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Merge pull request #648 from windelbouwman/ros2-boost-binds

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Replace boost::bind by std::bind.
This commit is contained in:
matlabbe
2021-09-27 19:16:52 -04:00
committed by GitHub
parent a67df77778 fdf44ed288
commit 75ce3a56e7
9 changed files with 21 additions and 21 deletions
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src/CameraNode.cpp
+1 -1
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@@ -278,7 +278,7 @@ int main(int argc, char** argv)
dynamic_reconfigure::Server<rtabmap_ros::CameraConfig> server;
dynamic_reconfigure::Server<rtabmap_ros::CameraConfig>::CallbackType f;
f = boost::bind(&callback, _1, _2);
f = std::bind(&callback, std::placeholders::_1, std::placeholders::_2);
server.setCallback(f);
ros::spin();
src/MapOptimizerNode.cpp
+1 -1
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@@ -103,7 +103,7 @@ public:
ROS_INFO("map_optimizer: map_frame_id = %s", mapFrameId_.c_str());
ROS_INFO("map_optimizer: odom_frame_id = %s", odomFrameId_.c_str());
ROS_INFO("map_optimizer: tf_delay = %f", tfDelay);
transformThread_ = new boost::thread(boost::bind(&MapOptimizer::publishLoop, this, tfDelay));
transformThread_ = new boost::thread(std::bind(&MapOptimizer::publishLoop, this, tfDelay));
}
}
src/costmap_2d/static_layer.cpp
+2 -2
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@@ -109,8 +109,8 @@ 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 = std::bind(
&StaticLayer::reconfigureCB, this, std::placeholders::_1, std::placeholders::_2);
dsrv_->setCallback(cb);
}
src/costmap_2d/voxel_layer.cpp
+2 -2
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@@ -77,8 +77,8 @@ void VoxelLayer::onInitialize()
void VoxelLayer::setupDynamicReconfigure(ros::NodeHandle& nh)
{
voxel_dsrv_ = new dynamic_reconfigure::Server<VoxelPluginConfig>(nh);
dynamic_reconfigure::Server<VoxelPluginConfig>::CallbackType cb = boost::bind(
&VoxelLayer::reconfigureCB, this, _1, _2);
dynamic_reconfigure::Server<VoxelPluginConfig>::CallbackType cb = std::bind(
&VoxelLayer::reconfigureCB, this, std::placeholders::_1, std::placeholders::_2);
voxel_dsrv_->setCallback(cb);
}
src/nodelets/data_odom_sync.cpp
+1 -1
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@@ -75,7 +75,7 @@ private:
private_nh.param("queue_size", queueSize, queueSize);
sync_ = new message_filters::Synchronizer<MySyncPolicy>(MySyncPolicy(queueSize), image_sub_, image_depth_sub_, info_sub_, odom_sub_);
sync_->registerCallback(boost::bind(&DataOdomSyncNodelet::callback, this, _1, _2, _3, _4));
sync_->registerCallback(std::bind(&DataOdomSyncNodelet::callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4));
image_sub_.subscribe(rgb_it, rgb_nh.resolveName("image_in"), 1, hintsRgb);
image_depth_sub_.subscribe(depth_it, depth_nh.resolveName("image_in"), 1, hintsDepth);
src/nodelets/data_throttle.cpp
+2 -2
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@@ -105,12 +105,12 @@ private:
if(approxSync)
{
approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize), image_sub_, image_depth_sub_, info_sub_);
approxSync_->registerCallback(boost::bind(&DataThrottleNodelet::callback, this, _1, _2, _3));
approxSync_->registerCallback(std::bind(&DataThrottleNodelet::callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
}
else
{
exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize), image_sub_, image_depth_sub_, info_sub_);
exactSync_->registerCallback(boost::bind(&DataThrottleNodelet::callback, this, _1, _2, _3));
exactSync_->registerCallback(std::bind(&DataThrottleNodelet::callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
}
image_sub_.subscribe(rgb_it, rgb_nh.resolveName("image_in"), 1, hintsRgb);
src/nodelets/rgbdicp_odometry.cpp
+8 -8
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@@ -151,12 +151,12 @@ private:
if(approxSync)
{
approxCloudSync_ = new message_filters::Synchronizer<MyApproxCloudSyncPolicy>(MyApproxCloudSyncPolicy(queueSize_), image_mono_sub_, image_depth_sub_, info_sub_, cloud_sub_);
approxCloudSync_->registerCallback(boost::bind(&RGBDICPOdometry::callbackCloud, this, _1, _2, _3, _4));
approxCloudSync_->registerCallback(std::bind(&RGBDICPOdometry::callbackCloud, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4));
}
else
{
exactCloudSync_ = new message_filters::Synchronizer<MyExactCloudSyncPolicy>(MyExactCloudSyncPolicy(queueSize_), image_mono_sub_, image_depth_sub_, info_sub_, cloud_sub_);
exactCloudSync_->registerCallback(boost::bind(&RGBDICPOdometry::callbackCloud, this, _1, _2, _3, _4));
exactCloudSync_->registerCallback(std::bind(&RGBDICPOdometry::callbackCloud, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4));
