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Updates for Ubuntu 22 #358

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Updates for Ubuntu 22 #358

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fde5ccb
Switch to new boost/bind/bind.hpp
Dec 15, 2020
bc073a6
Drop old C++ standard
Feb 1, 2022
aca6fa1
update deprecated traits include
v4hn Oct 29, 2022
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9 changes: 0 additions & 9 deletions pcl_ros/CMakeLists.txt
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@@ -1,15 +1,6 @@
cmake_minimum_required(VERSION 3.0.2)
project(pcl_ros)

# CMake 3.1 added support for CMAKE_CXX_STANDARD to manage the C++ standard version
# Use CMake C++ standard management where possible for better interoperability
# with dependencies that export target standards and/or features
if (${CMAKE_VERSION} VERSION_LESS "3.1")
add_compile_options(-std=c++14)
else()
set(CMAKE_CXX_STANDARD 14)
endif()

## Find catkin packages
find_package(catkin REQUIRED COMPONENTS
dynamic_reconfigure
Expand Down
2 changes: 1 addition & 1 deletion pcl_ros/include/pcl_ros/point_cloud.h
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Expand Up @@ -3,7 +3,7 @@

#include <ros/ros.h>
#include <pcl/point_cloud.h>
#include <pcl/point_traits.h>
#include <pcl/type_traits.h>
#include <pcl/for_each_type.h>
#include <pcl/conversions.h>
#include <pcl_conversions/pcl_conversions.h>
Expand Down
24 changes: 12 additions & 12 deletions pcl_ros/src/pcl_ros/features/feature.cpp
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Expand Up @@ -80,7 +80,7 @@ pcl_ros::Feature::onInit ()

// Enable the dynamic reconfigure service
srv_ = boost::make_shared<dynamic_reconfigure::Server<FeatureConfig> > (*pnh_);
dynamic_reconfigure::Server<FeatureConfig>::CallbackType f = boost::bind (&Feature::config_callback, this, _1, _2);
dynamic_reconfigure::Server<FeatureConfig>::CallbackType f = boost::bind (&Feature::config_callback, this, boost::placeholders::_1, boost::placeholders::_2);
srv_->setCallback (f);

NODELET_DEBUG ("[%s::onInit] Nodelet successfully created with the following parameters:\n"
Expand Down Expand Up @@ -124,7 +124,7 @@ pcl_ros::Feature::subscribe ()
}
else // Use only indices
{
sub_input_filter_.registerCallback (bind (&Feature::input_callback, this, _1));
sub_input_filter_.registerCallback (bind (&Feature::input_callback, this, boost::placeholders::_1));
// surface not enabled, connect the input-indices duo and register
if (approximate_sync_)
sync_input_surface_indices_a_->connectInput (sub_input_filter_, nf_pc_, sub_indices_filter_);
Expand All @@ -134,7 +134,7 @@ pcl_ros::Feature::subscribe ()
}
else // Use only surface
{
sub_input_filter_.registerCallback (bind (&Feature::input_callback, this, _1));
sub_input_filter_.registerCallback (bind (&Feature::input_callback, this, boost::placeholders::_1));
// indices not enabled, connect the input-surface duo and register
sub_surface_filter_.subscribe (*pnh_, "surface", max_queue_size_);
if (approximate_sync_)
Expand All @@ -144,13 +144,13 @@ pcl_ros::Feature::subscribe ()
}
// Register callbacks
if (approximate_sync_)
sync_input_surface_indices_a_->registerCallback (bind (&Feature::input_surface_indices_callback, this, _1, _2, _3));
sync_input_surface_indices_a_->registerCallback (bind (&Feature::input_surface_indices_callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
else
sync_input_surface_indices_e_->registerCallback (bind (&Feature::input_surface_indices_callback, this, _1, _2, _3));
sync_input_surface_indices_e_->registerCallback (bind (&Feature::input_surface_indices_callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
}
else
// Subscribe in an old fashion to input only (no filters)
sub_input_ = pnh_->subscribe<PointCloudIn> ("input", max_queue_size_, bind (&Feature::input_surface_indices_callback, this, _1, PointCloudInConstPtr (), PointIndicesConstPtr ()));
sub_input_ = pnh_->subscribe<PointCloudIn> ("input", max_queue_size_, bind (&Feature::input_surface_indices_callback, this, boost::placeholders::_1, PointCloudInConstPtr (), PointIndicesConstPtr ()));
}

