer); });
       }
       else
       {
-        filter->registerCallback(boost::bind(&ObstacleLayer::laserScanCallback, this, _1, observation_buffers_.back()));
+        filter->registerCallback([this,buffer=observation_buffers_.back()](auto& msg){ laserScanCallback(msg, buffer); });
       }
 
       observation_subscribers_.push_back(sub);
@@ -183,8 +182,7 @@ void ObstacleLayer::onInitialize()
 
         boost::shared_ptr < tf2_ros::MessageFilter<sensor_msgs::PointCloud>
         > filter(new tf2_ros::MessageFilter<sensor_msgs::PointCloud>(*sub, *tf_, global_frame_, 50, g_nh));
-        filter->registerCallback(
-          boost::bind(&ObstacleLayer::pointCloudCallback, this, _1, observation_buffers_.back()));
+        filter->registerCallback([this,buffer=observation_buffers_.back()](auto& msg){ pointCloudCallback(msg, buffer); });
 
       observation_subscribers_.push_back(sub);
       observation_notifiers_.push_back(filter);
@@ -201,8 +199,7 @@ void ObstacleLayer::onInitialize()
 
       boost::shared_ptr < tf2_ros::MessageFilter<sensor_msgs::PointCloud2>
       > filter(new tf2_ros::MessageFilter<sensor_msgs::PointCloud2>(*sub, *tf_, global_frame_, 50, g_nh));
-      filter->registerCallback(
-          boost::bind(&ObstacleLayer::pointCloud2Callback, this, _1, observation_buffers_.back()));
+      filter->registerCallback([this,buffer=observation_buffers_.back()](auto& msg){ pointCloud2Callback(msg, buffer); });
 
       observation_subscribers_.push_back(sub);
       observation_notifiers_.push_back(filter);
@@ -224,8 +221,8 @@ void ObstacleLayer::onInitialize()
 void ObstacleLayer::setupDynamicReconfigure(ros::NodeHandle& nh)
 {
   dsrv_ = new dynamic_reconfigure::Server<costmap_2d::ObstaclePluginConfig>(nh);
-  dynamic_reconfigure::Server<costmap_2d::ObstaclePluginConfig>::CallbackType cb = boost::bind(
-      &ObstacleLayer::reconfigureCB, this, _1, _2);
+  dynamic_reconfigure::Server<costmap_2d::ObstaclePluginConfig>::CallbackType cb =
+      [this](auto& config, auto level){ reconfigureCB(config, level); };
   dsrv_->setCallback(cb);
 }
 

diff --git a/costmap_2d/plugins/static_layer.cpp b/costmap_2d/plugins/static_layer.cpp
@@ -38,7 +38,7 @@
  *********************************************************************/
 #include <costmap_2d/static_layer.h>
 #include <costmap_2d/costmap_math.h>
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 #include <tf2/convert.h>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 
@@ -118,8 +118,8 @@ void StaticLayer::onInitialize()
   }
 
   dsrv_ = new dynamic_reconfigure::Server<costmap_2d::GenericPluginConfig>(nh);
-  dynamic_reconfigure::Server<costmap_2d::GenericPluginConfig>::CallbackType cb = boost::bind(
-      &StaticLayer::reconfigureCB, this, _1, _2);
+  dynamic_reconfigure::Server<costmap_2d::GenericPluginConfig>::CallbackType cb =
+      [this](auto& config, auto level){ reconfigureCB(config, level); };
   dsrv_->setCallback(cb);
 }
 

diff --git a/costmap_2d/plugins/voxel_layer.cpp b/costmap_2d/plugins/voxel_layer.cpp
@@ -36,7 +36,7 @@
  *         David V. Lu!!
  *********************************************************************/
 #include <costmap_2d/voxel_layer.h>
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 #include <sensor_msgs/point_cloud2_iterator.h>
 
