Merge pull request #1773 from k-okada/ros_o

add test to compile on 22.04, see #1770

.github/workflows/config.yml

@@ -20,7 +20,7 @@ jobs:
             ROS_PARALLEL_TEST_JOBS: "-j8"
             # latest catkin_virtualenv with pip==21.0.1 is incompatible with python 2.x
             # https://github.com/jsk-ros-pkg/jsk_3rdparty/pull/237
-            BEFORE_SCRIPT : "sudo pip install virtualenv==15.1.0"
+            BEFORE_SCRIPT : "sudo pip install virtualenv==15.1.0 setuptools==44.1.1"
           - ROS_DISTRO: kinetic
             CONTAINER: ubuntu:16.04
             ROS_PARALLEL_TEST_JOBS: "-j8"
@@ -84,3 +84,77 @@ jobs:
           TEST_PKGS : ${{ matrix.TEST_PKGS }}
           BEFORE_SCRIPT : ${{ matrix.BEFORE_SCRIPT }}
           EXTRA_DEB : ${{ matrix.EXTRA_DEB }}
+
+
+  ubuntu:
+    runs-on: ubuntu-latest
+
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - DISTRO: ubuntu:22.04
+
+    container: ${{ matrix.DISTRO }}
+
+    steps:
+      - name: Chcekout Source
+        uses: actions/[email protected]
+
+      - name: Install Buildtools
+        run: |
+          set -x
+          echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
+          apt update -q
+          apt install -y -q -qq catkin git curl build-essential libboost-all-dev python3-pip python3-venv python3-rosdep2
+          apt install -y -q -qq ros-desktop-dev rosbash
+          apt install -y -q -qq libself-test-dev libpcl-ros-dev
+          apt install -y -q -qq ros-core-dev ros-robot-dev
+          pip install vcstool
+          rosdep update
+
+      - name: Setup rosinstall_generator
+        run: |
+          set -x
+          # install rosinstall_geneartor with --depend-type buildtool build, see  https://github.com/ros-infrastructure/rosinstall_generator/pull/81
+          git clone https://github.com/k-okada/rosinstall_generator -b add_depend_type
+          cd rosinstall_generator
+          python3 ./setup.py install
+
+      - name: Setup Dependencies Workspace
+        run: |
+          set -x
+          # install dependencies
+          mkdir -p ~/ws_depend/src
+          cd ~/ws_depend/src
+          ROS_PACKAGE_PATH=/usr/share rosinstall_generator --rosdistro noetic --from-path $GITHUB_WORKSPACE --deps --exclude RPP --depend-type buildtool build | tee repos
+          vcs import --shallow < repos
+          # override to use latest development for 22.04
+          rosinstall_generator laser_filters laser_assembler map_server --rosdistro noetic  --upstream-development  | vcs import --force
+          rosinstall_generator catkin_virtualenv --rosdistro noetic | vcs import --force
+          rm -fr jsk_common
+          curl -s -L -O https://patch-diff.githubusercontent.com/raw/locusrobotics/catkin_virtualenv/pull/89.diff
+          patch -p1 < 89.diff
+          rosdep install -qq -r -y --from-path . --ignore-src || echo "OK"
+          cd ..
+          catkin_make_isolated --cmake-args -DCATKIN_ENABLE_TESTING=OFF
+
+      - name: Setup Workspace
+        run: |
+          set -x
+          # hack!
+          apt install -y -q -qq python-is-python3
+          sed -i s/noetic/Debian/ $GITHUB_WORKSPACE/jsk_rosbag_tools/CMakeLists.txt
+          # setup workspace
+          mkdir -p ~/ws_current/src
+          cd ~/ws_current/src
+          ln -sf $GITHUB_WORKSPACE .
+          rosdep install -qq -r -y --from-path . --ignore-src || echo "OK"
+
+      - name: Compile Packages
+        run: |
+          set -x
+          cd ~/ws_current/
+          source ~/ws_depend/devel_isolated/setup.bash
+          catkin_make_isolated --cmake-args -DCATKIN_ENABLE_TESTING=OFF
+        shell: bash

jsk_network_tools/setup.py

@@ -1,6 +1,6 @@
 ## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
 
-from distutils.core import setup
+from setuptools import setup
 from catkin_pkg.python_setup import generate_distutils_setup
 
