Changes to build in Ubuntu 22.04/24.04

checkerboard_detector/src/checkerboard_detector.cpp

@@ -136,7 +136,7 @@ class CheckerboardDetector
 
         srv = boost::make_shared <dynamic_reconfigure::Server<Config> > (_node);
         typename dynamic_reconfigure::Server<Config>::CallbackType f =
-            boost::bind (&CheckerboardDetector::configCallback, this, _1, _2);
+            boost::bind (&CheckerboardDetector::configCallback, this, boost::placeholders::_1, boost::placeholders::_2);
         srv->setCallback (f);
 
         while(1) {

checkerboard_detector/src/objectdetection_transform_echo.cpp

@@ -142,7 +142,7 @@ int main(int argc, char** argv)
   message_filters::Synchronizer<SyncPolicy> sync(
     SyncPolicy(1000),
     detection1_sub, detection2_sub);
-  sync.registerCallback(boost::bind(&callback, _1, _2));
+  sync.registerCallback(boost::bind(&callback, boost::placeholders::_1, boost::placeholders::_2));
   ros::spin();
   return 0;
 }

cr_capture/src/cr_node.cpp

@@ -73,7 +73,7 @@ class CRCaptureNode {
   CRCaptureNode () : nh_("~"), it_(nh_), sync_(5)
   {
     // Set up dynamic reconfiguration
-    ReconfigureServer::CallbackType f = boost::bind(&CRCaptureNode::config_cb, this, _1, _2);
+    ReconfigureServer::CallbackType f = boost::bind(&CRCaptureNode::config_cb, this, boost::placeholders::_1, boost::placeholders::_2);
     reconfigure_server_.setCallback(f);
 
     // parameter
@@ -171,7 +171,7 @@ class CRCaptureNode {
       info_sub_.subscribe(nh_, range_ns_ + "/camera_info", 1);
 
       sync_.connectInput(image_conf_sub_, image_intent_sub_, image_depth_sub_, info_sub_);
-      sync_.registerCallback(boost::bind(&CRCaptureNode::cameraallCB, this, _1, _2, _3, _4));
+      sync_.registerCallback(boost::bind(&CRCaptureNode::cameraallCB, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
     } else {
       // not all subscribe
       camera_sub_depth_ = it_.subscribeCamera(range_ns_ + "/image", 1, &CRCaptureNode::camerarangeCB, this);

cr_capture/src/cr_node_sync.cpp

@@ -76,7 +76,7 @@ class CRCaptureSyncNode {
   CRCaptureSyncNode () : nh_("~"), it_(nh_), sync_(30)
   {
     // Set up dynamic reconfiguration
-    ReconfigureServer::CallbackType f = boost::bind(&CRCaptureSyncNode::config_cb, this, _1, _2);
+    ReconfigureServer::CallbackType f = boost::bind(&CRCaptureSyncNode::config_cb, this, boost::placeholders::_1, boost::placeholders::_2);
     reconfigure_server_.setCallback(f);
 
     // parameter
@@ -175,7 +175,7 @@ class CRCaptureSyncNode {
     sync_.connectInput(image_sub_left_, info_sub_left_, image_sub_right_, info_sub_right_,
 		       image_sub_confi_, image_sub_intent_, image_sub_depth_, info_sub_range_);
 
-    sync_.registerCallback(boost::bind(&CRCaptureSyncNode::imageCB, this, _1, _2, _3, _4, _5, _6, _7, _8));
+    sync_.registerCallback(boost::bind(&CRCaptureSyncNode::imageCB, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5, _6, _7, _8));
 
     // pull raw data service
     nh_.param("pull_raw_data", pull_raw_data, false);

imagesift/src/imagesift.cpp

@@ -92,7 +92,7 @@ namespace imagesift
             _subMask.subscribe(*nh_, "mask", 1);
             _sync = boost::make_shared<message_filters::Synchronizer<SyncPolicy> >(100);
             _sync->connectInput(_subImageWithMask, _subMask);
-            _sync->registerCallback(boost::bind(&SiftNode::imageCb, this, _1, _2));
+            _sync->registerCallback(boost::bind(&SiftNode::imageCb, this, boost::placeholders::_1, boost::placeholders::_2));
         }
         _subInfo = nh_->subscribe("camera_info", 1, &SiftNode::infoCb, this);
     }
@@ -248,5 +248,5 @@ namespace imagesift
     }
 }
 