 #define VOXEL_BITS 16
@@ -67,8 +67,8 @@ void VoxelLayer::onInitialize()
 void VoxelLayer::setupDynamicReconfigure(ros::NodeHandle& nh)
 {
   voxel_dsrv_ = new dynamic_reconfigure::Server<costmap_2d::VoxelPluginConfig>(nh);
-  dynamic_reconfigure::Server<costmap_2d::VoxelPluginConfig>::CallbackType cb = boost::bind(
-      &VoxelLayer::reconfigureCB, this, _1, _2);
+  dynamic_reconfigure::Server<costmap_2d::VoxelPluginConfig>::CallbackType cb =
+      [this](auto& config, auto level){ reconfigureCB(config, level); };
   voxel_dsrv_->setCallback(cb);
 }
 

diff --git a/costmap_2d/src/costmap_2d_cloud.cpp b/costmap_2d/src/costmap_2d_cloud.cpp
@@ -199,7 +199,7 @@ int main(int argc, char** argv)
   ros::Publisher pub_marked = n.advertise < sensor_msgs::PointCloud > ("voxel_marked_cloud", 2);
   ros::Publisher pub_unknown = n.advertise < sensor_msgs::PointCloud > ("voxel_unknown_cloud", 2);
   ros::Subscriber sub = n.subscribe < costmap_2d::VoxelGrid
-      > ("voxel_grid", 1, boost::bind(voxelCallback, pub_marked, pub_unknown, _1));
+      > ("voxel_grid", 1, [&pub_marked,&pub_unknown](auto& msg){ voxelCallback(pub_marked, pub_unknown, msg); });
 
   ros::spin();
 

diff --git a/costmap_2d/src/costmap_2d_markers.cpp b/costmap_2d/src/costmap_2d_markers.cpp
@@ -146,7 +146,7 @@ int main(int argc, char** argv)
   ROS_DEBUG("Startup");
 
   ros::Publisher pub = n.advertise < visualization_msgs::Marker > ("visualization_marker", 1);
-  ros::Subscriber sub = n.subscribe < costmap_2d::VoxelGrid > ("voxel_grid", 1, boost::bind(voxelCallback, pub, _1));
+  ros::Subscriber sub = n.subscribe < costmap_2d::VoxelGrid > ("voxel_grid", 1, [&pub](auto& msg){ voxelCallback(pub, msg); });
   g_marker_ns = n.resolveName("voxel_grid");
 
   ros::spin();

diff --git a/costmap_2d/src/costmap_2d_ros.cpp b/costmap_2d/src/costmap_2d_ros.cpp
@@ -165,8 +165,7 @@ Costmap2DROS::Costmap2DROS(const std::string& name, tf2_ros::Buffer& tf) :
   stopped_ = false;
 
   dsrv_ = new dynamic_reconfigure::Server<Costmap2DConfig>(ros::NodeHandle("~/" + name));
-  dynamic_reconfigure::Server<Costmap2DConfig>::CallbackType cb = boost::bind(&Costmap2DROS::reconfigureCB, this, _1,
-                                                                              _2);
+  dynamic_reconfigure::Server<Costmap2DConfig>::CallbackType cb = [this](auto& config, auto level){ reconfigureCB(config, level); };
   dsrv_->setCallback(cb);
 }
 

diff --git a/dwa_local_planner/src/dwa_planner.cpp b/dwa_local_planner/src/dwa_planner.cpp
@@ -154,7 +154,11 @@ namespace dwa_local_planner {
 
 
     private_nh.param("publish_cost_grid_pc", publish_cost_grid_pc_, false);
-    map_viz_.initialize(name, planner_util->getGlobalFrame(), boost::bind(&DWAPlanner::getCellCosts, this, _1, _2, _3, _4, _5, _6));
+    map_viz_.initialize(name,
+                        planner_util->getGlobalFrame(),
+                        [this](int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost){
+                          return getCellCosts(cx, cy, path_cost, goal_cost, occ_cost, total_cost);
+                        });
 
     private_nh.param("global_frame_id", frame_id_, std::string("odom"));
 

diff --git a/dwa_local_planner/src/dwa_planner_ros.cpp b/dwa_local_planner/src/dwa_planner_ros.cpp
@@ -41,7 +41,7 @@
 
 #include <ros/console.h>
 
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 
 #include <base_local_planner/goal_functions.h>
 #include <nav_msgs/Path.h>
@@ -131,7 +131,7 @@ namespace dwa_local_planner {
       nav_core::warnRenamedParameter(private_nh, "theta_stopped_vel", "rot_stopped_vel");
 
