Merge pull request ros-perception#171 from ros-o/obese-devel

[ROS-O] various cleanup
CentralLabFacilities · Nov 14, 2022 · 2294462 · 2294462
2 parents d141e3b + 0c0a383
commit 2294462
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Showing 15 changed files with 21 additions and 25 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,8 +1,6 @@
 cmake_minimum_required(VERSION 3.0.2)
 project(laser_filters)
 
-set(CMAKE_CXX_STANDARD 11)
-
 ##############################################################################
 # Find dependencies
 ##############################################################################
@@ -84,11 +82,8 @@ if (CATKIN_ENABLE_TESTING)
 
   find_package(rostest)
 
-  add_executable(test_scan_filter_chain test/test_scan_filter_chain.cpp)
-  target_link_libraries(test_scan_filter_chain laser_scan_filters ${rostest_LIBRARIES} ${GTEST_LIBRARIES})
-  add_dependencies(test_scan_filter_chain gtest)
-
-  add_rostest(test/test_scan_filter_chain.launch)
+  add_rostest_gtest(test_scan_filter_chain test/test_scan_filter_chain.launch test/test_scan_filter_chain.cpp)
+  target_link_libraries(test_scan_filter_chain laser_scan_filters ${catkin_LIBRARIES})
   add_rostest(test/test_polygon_filter.launch)
   add_rostest(test/test_speckle_filter.launch)
 

diff --git a/include/laser_filters/range_filter.h b/include/laser_filters/range_filter.h
@@ -61,7 +61,7 @@ class LaserScanRangeFilter : public filters::FilterBase<sensor_msgs::LaserScan>
     ros::NodeHandle private_nh("~" + getName());
     dyn_server_.reset(new dynamic_reconfigure::Server<RangeFilterConfig>(own_mutex_, private_nh));
     dynamic_reconfigure::Server<RangeFilterConfig>::CallbackType f;
-    f = boost::bind(&LaserScanRangeFilter::reconfigureCB, this, _1, _2);
+    f = [this](auto& config, auto level){ reconfigureCB(config, level); };
     dyn_server_->setCallback(f);
 
     getParam("lower_threshold", config_.lower_threshold);

diff --git a/include/laser_filters/speckle_filter.h b/include/laser_filters/speckle_filter.h
@@ -51,6 +51,7 @@ namespace laser_filters
 class WindowValidator
 {
 public:
+  virtual ~WindowValidator() = default;
   virtual bool checkWindowValid(const sensor_msgs::LaserScan& scan, size_t idx, size_t window, double max_range_difference) = 0;
 };
 

diff --git a/src/box_filter.cpp b/src/box_filter.cpp
@@ -54,7 +54,7 @@ bool laser_filters::LaserScanBoxFilter::configure(){
   ros::NodeHandle private_nh("~" + getName());
   dyn_server_.reset(new dynamic_reconfigure::Server<BoxFilterConfig>(own_mutex_, private_nh));
   dynamic_reconfigure::Server<BoxFilterConfig>::CallbackType f;
-  f = boost::bind(&LaserScanBoxFilter::reconfigureCB, this, _1, _2);
+  f = [this](auto& config, auto level){ reconfigureCB(config, level); };
   dyn_server_->setCallback(f);
 
   up_and_running_ = true;

diff --git a/src/generic_laser_filter_node.cpp b/src/generic_laser_filter_node.cpp
@@ -66,13 +66,13 @@ class GenericLaserScanFilterNode
     filter_chain_.configure("");
 
     // Setup tf::MessageFilter for input
-    tf_filter_.registerCallback(boost::bind(&GenericLaserScanFilterNode::callback, this, _1));
+    tf_filter_.registerCallback(boost::bind(&GenericLaserScanFilterNode::callback, this, boost::placeholders::_1));
     tf_filter_.setTolerance(ros::Duration(0.03));
 
     // Advertise output
     output_pub_ = nh_.advertise<sensor_msgs::LaserScan>("output", 1000);
 
