Eol work (#1269)

DLu · web-flow · commit f44bb1fc2810 · 2025-06-04T13:03:17.000-04:00
* Upgrade Minimum CMake Version
* Remove calls to boost::bind
diff --git a/amcl/CMakeLists.txt b/amcl/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.1)
+cmake_minimum_required(VERSION 3.10.2)
 project(amcl)
 
 include(CheckIncludeFile)
diff --git a/amcl/src/amcl_node.cpp b/amcl/src/amcl_node.cpp
@@ -489,8 +489,8 @@ AmclNode::AmclNode() :
                                                              odom_frame_id_,
                                                              100,
                                                              nh_);
-  laser_scan_filter_->registerCallback(boost::bind(&AmclNode::laserReceived,
-                                                   this, _1));
+  laser_scan_filter_->registerCallback(std::bind(&AmclNode::laserReceived,
+                                                 this, std::placeholders::_1));
   initial_pose_sub_ = nh_.subscribe("initialpose", 2, &AmclNode::initialPoseReceived, this);
 
   if(use_map_topic_) {
@@ -502,13 +502,13 @@ AmclNode::AmclNode() :
   m_force_update = false;
 
   dsrv_ = new dynamic_reconfigure::Server<amcl::AMCLConfig>(ros::NodeHandle("~"));
-  dynamic_reconfigure::Server<amcl::AMCLConfig>::CallbackType cb = boost::bind(&AmclNode::reconfigureCB, this, _1, _2);
+  dynamic_reconfigure::Server<amcl::AMCLConfig>::CallbackType cb = std::bind(&AmclNode::reconfigureCB, this, std::placeholders::_1, std::placeholders::_2);
   dsrv_->setCallback(cb);
 
   // 15s timer to warn on lack of receipt of laser scans, #5209
   laser_check_interval_ = ros::Duration(15.0);
   check_laser_timer_ = nh_.createTimer(laser_check_interval_, 
-                                       boost::bind(&AmclNode::checkLaserReceived, this, _1));
+                                       std::bind(&AmclNode::checkLaserReceived, this, std::placeholders::_1));
 
   diagnosic_updater_.setHardwareID("None");
   diagnosic_updater_.add("Standard deviation", this, &AmclNode::standardDeviationDiagnostics);
@@ -666,8 +666,8 @@ void AmclNode::reconfigureCB(AMCLConfig &config, uint32_t level)
                                                              odom_frame_id_,
                                                              100,
                                                              nh_);
-  laser_scan_filter_->registerCallback(boost::bind(&AmclNode::laserReceived,
-                                                   this, _1));
+  laser_scan_filter_->registerCallback(std::bind(&AmclNode::laserReceived,
+                                                 this, std::placeholders::_1));
 
   initial_pose_sub_ = nh_.subscribe("initialpose", 2, &AmclNode::initialPoseReceived, this);
 }
diff --git a/base_local_planner/CMakeLists.txt b/base_local_planner/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.10.2)
 project(base_local_planner)
 
 include(CheckIncludeFile)
diff --git a/carrot_planner/CMakeLists.txt b/carrot_planner/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.10.2)
 project(carrot_planner)
 
 find_package(catkin REQUIRED
diff --git a/clear_costmap_recovery/CMakeLists.txt b/clear_costmap_recovery/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.10.2)
 project(clear_costmap_recovery)
 
 find_package(catkin REQUIRED
diff --git a/costmap_2d/CMakeLists.txt b/costmap_2d/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.10.2)
 project(costmap_2d)
 
 find_package(catkin REQUIRED
diff --git a/costmap_2d/src/costmap_2d_publisher.cpp b/costmap_2d/src/costmap_2d_publisher.cpp
@@ -50,7 +50,7 @@ Costmap2DPublisher::Costmap2DPublisher(ros::NodeHandle * ros_node, Costmap2D* co
     always_send_full_costmap_(always_send_full_costmap)
 {
   costmap_pub_ = ros_node->advertise<nav_msgs::OccupancyGrid>(topic_name, 1,
-                                                    boost::bind(&Costmap2DPublisher::onNewSubscription, this, _1));
+                                                    std::bind(&Costmap2DPublisher::onNewSubscription, this, std::placeholders::_1));
   costmap_update_pub_ = ros_node->advertise<map_msgs::OccupancyGridUpdate>(topic_name + "_updates", 1);
 
   if (cost_translation_table_ == NULL)
diff --git a/costmap_2d/src/costmap_2d_ros.cpp b/costmap_2d/src/costmap_2d_ros.cpp
@@ -352,7 +352,7 @@ void Costmap2DROS::reconfigureCB(costmap_2d::Costmap2DConfig &config, uint32_t l
 