////////////////////////////////////////////////////////////////////////////////////////////
Expand Down Expand Up @@ -300,7 +300,7 @@ pcl_ros::FeatureFromNormals::onInit ()

// Enable the dynamic reconfigure service
srv_ = boost::make_shared<dynamic_reconfigure::Server<FeatureConfig> > (*pnh_);
dynamic_reconfigure::Server<FeatureConfig>::CallbackType f = boost::bind (&FeatureFromNormals::config_callback, this, _1, _2);
dynamic_reconfigure::Server<FeatureConfig>::CallbackType f = boost::bind (&FeatureFromNormals::config_callback, this, boost::placeholders::_1, boost::placeholders::_2);
srv_->setCallback (f);

NODELET_DEBUG ("[%s::onInit] Nodelet successfully created with the following parameters:\n"
Expand Down Expand Up @@ -345,7 +345,7 @@ pcl_ros::FeatureFromNormals::subscribe ()
}
else // Use only indices
{
sub_input_filter_.registerCallback (bind (&FeatureFromNormals::input_callback, this, _1));
sub_input_filter_.registerCallback (bind (&FeatureFromNormals::input_callback, this, boost::placeholders::_1));
if (approximate_sync_)
// surface not enabled, connect the input-indices duo and register
sync_input_normals_surface_indices_a_->connectInput (sub_input_filter_, sub_normals_filter_, nf_pc_, sub_indices_filter_);
Expand All @@ -359,7 +359,7 @@ pcl_ros::FeatureFromNormals::subscribe ()
// indices not enabled, connect the input-surface duo and register
sub_surface_filter_.subscribe (*pnh_, "surface", max_queue_size_);

sub_input_filter_.registerCallback (bind (&FeatureFromNormals::input_callback, this, _1));
sub_input_filter_.registerCallback (bind (&FeatureFromNormals::input_callback, this, boost::placeholders::_1));
if (approximate_sync_)
sync_input_normals_surface_indices_a_->connectInput (sub_input_filter_, sub_normals_filter_, sub_surface_filter_, nf_pi_);
else
Expand All @@ -368,7 +368,7 @@ pcl_ros::FeatureFromNormals::subscribe ()
}
else
{
sub_input_filter_.registerCallback (bind (&FeatureFromNormals::input_callback, this, _1));
sub_input_filter_.registerCallback (bind (&FeatureFromNormals::input_callback, this, boost::placeholders::_1));

if (approximate_sync_)
sync_input_normals_surface_indices_a_->connectInput (sub_input_filter_, sub_normals_filter_, nf_pc_, nf_pi_);
Expand All @@ -378,9 +378,9 @@ pcl_ros::FeatureFromNormals::subscribe ()

// Register callbacks
if (approximate_sync_)
sync_input_normals_surface_indices_a_->registerCallback (bind (&FeatureFromNormals::input_normals_surface_indices_callback, this, _1, _2, _3, _4));
sync_input_normals_surface_indices_a_->registerCallback (bind (&FeatureFromNormals::input_normals_surface_indices_callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
else
sync_input_normals_surface_indices_e_->registerCallback (bind (&FeatureFromNormals::input_normals_surface_indices_callback, this, _1, _2, _3, _4));
sync_input_normals_surface_indices_e_->registerCallback (bind (&FeatureFromNormals::input_normals_surface_indices_callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
}