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 PLUGINLIB_EXPORT_CLASS (imagesift::SiftNode, nodelet::Nodelet);

jsk_libfreenect2/src/driver_nodelet.cpp

@@ -37,7 +37,7 @@ namespace jsk_libfreenect2
     glfwInit();
     timer_ = getNodeHandle().createTimer(
       ros::Duration(5.0),
-      boost::bind(&Driver::run, this, _1), true);
+      boost::bind(&Driver::run, this, boost::placeholders::_1), true);
   }
 
   void Driver::run(const ros::TimerEvent&) {
@@ -235,7 +235,7 @@ namespace jsk_libfreenect2
 
 }
 
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 typedef jsk_libfreenect2::Driver Driver;
 PLUGINLIB_EXPORT_CLASS(Driver, nodelet::Nodelet);
 

jsk_pcl_ros/CMakeLists.txt

@@ -26,6 +26,7 @@ endif()
 
 find_package(catkin REQUIRED COMPONENTS
   cv_bridge
+  diagnostic_updater
   dynamic_reconfigure
   eigen_conversions
   # genmsg

jsk_pcl_ros/include/jsk_pcl_ros/depth_image_creator.h

@@ -39,7 +39,7 @@
 #include <pcl_ros/pcl_nodelet.h>
 #include <pcl_ros/transforms.h>
 
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 #include <dynamic_reconfigure/server.h>
 
 #include <pcl/range_image/range_image_planar.h>

jsk_pcl_ros/package.xml

@@ -18,6 +18,7 @@
 
   <!-- <exec_depend>pcl</exec_depend> -->
   <build_depend>cv_bridge</build_depend>
+  <build_depend>diagnostic_updater</build_depend>
   <build_depend>dynamic_reconfigure</build_depend>
   <build_depend>image_geometry</build_depend>
   <build_depend>image_transport</build_depend>

jsk_pcl_ros/src/add_color_from_image_nodelet.cpp

@@ -70,7 +70,7 @@ namespace jsk_pcl_ros
     sync_ = boost::make_shared<message_filters::Synchronizer<SyncPolicy> >(100);
     sync_->connectInput(sub_cloud_, sub_image_, sub_info_);
     sync_->registerCallback(boost::bind(&AddColorFromImage::addColor,
-                                        this, _1, _2, _3));
+                                        this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
   }
 
   void AddColorFromImage::unsubscribe()
@@ -134,5 +134,5 @@ namespace jsk_pcl_ros
   }
 }
 
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 PLUGINLIB_EXPORT_CLASS (jsk_pcl_ros::AddColorFromImage, nodelet::Nodelet);

jsk_pcl_ros/src/add_color_from_image_to_organized_nodelet.cpp

@@ -67,7 +67,7 @@ namespace jsk_pcl_ros
     sub_image_.subscribe(*pnh_, "input/image", 1);
     sync_ = boost::make_shared<message_filters::Synchronizer<SyncPolicy> >(100);
     sync_->connectInput(sub_cloud_, sub_image_);
-    sync_->registerCallback(boost::bind(&AddColorFromImageToOrganized::addColor, this, _1, _2));
+    sync_->registerCallback(boost::bind(&AddColorFromImageToOrganized::addColor, this, boost::placeholders::_1, boost::placeholders::_2));
   }
 
   void AddColorFromImageToOrganized::unsubscribe()
@@ -130,5 +130,5 @@ namespace jsk_pcl_ros
   }
 }
 
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 PLUGINLIB_EXPORT_CLASS(jsk_pcl_ros::AddColorFromImageToOrganized, nodelet::Nodelet);

jsk_pcl_ros/src/attention_clipper_nodelet.cpp

@@ -428,7 +428,7 @@ namespace jsk_pcl_ros
         pcl::PointIndices non_nan_indices;
         for (size_t j = 0; j < indices->indices.size(); j++) {
           pcl::PointXYZ p = cloud->points[indices->indices[j]];
-          if (pcl_isfinite(p.x) && pcl_isfinite(p.y) && pcl_isfinite(p.z)) {
+          if (std::isfinite(p.x) && std::isfinite(p.y) && std::isfinite(p.z)) {
             non_nan_indices.indices.push_back(indices->indices[j]);
           }
         }
@@ -523,5 +523,5 @@ namespace jsk_pcl_ros
   }
 }
 