       dsrv_ = new dynamic_reconfigure::Server<DWAPlannerConfig>(private_nh);
-      dynamic_reconfigure::Server<DWAPlannerConfig>::CallbackType cb = boost::bind(&DWAPlannerROS::reconfigureCB, this, _1, _2);
+      dynamic_reconfigure::Server<DWAPlannerConfig>::CallbackType cb = [this](auto& config, auto level){ reconfigureCB(config, level); };
       dsrv_->setCallback(cb);
     }
     else{
@@ -297,7 +297,7 @@ namespace dwa_local_planner {
           &planner_util_,
           odom_helper_,
           current_pose_,
-          boost::bind(&DWAPlanner::checkTrajectory, dp_, _1, _2, _3));
+          [this](auto pos, auto vel, auto vel_samples){ return dp_->checkTrajectory(pos, vel, vel_samples); });
     } else {
       bool isOk = dwaComputeVelocityCommands(current_pose_, cmd_vel);
       if (isOk) {

diff --git a/fake_localization/fake_localization.cpp b/fake_localization/fake_localization.cpp
@@ -123,12 +123,12 @@ class FakeOdomNode
       stuff_sub_ = nh.subscribe("base_pose_ground_truth", 100, &FakeOdomNode::stuffFilter, this);
       filter_sub_ = new message_filters::Subscriber<nav_msgs::Odometry>(nh, "", 100);
       filter_ = new tf2_ros::MessageFilter<nav_msgs::Odometry>(*filter_sub_, *m_tfBuffer, base_frame_id_, 100, nh);
-      filter_->registerCallback(boost::bind(&FakeOdomNode::update, this, _1));
+      filter_->registerCallback([this](auto& msg){ update(msg); });
 
       // subscription to "2D Pose Estimate" from RViz:
       m_initPoseSub = new message_filters::Subscriber<geometry_msgs::PoseWithCovarianceStamped>(nh, "initialpose", 1);
       m_initPoseFilter = new tf2_ros::MessageFilter<geometry_msgs::PoseWithCovarianceStamped>(*m_initPoseSub, *m_tfBuffer, global_frame_id_, 1, nh);
-      m_initPoseFilter->registerCallback(boost::bind(&FakeOdomNode::initPoseReceived, this, _1));
+      m_initPoseFilter->registerCallback([this](auto& msg){ initPoseReceived(msg); });
     }
 
     ~FakeOdomNode(void)

diff --git a/global_planner/src/planner_core.cpp b/global_planner/src/planner_core.cpp
@@ -36,7 +36,7 @@
  *         David V. Lu!!
  *********************************************************************/
 #include <global_planner/planner_core.h>
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 #include <costmap_2d/cost_values.h>
 #include <costmap_2d/costmap_2d.h>
 
@@ -149,8 +149,8 @@ void GlobalPlanner::initialize(std::string name, costmap_2d::Costmap2D* costmap,
         make_plan_srv_ = private_nh.advertiseService("make_plan", &GlobalPlanner::makePlanService, this);
 
         dsrv_ = new dynamic_reconfigure::Server<global_planner::GlobalPlannerConfig>(ros::NodeHandle("~/" + name));
-        dynamic_reconfigure::Server<global_planner::GlobalPlannerConfig>::CallbackType cb = boost::bind(
-                &GlobalPlanner::reconfigureCB, this, _1, _2);
+        dynamic_reconfigure::Server<global_planner::GlobalPlannerConfig>::CallbackType cb =
+                [this](auto& config, auto level){ reconfigureCB(config, level); };
         dsrv_->setCallback(cb);
 
         initialized_ = true;

diff --git a/map_server/test/rtest.cpp b/map_server/test/rtest.cpp
@@ -97,7 +97,7 @@ TEST_F(MapClientTest, call_service)
 /* Try to retrieve the map via topic, and compare to ground truth */
 TEST_F(MapClientTest, subscribe_topic)
 {
-  ros::Subscriber sub = n_->subscribe<nav_msgs::OccupancyGrid>("map", 1, boost::bind(&MapClientTest::mapCallback, this, _1));
+  ros::Subscriber sub = n_->subscribe<nav_msgs::OccupancyGrid>("map", 1, [this](auto& map){ mapCallback(map); });
 
   // Try a few times, because the server may not be up yet.
   int i=20;
@@ -120,7 +120,7 @@ TEST_F(MapClientTest, subscribe_topic)
 /* Try to retrieve the metadata via topic, and compare to ground truth */
 TEST_F(MapClientTest, subscribe_topic_metadata)
 {
-  ros::Subscriber sub = n_->subscribe<nav_msgs::MapMetaData>("map_metadata", 1, boost::bind(&MapClientTest::mapMetaDataCallback, this, _1));
+  ros::Subscriber sub = n_->subscribe<nav_msgs::MapMetaData>("map_metadata", 1, [this](auto& map_metadata){ mapMetaDataCallback(map_metadata); });
 