//////////////////////////////////////////////////////////////////////////////////////////////
Expand Down
2 changes: 1 addition & 1 deletion pcl_ros/src/pcl_ros/filters/crop_box.cpp
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Expand Up @@ -46,7 +46,7 @@ pcl_ros::CropBox::child_init (ros::NodeHandle &nh, bool &has_service)
// Enable the dynamic reconfigure service
has_service = true;
srv_ = boost::make_shared <dynamic_reconfigure::Server<pcl_ros::CropBoxConfig> > (nh);
dynamic_reconfigure::Server<pcl_ros::CropBoxConfig>::CallbackType f = boost::bind (&CropBox::config_callback, this, _1, _2);
dynamic_reconfigure::Server<pcl_ros::CropBoxConfig>::CallbackType f = boost::bind (&CropBox::config_callback, this, boost::placeholders::_1, boost::placeholders::_2);
srv_->setCallback (f);

return (true);
Expand Down
2 changes: 1 addition & 1 deletion pcl_ros/src/pcl_ros/filters/extract_indices.cpp
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Expand Up @@ -45,7 +45,7 @@ pcl_ros::ExtractIndices::child_init (ros::NodeHandle &nh, bool &has_service)
has_service = true;

srv_ = boost::make_shared <dynamic_reconfigure::Server<pcl_ros::ExtractIndicesConfig> > (nh);
dynamic_reconfigure::Server<pcl_ros::ExtractIndicesConfig>::CallbackType f = boost::bind (&ExtractIndices::config_callback, this, _1, _2);
dynamic_reconfigure::Server<pcl_ros::ExtractIndicesConfig>::CallbackType f = boost::bind (&ExtractIndices::config_callback, this, boost::placeholders::_1, boost::placeholders::_2);
srv_->setCallback (f);

use_indices_ = true;
Expand Down
8 changes: 4 additions & 4 deletions pcl_ros/src/pcl_ros/filters/filter.cpp
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Expand Up @@ -116,18 +116,18 @@ pcl_ros::Filter::subscribe()
{
sync_input_indices_a_ = boost::make_shared <message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud2, pcl_msgs::PointIndices> > >(max_queue_size_);
sync_input_indices_a_->connectInput (sub_input_filter_, sub_indices_filter_);
sync_input_indices_a_->registerCallback (bind (&Filter::input_indices_callback, this, _1, _2));
sync_input_indices_a_->registerCallback (bind (&Filter::input_indices_callback, this, boost::placeholders::_1, boost::placeholders::_2));
}
else
{
sync_input_indices_e_ = boost::make_shared <message_filters::Synchronizer<sync_policies::ExactTime<PointCloud2, pcl_msgs::PointIndices> > >(max_queue_size_);
sync_input_indices_e_->connectInput (sub_input_filter_, sub_indices_filter_);
sync_input_indices_e_->registerCallback (bind (&Filter::input_indices_callback, this, _1, _2));
sync_input_indices_e_->registerCallback (bind (&Filter::input_indices_callback, this, boost::placeholders::_1, boost::placeholders::_2));
}
}
else
// Subscribe in an old fashion to input only (no filters)
sub_input_ = pnh_->subscribe<sensor_msgs::PointCloud2> ("input", max_queue_size_, bind (&Filter::input_indices_callback, this, _1, pcl_msgs::PointIndicesConstPtr ()));
sub_input_ = pnh_->subscribe<sensor_msgs::PointCloud2> ("input", max_queue_size_, bind (&Filter::input_indices_callback, this, boost::placeholders::_1, pcl_msgs::PointIndicesConstPtr ()));
}

//////////////////////////////////////////////////////////////////////////////////////////////
Expand Down Expand Up @@ -164,7 +164,7 @@ pcl_ros::Filter::onInit ()
if (!has_service)
{
srv_ = boost::make_shared <dynamic_reconfigure::Server<pcl_ros::FilterConfig> > (*pnh_);
dynamic_reconfigure::Server<pcl_ros::FilterConfig>::CallbackType f = boost::bind (&Filter::config_callback, this, _1, _2);
dynamic_reconfigure::Server<pcl_ros::FilterConfig>::CallbackType f = boost::bind (&Filter::config_callback, this, boost::placeholders::_1, boost::placeholders::_2);
srv_->setCallback (f);
}