 # fetch values from package.xml

jsk_ros_patch/image_view2/CMakeLists.txt

@@ -11,12 +11,6 @@ if (CMAKE_VERSION VERSION_LESS 3.4)
   endif(CCACHE_FOUND)
 endif()
 
-if(NOT $ENV{ROS_DISTRO} STRLESS noetic)
-  add_compile_options(-std=c++14)
-elseif(NOT $ENV{ROS_DISTRO} STRLESS kinetic)
-  add_compile_options(-std=c++11)
-endif()
-
 find_package(catkin REQUIRED COMPONENTS roscpp dynamic_reconfigure  cv_bridge std_msgs sensor_msgs geometry_msgs image_transport tf image_geometry message_filters message_generation std_srvs pcl_ros)
 
 generate_dynamic_reconfigure_options(

jsk_ros_patch/image_view2/image_view2.cpp

@@ -116,7 +116,11 @@ namespace image_view2{
 
     srv_ = boost::make_shared <dynamic_reconfigure::Server<Config> >(local_nh);
     dynamic_reconfigure::Server<Config>::CallbackType f =
+#if __cplusplus < 201100L
       boost::bind(&ImageView2::config_callback, this, _1, _2);
+#else
+      [this](auto& config, auto level){ config_callback(config, level); };
+#endif
     srv_->setCallback(f);
   }
 

jsk_ros_patch/image_view2/points_rectangle_extractor.cpp

@@ -13,6 +13,27 @@
 #include <geometry_msgs/PointStamped.h>
 #include <geometry_msgs/PolygonStamped.h>
 
+#if BOOST_VERSION < 106000  // since 1.60.0, boost uses placeholders namesapce for _1,_2...
+#ifndef BOOST_PLAEHOLDERS
+#define BOOST_PLAEHOLDERS
+namespace boost
+{
+  namespace placeholders
+  {
+    extern boost::arg<1> _1;
+    extern boost::arg<2> _2;
+    extern boost::arg<3> _3;
+    extern boost::arg<4> _4;
+    extern boost::arg<5> _5;
+    extern boost::arg<6> _6;
+    extern boost::arg<7> _7;
+    extern boost::arg<8> _8;
+    extern boost::arg<9> _9;
+  }  // namespace placeholders
+}  // namespace boost
+#endif  // BOOST_PLAEHOLDERS
+#endif  // BOOST_VERSION < 106000
+
 class PointsRectExtractor
 {
   typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::PointCloud2,
@@ -43,11 +64,11 @@ class PointsRectExtractor
 
     sync_a_polygon_ = boost::make_shared < message_filters::Synchronizer< PolygonApproxSyncPolicy > > (queue_size);
     sync_a_polygon_->connectInput (points_sub_, rect_sub_);
-    sync_a_polygon_->registerCallback (boost::bind (&PointsRectExtractor::callback_polygon, this, _1, _2));
+    sync_a_polygon_->registerCallback (boost::bind (&PointsRectExtractor::callback_polygon, this, boost::placeholders::_1, boost::placeholders::_2));
 
     sync_a_point_ = boost::make_shared < message_filters::Synchronizer< PointApproxSyncPolicy > > (queue_size);
     sync_a_point_->connectInput (points_sub_, point_sub_);
-    sync_a_point_->registerCallback (boost::bind (&PointsRectExtractor::callback_point, this, _1, _2));
+    sync_a_point_->registerCallback (boost::bind (&PointsRectExtractor::callback_point, this, boost::placeholders::_1, boost::placeholders::_2));
 
     pub_ = pnode_.advertise< sensor_msgs::PointCloud2 > ("output", 1);
   }

jsk_tilt_laser/src/spin_laser_snapshotter.cpp

@@ -103,8 +103,12 @@ class SpinLaserSnapshotter
       private_ns_.param("spindle_frame", spindle_frame_, std::string("multisense/spindle"));
       private_ns_.param("motor_frame", motor_frame_, std::string("multisense/motor"));
       timer_ = private_ns_.createTimer(
-        ros::Duration(1.0 / rate_), boost::bind(
-          &SpinLaserSnapshotter::timerCallback, this, _1));
+        ros::Duration(1.0 / rate_),
+#if __cplusplus < 201100L
+	boost::bind(&SpinLaserSnapshotter::timerCallback, this, _1));
+#else
+        [this](auto& event){ timerCallback(event); });
+#endif
     }
   }
 

jsk_topic_tools/CMakeLists.txt

@@ -2,8 +2,6 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(jsk_topic_tools)
 