   // Try a few times, because the server may not be up yet.
   int i=20;
@@ -140,7 +140,7 @@ TEST_F(MapClientTest, subscribe_topic_metadata)
 /* Change the map, retrieve the map via topic, and compare to ground truth */
 TEST_F(MapClientTest, change_map)
 {
-  ros::Subscriber sub = n_->subscribe<nav_msgs::OccupancyGrid>("map", 1, boost::bind(&MapClientTest::mapCallback, this, _1));
+  ros::Subscriber sub = n_->subscribe<nav_msgs::OccupancyGrid>("map", 1, [this](auto& map){ mapCallback(map); });
 
   // Try a few times, because the server may not be up yet.
   for (int i = 20; i > 0 && !got_map_; i--)

diff --git a/move_base/src/move_base.cpp b/move_base/src/move_base.cpp
@@ -58,7 +58,7 @@ namespace move_base {
     planner_plan_(NULL), latest_plan_(NULL), controller_plan_(NULL),
     runPlanner_(false), setup_(false), p_freq_change_(false), c_freq_change_(false), new_global_plan_(false) {
 
-    as_ = new MoveBaseActionServer(ros::NodeHandle(), "move_base", boost::bind(&MoveBase::executeCb, this, _1), false);
+    as_ = new MoveBaseActionServer(ros::NodeHandle(), "move_base", [this](auto& goal){ executeCb(goal); }, false);
 
     ros::NodeHandle private_nh("~");
     ros::NodeHandle nh;
@@ -104,7 +104,7 @@ namespace move_base {
     //they won't get any useful information back about its status, but this is useful for tools
     //like nav_view and rviz
     ros::NodeHandle simple_nh("move_base_simple");
-    goal_sub_ = simple_nh.subscribe<geometry_msgs::PoseStamped>("goal", 1, boost::bind(&MoveBase::goalCB, this, _1));
+    goal_sub_ = simple_nh.subscribe<geometry_msgs::PoseStamped>("goal", 1, [this](auto& goal){ goalCB(goal); });
 
     //we'll assume the radius of the robot to be consistent with what's specified for the costmaps
     private_nh.param("local_costmap/inscribed_radius", inscribed_radius_, 0.325);
@@ -175,7 +175,7 @@ namespace move_base {
     as_->start();
 
     dsrv_ = new dynamic_reconfigure::Server<move_base::MoveBaseConfig>(ros::NodeHandle("~"));
-    dynamic_reconfigure::Server<move_base::MoveBaseConfig>::CallbackType cb = boost::bind(&MoveBase::reconfigureCB, this, _1, _2);
+    dynamic_reconfigure::Server<move_base::MoveBaseConfig>::CallbackType cb = [this](auto& config, auto level){ reconfigureCB(config, level); };
     dsrv_->setCallback(cb);
   }
 

diff --git a/move_slow_and_clear/src/move_slow_and_clear.cpp b/move_slow_and_clear/src/move_slow_and_clear.cpp
@@ -35,7 +35,7 @@
 * Author: Eitan Marder-Eppstein
 *********************************************************************/
 #include <move_slow_and_clear/move_slow_and_clear.h>
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 #include <costmap_2d/obstacle_layer.h>
 
 PLUGINLIB_EXPORT_CLASS(move_slow_and_clear::MoveSlowAndClear, nav_core::RecoveryBehavior)

diff --git a/navfn/src/navfn_ros.cpp b/navfn/src/navfn_ros.cpp
@@ -35,7 +35,7 @@
 * Author: Eitan Marder-Eppstein
 *********************************************************************/
 #include <navfn/navfn_ros.h>
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 #include <costmap_2d/cost_values.h>
 #include <costmap_2d/costmap_2d.h>
 #include <sensor_msgs/point_cloud2_iterator.h>

diff --git a/rotate_recovery/src/rotate_recovery.cpp b/rotate_recovery/src/rotate_recovery.cpp
@@ -35,7 +35,7 @@
 * Author: Eitan Marder-Eppstein
 *********************************************************************/
 #include <rotate_recovery/rotate_recovery.h>
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 #include <nav_core/parameter_magic.h>
 #include <tf2/utils.h>
 #include <ros/ros.h>