Expand Down
2 changes: 1 addition & 1 deletion pcl_ros/src/pcl_ros/filters/passthrough.cpp
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Expand Up @@ -45,7 +45,7 @@ pcl_ros::PassThrough::child_init (ros::NodeHandle &nh, bool &has_service)
// Enable the dynamic reconfigure service
has_service = true;
srv_ = boost::make_shared <dynamic_reconfigure::Server<pcl_ros::FilterConfig> > (nh);
dynamic_reconfigure::Server<pcl_ros::FilterConfig>::CallbackType f = boost::bind (&PassThrough::config_callback, this, _1, _2);
dynamic_reconfigure::Server<pcl_ros::FilterConfig>::CallbackType f = boost::bind (&PassThrough::config_callback, this, boost::placeholders::_1, boost::placeholders::_2);
srv_->setCallback (f);

return (true);
Expand Down
4 changes: 2 additions & 2 deletions pcl_ros/src/pcl_ros/filters/project_inliers.cpp
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Expand Up @@ -99,13 +99,13 @@ pcl_ros::ProjectInliers::subscribe ()
{
sync_input_indices_model_a_ = boost::make_shared <message_filters::Synchronizer<message_filters::sync_policies::ApproximateTime<PointCloud2, PointIndices, ModelCoefficients> > > (max_queue_size_);
sync_input_indices_model_a_->connectInput (sub_input_filter_, sub_indices_filter_, sub_model_);
sync_input_indices_model_a_->registerCallback (bind (&ProjectInliers::input_indices_model_callback, this, _1, _2, _3));
sync_input_indices_model_a_->registerCallback (bind (&ProjectInliers::input_indices_model_callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
}
else
{
sync_input_indices_model_e_ = boost::make_shared <message_filters::Synchronizer<message_filters::sync_policies::ExactTime<PointCloud2, PointIndices, ModelCoefficients> > > (max_queue_size_);
sync_input_indices_model_e_->connectInput (sub_input_filter_, sub_indices_filter_, sub_model_);
sync_input_indices_model_e_->registerCallback (bind (&ProjectInliers::input_indices_model_callback, this, _1, _2, _3));
sync_input_indices_model_e_->registerCallback (bind (&ProjectInliers::input_indices_model_callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
}
}

Expand Down
2 changes: 1 addition & 1 deletion pcl_ros/src/pcl_ros/filters/radius_outlier_removal.cpp
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Expand Up @@ -45,7 +45,7 @@ pcl_ros::RadiusOutlierRemoval::child_init (ros::NodeHandle &nh, bool &has_servic
// Enable the dynamic reconfigure service
has_service = true;
srv_ = boost::make_shared <dynamic_reconfigure::Server<pcl_ros::RadiusOutlierRemovalConfig> > (nh);
dynamic_reconfigure::Server<pcl_ros::RadiusOutlierRemovalConfig>::CallbackType f = boost::bind (&RadiusOutlierRemoval::config_callback, this, _1, _2);
dynamic_reconfigure::Server<pcl_ros::RadiusOutlierRemovalConfig>::CallbackType f = boost::bind (&RadiusOutlierRemoval::config_callback, this, boost::placeholders::_1, boost::placeholders::_2);
srv_->setCallback (f);

return (true);
Expand Down
2 changes: 1 addition & 1 deletion pcl_ros/src/pcl_ros/filters/statistical_outlier_removal.cpp
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Expand Up @@ -45,7 +45,7 @@ pcl_ros::StatisticalOutlierRemoval::child_init (ros::NodeHandle &nh, bool &has_s
// Enable the dynamic reconfigure service
has_service = true;
srv_ = boost::make_shared <dynamic_reconfigure::Server<pcl_ros::StatisticalOutlierRemovalConfig> > (nh);
dynamic_reconfigure::Server<pcl_ros::StatisticalOutlierRemovalConfig>::CallbackType f = boost::bind (&StatisticalOutlierRemoval::config_callback, this, _1, _2);
dynamic_reconfigure::Server<pcl_ros::StatisticalOutlierRemovalConfig>::CallbackType f = boost::bind (&StatisticalOutlierRemoval::config_callback, this, boost::placeholders::_1, boost::placeholders::_2);
srv_->setCallback (f);