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 PLUGINLIB_EXPORT_CLASS (jsk_pcl_ros::AttentionClipper, nodelet::Nodelet);

jsk_pcl_ros/src/bilateral_filter_nodelet.cpp

@@ -48,7 +48,7 @@ namespace jsk_pcl_ros
     ConnectionBasedNodelet::onInit();
     srv_ = boost::make_shared <dynamic_reconfigure::Server<Config> > (*pnh_);
     typename dynamic_reconfigure::Server<Config>::CallbackType f =
-      boost::bind (&BilateralFilter::configCallback, this, _1, _2);
+      boost::bind (&BilateralFilter::configCallback, this, boost::placeholders::_1, boost::placeholders::_2);
     srv_->setCallback (f);
 
     pub_ = advertise<sensor_msgs::PointCloud2>(*pnh_, "output", 1);
@@ -95,6 +95,6 @@ namespace jsk_pcl_ros
 
 }
 
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 PLUGINLIB_EXPORT_CLASS (jsk_pcl_ros::BilateralFilter,
                         nodelet::Nodelet);

jsk_pcl_ros/src/border_estimator_nodelet.cpp

@@ -50,7 +50,7 @@ namespace jsk_pcl_ros
     pnh_->param("model_type", model_type_, std::string("planar"));
     srv_ = boost::make_shared <dynamic_reconfigure::Server<Config> > (*pnh_);
     typename dynamic_reconfigure::Server<Config>::CallbackType f =
-      boost::bind (&BorderEstimator::configCallback, this, _1, _2);
+      boost::bind (&BorderEstimator::configCallback, this, boost::placeholders::_1, boost::placeholders::_2);
     srv_->setCallback (f);
 
     pub_border_ = advertise<PCLIndicesMsg>(*pnh_, "output_border_indices", 1);
@@ -82,7 +82,7 @@ namespace jsk_pcl_ros
       sub_camera_info_.subscribe(*pnh_, "input_camera_info", 1);
       sync_ = boost::make_shared<message_filters::Synchronizer<SyncPolicy> >(100);
       sync_->connectInput(sub_point_, sub_camera_info_);
-      sync_->registerCallback(boost::bind(&BorderEstimator::estimate, this, _1, _2));
+      sync_->registerCallback(boost::bind(&BorderEstimator::estimate, this, boost::placeholders::_1, boost::placeholders::_2));
     }
     else if (model_type_ == "laser") {
       sub_ = pnh_->subscribe("input", 1, &BorderEstimator::estimate, this);
@@ -210,6 +210,6 @@ namespace jsk_pcl_ros
   }
 }
 
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 PLUGINLIB_EXPORT_CLASS (jsk_pcl_ros::BorderEstimator,
                         nodelet::Nodelet);

jsk_pcl_ros/src/bounding_box_filter_nodelet.cpp

@@ -47,7 +47,7 @@ namespace jsk_pcl_ros
     srv_ = boost::make_shared <dynamic_reconfigure::Server<Config> > (*pnh_);
     dynamic_reconfigure::Server<Config>::CallbackType f =
       boost::bind (
-        &BoundingBoxFilter::configCallback, this, _1, _2);
+        &BoundingBoxFilter::configCallback, this, boost::placeholders::_1, boost::placeholders::_2);
     srv_->setCallback (f);
 
     ////////////////////////////////////////////////////////
@@ -82,9 +82,9 @@ namespace jsk_pcl_ros
       sub_indices_.subscribe(*pnh_, "input_indices", 1);
       sync_ = boost::make_shared<message_filters::Synchronizer<SyncPolicy> >(100);
       sync_->connectInput(sub_box_, sub_indices_);
-      sync_->registerCallback(boost::bind(&BoundingBoxFilter::filterWithIndices, this, _1, _2));
+      sync_->registerCallback(boost::bind(&BoundingBoxFilter::filterWithIndices, this, boost::placeholders::_1, boost::placeholders::_2));
     } else {
-      sub_box_.registerCallback(boost::bind(&BoundingBoxFilter::filter, this, _1));
+      sub_box_.registerCallback(boost::bind(&BoundingBoxFilter::filter, this, boost::placeholders::_1));
     }
   }
 