-    deprecation_timer_ = nh_.createTimer(ros::Duration(5.0), boost::bind(&GenericLaserScanFilterNode::deprecation_warn, this, _1));
+    deprecation_timer_ = nh_.createTimer(ros::Duration(5.0), [this](auto& event){ deprecation_warn(event); });
   }
 
   void deprecation_warn(const ros::TimerEvent& e)

diff --git a/src/intensity_filter.cpp b/src/intensity_filter.cpp
@@ -50,7 +50,7 @@ bool LaserScanIntensityFilter::configure()
   ros::NodeHandle private_nh("~" + getName());
   dyn_server_.reset(new dynamic_reconfigure::Server<IntensityFilterConfig>(own_mutex_, private_nh));
   dynamic_reconfigure::Server<IntensityFilterConfig>::CallbackType f;
-  f = boost::bind(&LaserScanIntensityFilter::reconfigureCB, this, _1, _2);
+  f = [this](auto& config, auto level){ reconfigureCB(config, level); };
   dyn_server_->setCallback(f);
 
   getParam("lower_threshold", config_.lower_threshold);

diff --git a/src/laser_scan_filters.cpp b/src/laser_scan_filters.cpp
@@ -45,7 +45,7 @@
 #include "sensor_msgs/LaserScan.h"
 #include <filters/filter_base.hpp>
 
-#include "pluginlib/class_list_macros.h"
+#include "pluginlib/class_list_macros.hpp"
 
 
 PLUGINLIB_EXPORT_CLASS(laser_filters::LaserMedianFilter, filters::FilterBase<sensor_msgs::LaserScan>)

diff --git a/src/pointcloud_filters.cpp b/src/pointcloud_filters.cpp
@@ -29,6 +29,6 @@
 
 #include "sensor_msgs/PointCloud.h"
 #include "laser_filters/point_cloud_footprint_filter.h"
-#include "pluginlib/class_list_macros.h"
+#include "pluginlib/class_list_macros.hpp"
 
 PLUGINLIB_EXPORT_CLASS(laser_filters::PointCloudFootprintFilter, filters::FilterBase<sensor_msgs::PointCloud>)
diff --git a/src/polygon_filter.cpp b/src/polygon_filter.cpp
@@ -257,7 +257,7 @@ bool LaserScanPolygonFilterBase::configure()
   ros::NodeHandle private_nh("~" + getName());
   dyn_server_.reset(new dynamic_reconfigure::Server<laser_filters::PolygonFilterConfig>(own_mutex_, private_nh));
   dynamic_reconfigure::Server<laser_filters::PolygonFilterConfig>::CallbackType f;
-  f = boost::bind(&laser_filters::LaserScanPolygonFilter::reconfigureCB, this, _1, _2);
+  f = [this](auto& config, auto level){ reconfigureCB(config, level); };
   dyn_server_->setCallback(f);
 
   bool polygon_set = getParam("polygon", polygon_xmlrpc);

diff --git a/src/scan_shadows_filter.cpp b/src/scan_shadows_filter.cpp
@@ -48,7 +48,7 @@ bool ScanShadowsFilter::configure()
     ros::NodeHandle private_nh("~" + getName());
     dyn_server_.reset(new dynamic_reconfigure::Server<laser_filters::ScanShadowsFilterConfig>(own_mutex_, private_nh));
     dynamic_reconfigure::Server<laser_filters::ScanShadowsFilterConfig>::CallbackType f;
-    f = boost::bind(&laser_filters::ScanShadowsFilter::reconfigureCB, this, _1, _2);
+    f = [this](auto& config, auto level){ reconfigureCB(config, level); };
     dyn_server_->setCallback(f);
 
     if (!filters::FilterBase<sensor_msgs::LaserScan>::getParam(std::string("min_angle"), min_angle_))

diff --git a/src/scan_to_cloud_filter_chain.cpp b/src/scan_to_cloud_filter_chain.cpp
@@ -53,7 +53,7 @@
 
