explore: get rid of boost

mgou123 · Oct 30, 2017 · fe0e0f3 · fe0e0f3
1 parent 5e65e29
commit fe0e0f3
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Showing 4 changed files with 20 additions and 13 deletions.
diff --git a/explore/include/explore/costmap_tools.h b/explore/include/explore/costmap_tools.h
@@ -5,7 +5,6 @@
 #include <geometry_msgs/PointStamped.h>
 #include <geometry_msgs/PolygonStamped.h>
 #include <ros/ros.h>
-#include <boost/foreach.hpp>
 
 namespace frontier_exploration
 {
@@ -120,7 +119,7 @@ bool nearestCell(unsigned int& result, unsigned int start, unsigned char val,
     }
 
     // iterate over all adjacent unvisited cells
-    BOOST_FOREACH (unsigned nbr, nhood8(idx, costmap)) {
+    for (unsigned nbr : nhood8(idx, costmap)) {
       if (!visited_flag[nbr]) {
         bfs.push(nbr);
         visited_flag[nbr] = true;

diff --git a/explore/src/costmap_client.cpp b/explore/src/costmap_client.cpp
@@ -64,21 +64,24 @@ Costmap2DClient::Costmap2DClient(ros::NodeHandle& param_nh,
   param_nh.param("transform_tolerance", transform_tolerance_, 0.3);
 
   /* initialize costmap */
-  boost::function<void(const nav_msgs::OccupancyGrid::ConstPtr&)> costmap_cb =
-      std::bind(&Costmap2DClient::updateFullMap, this, std::placeholders::_1);
-  costmap_sub_ = subscription_nh.subscribe(costmap_topic, 1000, costmap_cb);
+  costmap_sub_ = subscription_nh.subscribe<nav_msgs::OccupancyGrid>(
+      costmap_topic, 1000,
+      [this](const nav_msgs::OccupancyGrid::ConstPtr& msg) {
+        updateFullMap(msg);
+      });
   ROS_INFO("Waiting for costmap to become available, topic: %s",
            costmap_topic.c_str());
   auto costmap_msg = ros::topic::waitForMessage<nav_msgs::OccupancyGrid>(
       costmap_topic, subscription_nh);
   updateFullMap(costmap_msg);
 
   /* subscribe to map updates */
-  boost::function<void(const map_msgs::OccupancyGridUpdate::ConstPtr&)>
-      costmap_updates_cb = std::bind(&Costmap2DClient::updatePartialMap, this,
-                                     std::placeholders::_1);
-  costmap_updates_sub_ = subscription_nh.subscribe(costmap_updates_topic, 1000,
-                                                   costmap_updates_cb);
+  costmap_updates_sub_ =
+      subscription_nh.subscribe<map_msgs::OccupancyGridUpdate>(
+          costmap_updates_topic, 1000,
+          [this](const map_msgs::OccupancyGridUpdate::ConstPtr& msg) {
+            updatePartialMap(msg);
+          });
 
   /* resolve tf prefix for robot_base_frame */
   std::string tf_prefix = tf::getPrefixParam(param_nh);

diff --git a/explore/src/explore.cpp b/explore/src/explore.cpp
@@ -238,7 +238,11 @@ void Explore::makePlan()
   goal.target_pose.header.frame_id = costmap_client_.getGlobalFrameID();
   goal.target_pose.header.stamp = ros::Time::now();
   move_base_client_.sendGoal(
-      goal, boost::bind(&Explore::reachedGoal, this, _1, _2, target_position));
+      goal, [this, target_position](
+                const actionlib::SimpleClientGoalState& status,
+                const move_base_msgs::MoveBaseResultConstPtr& result) {
+        reachedGoal(status, result, target_position);
+      });
 }
 
 bool Explore::goalOnBlacklist(const geometry_msgs::Point& goal)

diff --git a/explore/src/frontier_search.cpp b/explore/src/frontier_search.cpp
@@ -1,5 +1,7 @@
 #include <explore/frontier_search.h>
 
+#include <mutex>
+
 #include <costmap_2d/cost_values.h>
 #include <costmap_2d/costmap_2d.h>
 #include <geometry_msgs/Point.h>
@@ -34,8 +36,7 @@ std::vector<Frontier> FrontierSearch::searchFrom(geometry_msgs::Point position)
   }
 
   // make sure map is consistent and locked for duration of search
-  boost::unique_lock<costmap_2d::Costmap2D::mutex_t> lock(
-      *(costmap_->getMutex()));
+  std::lock_guard<costmap_2d::Costmap2D::mutex_t> lock(*(costmap_->getMutex()));
 
   map_ = costmap_->getCharMap();
   size_x_ = costmap_->getSizeInCellsX();