return (true);
Expand Down
2 changes: 1 addition & 1 deletion pcl_ros/src/pcl_ros/filters/voxel_grid.cpp
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Expand Up @@ -45,7 +45,7 @@ pcl_ros::VoxelGrid::child_init (ros::NodeHandle &nh, bool &has_service)
// Enable the dynamic reconfigure service
has_service = true;
srv_ = boost::make_shared <dynamic_reconfigure::Server<pcl_ros::VoxelGridConfig> > (nh);
dynamic_reconfigure::Server<pcl_ros::VoxelGridConfig>::CallbackType f = boost::bind (&VoxelGrid::config_callback, this, _1, _2);
dynamic_reconfigure::Server<pcl_ros::VoxelGridConfig>::CallbackType f = boost::bind (&VoxelGrid::config_callback, this, boost::placeholders::_1, boost::placeholders::_2);
srv_->setCallback (f);

return (true);
Expand Down
6 changes: 3 additions & 3 deletions pcl_ros/src/pcl_ros/io/concatenate_data.cpp
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Expand Up @@ -118,7 +118,7 @@ pcl_ros::PointCloudConcatenateDataSynchronizer::subscribe ()
}

// Bogus null filter
filters_[0]->registerCallback (bind (&PointCloudConcatenateDataSynchronizer::input_callback, this, _1));
filters_[0]->registerCallback (bind (&PointCloudConcatenateDataSynchronizer::input_callback, this, boost::placeholders::_1));

switch (input_topics_.size ())
{
Expand Down Expand Up @@ -186,9 +186,9 @@ pcl_ros::PointCloudConcatenateDataSynchronizer::subscribe ()
}

if (approximate_sync_)
ts_a_->registerCallback (boost::bind (&PointCloudConcatenateDataSynchronizer::input, this, _1, _2, _3, _4, _5, _6, _7, _8));
ts_a_->registerCallback (boost::bind (&PointCloudConcatenateDataSynchronizer::input, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5, boost::placeholders::_6, boost::placeholders::_7, boost::placeholders::_8));
else
ts_e_->registerCallback (boost::bind (&PointCloudConcatenateDataSynchronizer::input, this, _1, _2, _3, _4, _5, _6, _7, _8));
ts_e_->registerCallback (boost::bind (&PointCloudConcatenateDataSynchronizer::input, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5, boost::placeholders::_6, boost::placeholders::_7, boost::placeholders::_8));
}

//////////////////////////////////////////////////////////////////////////////////////////////
Expand Down
8 changes: 4 additions & 4 deletions pcl_ros/src/pcl_ros/segmentation/extract_clusters.cpp
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Expand Up @@ -76,7 +76,7 @@ pcl_ros::EuclideanClusterExtraction::onInit ()

// Enable the dynamic reconfigure service
srv_ = boost::make_shared <dynamic_reconfigure::Server<EuclideanClusterExtractionConfig> > (*pnh_);
dynamic_reconfigure::Server<EuclideanClusterExtractionConfig>::CallbackType f = boost::bind (&EuclideanClusterExtraction::config_callback, this, _1, _2);
dynamic_reconfigure::Server<EuclideanClusterExtractionConfig>::CallbackType f = boost::bind (&EuclideanClusterExtraction::config_callback, this, boost::placeholders::_1, boost::placeholders::_2);
srv_->setCallback (f);