 #if BUILDING_NODELET
 #include <nodelet/nodelet.h>
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 
 #define LASER_INFO NODELET_INFO
 #define LASER_WARN NODELET_WARN
@@ -156,7 +156,7 @@ class ScanToCloudFilterChain
       channel_options_ |= laser_geometry::channel_option::Viewpoint;
 
     filter_.setTargetFrame(target_frame_);
-    filter_.registerCallback(boost::bind(&ScanToCloudFilterChain::scanCallback, this, _1));
+    filter_.registerCallback(boost::bind(&ScanToCloudFilterChain::scanCallback, this, boost::placeholders::_1));
     filter_.setTolerance(ros::Duration(tf_tolerance_));
 
     if (using_scan_topic_deprecated_)
@@ -187,7 +187,7 @@ class ScanToCloudFilterChain
     else
       scan_filter_chain_.configure("scan_filter_chain", private_nh);
 
-    deprecation_timer_ = nh.createTimer(ros::Duration(5.0), boost::bind(&ScanToCloudFilterChain::deprecation_warn, this, _1));
+    deprecation_timer_ = nh.createTimer(ros::Duration(5.0), [this](auto& event){ this->deprecation_warn(event); });
 
     LASER_INFO("Scan to cloud filter initialized.");
   }

diff --git a/src/scan_to_scan_filter_chain.cpp b/src/scan_to_scan_filter_chain.cpp
@@ -97,19 +97,19 @@ class ScanToScanFilterChain
       tf_filter_->setTolerance(ros::Duration(tf_filter_tolerance_));
 
       // Setup tf::MessageFilter generates callback
-      tf_filter_->registerCallback(boost::bind(&ScanToScanFilterChain::callback, this, _1));
+      tf_filter_->registerCallback(boost::bind(&ScanToScanFilterChain::callback, this, boost::placeholders::_1));
     }
     else 
     {
       // Pass through if no tf_message_filter_target_frame
-      scan_sub_.registerCallback(boost::bind(&ScanToScanFilterChain::callback, this, _1));
+      scan_sub_.registerCallback(boost::bind(&ScanToScanFilterChain::callback, this, boost::placeholders::_1));
     }
 
     // Advertise output
     output_pub_ = nh_.advertise<sensor_msgs::LaserScan>("scan_filtered", 1000);
 
     // Set up deprecation printout
-    deprecation_timer_ = nh_.createTimer(ros::Duration(5.0), boost::bind(&ScanToScanFilterChain::deprecation_warn, this, _1));
+    deprecation_timer_ = nh_.createTimer(ros::Duration(5.0), boost::bind(&ScanToScanFilterChain::deprecation_warn, this, boost::placeholders::_1));
   }
 
   // Destructor

diff --git a/src/sector_filter.cpp b/src/sector_filter.cpp
@@ -46,7 +46,7 @@ bool LaserScanSectorFilter::configure()
   ros::NodeHandle private_nh("~" + getName());
   dyn_server_.reset(new dynamic_reconfigure::Server<SectorFilterConfig>(own_mutex_, private_nh));
   dynamic_reconfigure::Server<SectorFilterConfig>::CallbackType f;
-  f = boost::bind(&LaserScanSectorFilter::reconfigureCB, this, _1, _2);
+  f = [this](auto& config, auto level){ reconfigureCB(config, level); };
   dyn_server_->setCallback(f);
 
   getParam("angle_min", config_.angle_min);

diff --git a/src/speckle_filter.cpp b/src/speckle_filter.cpp
@@ -60,7 +60,7 @@ bool LaserScanSpeckleFilter::configure()
   ros::NodeHandle private_nh("~" + getName());
   dyn_server_.reset(new dynamic_reconfigure::Server<laser_filters::SpeckleFilterConfig>(own_mutex_, private_nh));
   dynamic_reconfigure::Server<laser_filters::SpeckleFilterConfig>::CallbackType f;
-  f = boost::bind(&laser_filters::LaserScanSpeckleFilter::reconfigureCB, this, _1, _2);
+  f = [this](auto& config, auto level){ reconfigureCB(config, level); };
   dyn_server_->setCallback(f);
 
   getParam("filter_type", config_.filter_type);

diff --git a/test/test_scan_filter_chain.cpp b/test/test_scan_filter_chain.cpp
@@ -31,7 +31,7 @@
 #include <filters/filter_chain.hpp>
 #include <ros/ros.h>
 #include "sensor_msgs/LaserScan.h"
-#include <pluginlib/class_loader.h>
+#include <pluginlib/class_loader.hpp>
 
 
 sensor_msgs::LaserScan gen_msg(){