   // only construct the thread if the frequency is positive
   if(map_update_frequency > 0.0)
-    map_update_thread_ = new boost::thread(boost::bind(&Costmap2DROS::mapUpdateLoop, this, map_update_frequency));
+    map_update_thread_ = new boost::thread(std::bind(&Costmap2DROS::mapUpdateLoop, this, map_update_frequency));
 }
 
 void Costmap2DROS::readFootprintFromConfig(const costmap_2d::Costmap2DConfig &new_config,
diff --git a/dwa_local_planner/CMakeLists.txt b/dwa_local_planner/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.10.2)
 project(dwa_local_planner)
 
 find_package(catkin REQUIRED
diff --git a/fake_localization/CMakeLists.txt b/fake_localization/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.10.2)
 project(fake_localization)
 
 find_package(catkin REQUIRED
diff --git a/global_planner/CMakeLists.txt b/global_planner/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.10.2)
 project(global_planner)
 
 find_package(catkin REQUIRED
diff --git a/map_server/CMakeLists.txt b/map_server/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.10.2)
 project(map_server)
 
 find_package(catkin REQUIRED
diff --git a/move_base/CMakeLists.txt b/move_base/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.10.2)
 project(move_base)
 
 find_package(catkin REQUIRED
diff --git a/move_base/src/move_base.cpp b/move_base/src/move_base.cpp
@@ -90,7 +90,7 @@ namespace move_base {
     controller_plan_ = new std::vector<geometry_msgs::PoseStamped>();
 
     //set up the planner's thread
-    planner_thread_ = new boost::thread(boost::bind(&MoveBase::planThread, this));
+    planner_thread_ = new boost::thread(std::bind(&MoveBase::planThread, this));
 
     //for commanding the base
     vel_pub_ = nh.advertise<geometry_msgs::Twist>("cmd_vel", 1);
diff --git a/move_slow_and_clear/CMakeLists.txt b/move_slow_and_clear/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.10.2)
 project(move_slow_and_clear)
 
 find_package(catkin REQUIRED
diff --git a/move_slow_and_clear/src/move_slow_and_clear.cpp b/move_slow_and_clear/src/move_slow_and_clear.cpp
@@ -177,7 +177,7 @@ namespace move_slow_and_clear
         remove_limit_thread_->join();
         delete remove_limit_thread_;
       }
-      remove_limit_thread_ = new boost::thread(boost::bind(&MoveSlowAndClear::removeSpeedLimit, this));
+      remove_limit_thread_ = new boost::thread(std::bind(&MoveSlowAndClear::removeSpeedLimit, this));
 
       distance_check_timer_.stop();
     }
diff --git a/nav_core/CMakeLists.txt b/nav_core/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.10.2)
 project(nav_core)
 
 find_package(catkin REQUIRED
diff --git a/navfn/CMakeLists.txt b/navfn/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.10.2)
 project(navfn)
 
 include(CheckIncludeFile)
diff --git a/navigation/CMakeLists.txt b/navigation/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.10.2)
 project(navigation)
 find_package(catkin REQUIRED)
 catkin_metapackage()
diff --git a/rotate_recovery/CMakeLists.txt b/rotate_recovery/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.10.2)
 project(rotate_recovery)
 
 find_package(catkin REQUIRED
diff --git a/voxel_grid/CMakeLists.txt b/voxel_grid/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.10.2)
 project(voxel_grid)
 
 include(CheckIncludeFile)

Original file line number	Diff line number	Diff line change
`@@ -1,4 +1,4 @@`
`1`		`-cmake_minimum_required(VERSION 3.1)`
	`1`	`+cmake_minimum_required(VERSION 3.10.2)`
`2`	`2`	`project(amcl)`
`3`	`3`
`4`	`4`	`include(CheckIncludeFile)`
Original file line number	Diff line number	Diff line change
`@@ -1,4 +1,4 @@`
`1`		`-cmake_minimum_required(VERSION 3.0.2)`
	`1`	`+cmake_minimum_required(VERSION 3.10.2)`
`2`	`2`	`project(base_local_planner)`
`3`	`3`
`4`	`4`	`include(CheckIncludeFile)`
Original file line number	Diff line number	Diff line change
`@@ -50,7 +50,7 @@ Costmap2DPublisher::Costmap2DPublisher(ros::NodeHandle * ros_node, Costmap2D* co`
`50`	`50`	`always_send_full_costmap_(always_send_full_costmap)`
`51`	`51`	`{`
`52`	`52`	`costmap_pub_ = ros_node->advertise<nav_msgs::OccupancyGrid>(topic_name, 1,`
`53`		`- boost::bind(&Costmap2DPublisher::onNewSubscription, this, _1));`
	`53`	`+ std::bind(&Costmap2DPublisher::onNewSubscription, this, std::placeholders::_1));`
`54`	`54`	`costmap_update_pub_ = ros_node->advertise<map_msgs::OccupancyGridUpdate>(topic_name + "_updates", 1);`
`55`	`55`
`56`	`56`	`if (cost_translation_table_ == NULL)`
Original file line number	Diff line number	Diff line change
`@@ -352,7 +352,7 @@ void Costmap2DROS::reconfigureCB(costmap_2d::Costmap2DConfig &config, uint32_t l`
`352`	`352`
`353`	`353`	`// only construct the thread if the frequency is positive`
`354`	`354`	`if(map_update_frequency > 0.0)`
`355`		`- map_update_thread_ = new boost::thread(boost::bind(&Costmap2DROS::mapUpdateLoop, this, map_update_frequency));`
	`355`	`+ map_update_thread_ = new boost::thread(std::bind(&Costmap2DROS::mapUpdateLoop, this, map_update_frequency));`
`356`	`356`	`}`
`357`	`357`
`358`	`358`	`void Costmap2DROS::readFootprintFromConfig(const costmap_2d::Costmap2DConfig &new_config,`