@@ -249,5 +249,5 @@ namespace jsk_pcl_ros
 
 }
 
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 PLUGINLIB_EXPORT_CLASS (jsk_pcl_ros::BoundingBoxFilter, nodelet::Nodelet);

jsk_pcl_ros/src/boundingbox_occlusion_rejector_nodelet.cpp

@@ -241,5 +241,5 @@ namespace jsk_pcl_ros
 
 }
 
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 PLUGINLIB_EXPORT_CLASS (jsk_pcl_ros::BoundingBoxOcclusionRejector, nodelet::Nodelet);

jsk_pcl_ros/src/capture_stereo_synchronizer_nodelet.cpp

@@ -117,11 +117,11 @@ namespace jsk_pcl_ros
                         sub_disparity_);
     sync_->registerCallback(boost::bind(&CaptureStereoSynchronizer::republish,
                                         this,
-                                        _1,
-                                        _2,
-                                        _3,
-                                        _4,
-                                        _5,
+                                        boost::placeholders::_1,
+                                        boost::placeholders::_2,
+                                        boost::placeholders::_3,
+                                        boost::placeholders::_4,
+                                        boost::placeholders::_5,
                                         _6,
                                         _7));
   }
@@ -166,5 +166,5 @@ namespace jsk_pcl_ros
   }
 }
 
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 PLUGINLIB_EXPORT_CLASS (jsk_pcl_ros::CaptureStereoSynchronizer, nodelet::Nodelet);

jsk_pcl_ros/src/cluster_point_indices_decomposer_nodelet.cpp

@@ -35,7 +35,7 @@
 
 #include "jsk_pcl_ros/cluster_point_indices_decomposer.h"
 #include <cv_bridge/cv_bridge.h>
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 #include <pcl/filters/extract_indices.h>
 #include <pcl/common/centroid.h>
 #include <pcl/common/common.h>
@@ -120,7 +120,7 @@ namespace jsk_pcl_ros
     // dynamic_reconfigure
     srv_ = boost::make_shared <dynamic_reconfigure::Server<Config> >(*pnh_);
     dynamic_reconfigure::Server<Config>::CallbackType f =
-      boost::bind(&ClusterPointIndicesDecomposer::configCallback, this, _1, _2);
+      boost::bind(&ClusterPointIndicesDecomposer::configCallback, this, boost::placeholders::_1, boost::placeholders::_2);
     srv_->setCallback(f);
 
     negative_indices_pub_ = advertise<pcl_msgs::PointIndices>(*pnh_, "negative_indices", 1);
@@ -153,24 +153,24 @@ namespace jsk_pcl_ros
       if (use_async_) {
         async_align_ = boost::make_shared<message_filters::Synchronizer<ApproximateSyncAlignPolicy> >(queue_size_);
         async_align_->connectInput(sub_input_, sub_target_, sub_polygons_, sub_coefficients_);
-        async_align_->registerCallback(boost::bind(&ClusterPointIndicesDecomposer::extract, this, _1, _2, _3, _4));
+        async_align_->registerCallback(boost::bind(&ClusterPointIndicesDecomposer::extract, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
       }
       else {
         sync_align_ = boost::make_shared<message_filters::Synchronizer<SyncAlignPolicy> >(queue_size_);
         sync_align_->connectInput(sub_input_, sub_target_, sub_polygons_, sub_coefficients_);
-        sync_align_->registerCallback(boost::bind(&ClusterPointIndicesDecomposer::extract, this, _1, _2, _3, _4));
+        sync_align_->registerCallback(boost::bind(&ClusterPointIndicesDecomposer::extract, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
       }
     }
     else {
       if (use_async_) {
         async_ = boost::make_shared<message_filters::Synchronizer<ApproximateSyncPolicy> >(queue_size_);
         async_->connectInput(sub_input_, sub_target_);
-        async_->registerCallback(boost::bind(&ClusterPointIndicesDecomposer::extract, this, _1, _2));
+        async_->registerCallback(boost::bind(&ClusterPointIndicesDecomposer::extract, this, boost::placeholders::_1, boost::placeholders::_2));
       }
       else {
         sync_ = boost::make_shared<message_filters::Synchronizer<SyncPolicy> >(queue_size_);
         sync_->connectInput(sub_input_, sub_target_);
-        sync_->registerCallback(boost::bind(&ClusterPointIndicesDecomposer::extract, this, _1, _2));
+        sync_->registerCallback(boost::bind(&ClusterPointIndicesDecomposer::extract, this, boost::placeholders::_1, boost::placeholders::_2));
       }
     }
   }
@@ -575,7 +575,7 @@ namespace jsk_pcl_ros
     double xwidth = maxpt[0] - minpt[0];
     double ywidth = maxpt[1] - minpt[1];
     double zwidth = maxpt[2] - minpt[2];
-    if (!pcl_isfinite(xwidth) || !pcl_isfinite(ywidth) || !pcl_isfinite(zwidth))
+    if (!std::isfinite(xwidth) || !std::isfinite(ywidth) || !std::isfinite(zwidth))
     {
       // all points in cloud are nan or its size is 0
       xwidth = ywidth = zwidth = 0;