}
subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync):\n %s,\n %s,\n %s, \n %s",
@@ -173,12 +173,12 @@ private:
if(approxSync)
{
approxScanSync_ = new message_filters::Synchronizer<MyApproxScanSyncPolicy>(MyApproxScanSyncPolicy(queueSize_), image_mono_sub_, image_depth_sub_, info_sub_, scan_sub_);
approxScanSync_->registerCallback(boost::bind(&RGBDICPOdometry::callbackScan, this, _1, _2, _3, _4));
approxScanSync_->registerCallback(std::bind(&RGBDICPOdometry::callbackScan, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4));
}
else
{
exactScanSync_ = new message_filters::Synchronizer<MyExactScanSyncPolicy>(MyExactScanSyncPolicy(queueSize_), image_mono_sub_, image_depth_sub_, info_sub_, scan_sub_);
exactScanSync_->registerCallback(boost::bind(&RGBDICPOdometry::callbackScan, this, _1, _2, _3, _4));
exactScanSync_->registerCallback(std::bind(&RGBDICPOdometry::callbackScan, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4));
}
subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync):\n %s,\n %s,\n %s, \n %s",
@@ -425,25 +425,25 @@ protected:
{
delete approxScanSync_;
approxScanSync_ = new message_filters::Synchronizer<MyApproxScanSyncPolicy>(MyApproxScanSyncPolicy(queueSize_), image_mono_sub_, image_depth_sub_, info_sub_, scan_sub_);
approxScanSync_->registerCallback(boost::bind(&RGBDICPOdometry::callbackScan, this, _1, _2, _3, _4));
approxScanSync_->registerCallback(std::bind(&RGBDICPOdometry::callbackScan, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4));
}
if(exactScanSync_)
{
delete exactScanSync_;
exactScanSync_ = new message_filters::Synchronizer<MyExactScanSyncPolicy>(MyExactScanSyncPolicy(queueSize_), image_mono_sub_, image_depth_sub_, info_sub_, scan_sub_);
exactScanSync_->registerCallback(boost::bind(&RGBDICPOdometry::callbackScan, this, _1, _2, _3, _4));
exactScanSync_->registerCallback(std::bind(&RGBDICPOdometry::callbackScan, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4));
}
if(approxCloudSync_)
{
delete approxCloudSync_;
approxCloudSync_ = new message_filters::Synchronizer<MyApproxCloudSyncPolicy>(MyApproxCloudSyncPolicy(queueSize_), image_mono_sub_, image_depth_sub_, info_sub_, cloud_sub_);
approxCloudSync_->registerCallback(boost::bind(&RGBDICPOdometry::callbackCloud, this, _1, _2, _3, _4));
approxCloudSync_->registerCallback(std::bind(&RGBDICPOdometry::callbackCloud, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4));
}
if(exactCloudSync_)
{
delete exactCloudSync_;
exactCloudSync_ = new message_filters::Synchronizer<MyExactCloudSyncPolicy>(MyExactCloudSyncPolicy(queueSize_), image_mono_sub_, image_depth_sub_, info_sub_, cloud_sub_);
exactCloudSync_->registerCallback(boost::bind(&RGBDICPOdometry::callbackCloud, this, _1, _2, _3, _4));
exactCloudSync_->registerCallback(std::bind(&RGBDICPOdometry::callbackCloud, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4));
}
}
src/nodelets/stereo_odometry.cpp
+2 -2
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@@ -309,13 +309,13 @@ void StereoOdometry::flushCallbacks()
{
delete approxSync_;
approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize()), imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_);
approxSync_->registerCallback(boost::bind(&StereoOdometry::callback, this, _1, _2, _3, _4));
approxSync_->registerCallback(std::bind(&StereoOdometry::callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4));
}
if(exactSync_)
{
delete exactSync_;
exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize()), imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_);
exactSync_->registerCallback(boost::bind(&StereoOdometry::callback, this, _1, _2, _3, _4));
exactSync_->registerCallback(std::bind(&StereoOdometry::callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4));
}
}
src/nodelets/stereo_throttle.cpp
+2 -2
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@@ -100,12 +100,12 @@ private:
if(approxSync)
{
approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize), imageLeft_, imageRight_, cameraInfoLeft_, cameraInfoRight_);
approxSync_->registerCallback(boost::bind(&StereoThrottleNodelet::callback, this, _1, _2, _3, _4));
approxSync_->registerCallback(std::bind(&StereoThrottleNodelet::callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4));
}
else
{
exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize), imageLeft_, imageRight_, cameraInfoLeft_, cameraInfoRight_);
exactSync_->registerCallback(boost::bind(&StereoThrottleNodelet::callback, this, _1, _2, _3, _4));
exactSync_->registerCallback(std::bind(&StereoThrottleNodelet::callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4));
}
imageLeft_.subscribe(left_it, left_nh.resolveName("image"), 1, hintsLeft);