NODELET_DEBUG ("[%s::onInit] Nodelet successfully created with the following parameters:\n"
Expand Down Expand Up @@ -108,18 +108,18 @@ pcl_ros::EuclideanClusterExtraction::subscribe ()
{
sync_input_indices_a_ = boost::make_shared <message_filters::Synchronizer<message_filters::sync_policies::ApproximateTime<PointCloud, PointIndices> > > (max_queue_size_);
sync_input_indices_a_->connectInput (sub_input_filter_, sub_indices_filter_);
sync_input_indices_a_->registerCallback (bind (&EuclideanClusterExtraction::input_indices_callback, this, _1, _2));
sync_input_indices_a_->registerCallback (bind (&EuclideanClusterExtraction::input_indices_callback, this, boost::placeholders::_1, boost::placeholders::_2));
}
else
{
sync_input_indices_e_ = boost::make_shared <message_filters::Synchronizer<message_filters::sync_policies::ExactTime<PointCloud, PointIndices> > > (max_queue_size_);
sync_input_indices_e_->connectInput (sub_input_filter_, sub_indices_filter_);
sync_input_indices_e_->registerCallback (bind (&EuclideanClusterExtraction::input_indices_callback, this, _1, _2));
sync_input_indices_e_->registerCallback (bind (&EuclideanClusterExtraction::input_indices_callback, this, boost::placeholders::_1, boost::placeholders::_2));
}
}
else
// Subscribe in an old fashion to input only (no filters)
sub_input_ = pnh_->subscribe<PointCloud> ("input", max_queue_size_, bind (&EuclideanClusterExtraction::input_indices_callback, this, _1, PointIndicesConstPtr ()));
sub_input_ = pnh_->subscribe<PointCloud> ("input", max_queue_size_, bind (&EuclideanClusterExtraction::input_indices_callback, this, boost::placeholders::_1, PointIndicesConstPtr ()));
}

//////////////////////////////////////////////////////////////////////////////////////////////
Expand Down
8 changes: 4 additions & 4 deletions pcl_ros/src/pcl_ros/segmentation/extract_polygonal_prism_data.cpp
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Expand Up @@ -53,7 +53,7 @@ pcl_ros::ExtractPolygonalPrismData::onInit ()

// Enable the dynamic reconfigure service
srv_ = boost::make_shared <dynamic_reconfigure::Server<ExtractPolygonalPrismDataConfig> > (*pnh_);
dynamic_reconfigure::Server<ExtractPolygonalPrismDataConfig>::CallbackType f = boost::bind (&ExtractPolygonalPrismData::config_callback, this, _1, _2);
dynamic_reconfigure::Server<ExtractPolygonalPrismDataConfig>::CallbackType f = boost::bind (&ExtractPolygonalPrismData::config_callback, this, boost::placeholders::_1, boost::placeholders::_2);
srv_->setCallback (f);

// Advertise the output topics
Expand Down Expand Up @@ -85,7 +85,7 @@ pcl_ros::ExtractPolygonalPrismData::subscribe ()
}
else
{
sub_input_filter_.registerCallback (bind (&ExtractPolygonalPrismData::input_callback, this, _1));
sub_input_filter_.registerCallback (bind (&ExtractPolygonalPrismData::input_callback, this, boost::placeholders::_1));

if (approximate_sync_)
sync_input_hull_indices_a_->connectInput (sub_input_filter_, sub_hull_filter_, nf_);
Expand All @@ -94,9 +94,9 @@ pcl_ros::ExtractPolygonalPrismData::subscribe ()
}
// Register callbacks
if (approximate_sync_)
sync_input_hull_indices_a_->registerCallback (bind (&ExtractPolygonalPrismData::input_hull_indices_callback, this, _1, _2, _3));
sync_input_hull_indices_a_->registerCallback (bind (&ExtractPolygonalPrismData::input_hull_indices_callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
else
sync_input_hull_indices_e_->registerCallback (bind (&ExtractPolygonalPrismData::input_hull_indices_callback, this, _1, _2, _3));
sync_input_hull_indices_e_->registerCallback (bind (&ExtractPolygonalPrismData::input_hull_indices_callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
}

//////////////////////////////////////////////////////////////////////////////////////////////
Expand Down
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