jsk_pcl_ros/src/collision_detector_nodelet.cpp

@@ -183,5 +183,5 @@ namespace jsk_pcl_ros
   }
 }
 
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 PLUGINLIB_EXPORT_CLASS (jsk_pcl_ros::CollisionDetector, nodelet::Nodelet);

jsk_pcl_ros/src/color_based_region_growing_segmentation_nodelet.cpp

@@ -49,7 +49,7 @@ namespace jsk_pcl_ros
     ConnectionBasedNodelet::onInit();
     srv_ = boost::make_shared <dynamic_reconfigure::Server<Config> > (*pnh_);
     dynamic_reconfigure::Server<Config>::CallbackType f=
-      boost::bind (&ColorBasedRegionGrowingSegmentation::configCallback, this, _1, _2);
+      boost::bind (&ColorBasedRegionGrowingSegmentation::configCallback, this, boost::placeholders::_1, boost::placeholders::_2);
     srv_->setCallback (f);
     pub_ = advertise<jsk_recognition_msgs::ClusterPointIndices>(*pnh_, "output", 1);
     onInitPostProcess();
@@ -118,5 +118,5 @@ namespace jsk_pcl_ros
   }
 }
 
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 PLUGINLIB_EXPORT_CLASS (jsk_pcl_ros::ColorBasedRegionGrowingSegmentation, nodelet::Nodelet);

jsk_pcl_ros/src/color_filter_nodelet.cpp

@@ -34,7 +34,7 @@
 
 #include "jsk_pcl_ros/color_filter.h"
 
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 
 namespace jsk_pcl_ros
 {
@@ -342,7 +342,7 @@ namespace jsk_pcl_ros
 
     srv_ = boost::make_shared <dynamic_reconfigure::Server<Config> > (*pnh_);
     typename dynamic_reconfigure::Server<Config>::CallbackType f =
-      boost::bind (&ColorFilter::configCallback, this, _1, _2);
+      boost::bind (&ColorFilter::configCallback, this, boost::placeholders::_1, boost::placeholders::_2);
     srv_->setCallback (f);
 
     onInitPostProcess();
@@ -356,7 +356,7 @@ namespace jsk_pcl_ros
       sync_ = boost::make_shared<message_filters::Synchronizer<SyncPolicy> >(10);
       sub_indices_.subscribe(*pnh_, "indices", 1);
       sync_->connectInput(sub_input_, sub_indices_);
-      sync_->registerCallback(boost::bind(&ColorFilter::filter, this, _1, _2));
+      sync_->registerCallback(boost::bind(&ColorFilter::filter, this, boost::placeholders::_1, boost::placeholders::_2));
       //sub_input_ = pnh_->subscribe("input", 1, &RGBColorFilter::filter, this);
     }
     else {

jsk_pcl_ros/src/color_histogram_classifier_nodelet.cpp

@@ -52,7 +52,7 @@ namespace jsk_pcl_ros
 
     srv_ = boost::make_shared<dynamic_reconfigure::Server<Config> >(*pnh_);
     dynamic_reconfigure::Server<Config>::CallbackType f =
-      boost::bind(&ColorHistogramClassifier::configCallback, this, _1, _2);
+      boost::bind(&ColorHistogramClassifier::configCallback, this, boost::placeholders::_1, boost::placeholders::_2);
     srv_->setCallback(f);
     pub_class_ = advertise<jsk_recognition_msgs::ClassificationResult>(*pnh_, "output", 1);
     onInitPostProcess();
@@ -208,5 +208,5 @@ namespace jsk_pcl_ros
   }
 }
 
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 PLUGINLIB_EXPORT_CLASS(jsk_pcl_ros::ColorHistogramClassifier, nodelet::Nodelet);