-add_compile_options(-std=c++11)
-
 # Use ccache if installed to make it fast to generate object files
 if (CMAKE_VERSION VERSION_LESS 3.4)
   find_program(CCACHE_FOUND ccache)

jsk_topic_tools/include/jsk_topic_tools/connection_based_nodelet.h

@@ -86,7 +86,7 @@ namespace jsk_topic_tools
     virtual void onInitPostProcess();
 
     /** @brief
-     * callback function which is called when new subscriber come
+     * callback function which is called when new subscriber connects or disconnects
      */
     virtual void connectionCallback(const ros::SingleSubscriberPublisher& pub);
 
@@ -192,9 +192,17 @@ namespace jsk_topic_tools
     {
       boost::mutex::scoped_lock lock(connection_mutex_);
       ros::SubscriberStatusCallback connect_cb
+#if __cplusplus < 201100L
         = boost::bind(&ConnectionBasedNodelet::connectionCallback, this, _1);
+#else
+        = [this](auto& pub){ connectionCallback(pub); };
+#endif
       ros::SubscriberStatusCallback disconnect_cb
+#if __cplusplus < 201100L
         = boost::bind(&ConnectionBasedNodelet::connectionCallback, this, _1);
+#else
+        = [this](auto& pub){ connectionCallback(pub); };
+#endif
       ros::Publisher ret = nh.advertise<T>(topic, queue_size,
                                            connect_cb,
                                            disconnect_cb,
@@ -254,11 +262,19 @@ namespace jsk_topic_tools
     {
       boost::mutex::scoped_lock lock(connection_mutex_);
       image_transport::SubscriberStatusCallback connect_cb
+#if __cplusplus < 201100L
         = boost::bind(&ConnectionBasedNodelet::imageConnectionCallback,
                       this, _1);
+#else
+        = [this](auto& pub){ imageConnectionCallback(pub); };
+#endif
       image_transport::SubscriberStatusCallback disconnect_cb
+#if __cplusplus < 201100L
         = boost::bind(&ConnectionBasedNodelet::imageConnectionCallback,
                       this, _1);
+#else
+        = [this](auto& pub){ imageConnectionCallback(pub); };
+#endif
       image_transport::Publisher pub = image_transport::ImageTransport(nh).advertise(
         topic, 1,
         connect_cb,
@@ -318,17 +334,33 @@ namespace jsk_topic_tools
     {
       boost::mutex::scoped_lock lock(connection_mutex_);
       image_transport::SubscriberStatusCallback connect_cb
+#if __cplusplus < 201100L
         = boost::bind(&ConnectionBasedNodelet::cameraConnectionCallback,
                       this, _1);
+#else
+        = [this](auto& pub){ cameraConnectionCallback(pub); };
+#endif
       image_transport::SubscriberStatusCallback disconnect_cb
+#if __cplusplus < 201100L
         = boost::bind(&ConnectionBasedNodelet::cameraConnectionCallback,
                       this, _1);
+#else
+        = [this](auto& pub){ cameraConnectionCallback(pub); };
+#endif
       ros::SubscriberStatusCallback info_connect_cb
+#if __cplusplus < 201100L
         = boost::bind(&ConnectionBasedNodelet::cameraInfoConnectionCallback,
                       this, _1);
+#else
+        = [this](auto& pub){ cameraInfoConnectionCallback(pub); };
+#endif
       ros::SubscriberStatusCallback info_disconnect_cb
+#if __cplusplus < 201100L
         = boost::bind(&ConnectionBasedNodelet::cameraInfoConnectionCallback,
                       this, _1);
+#else
+        = [this](auto& pub){ cameraInfoConnectionCallback(pub); };
+#endif
       image_transport::CameraPublisher
         pub = image_transport::ImageTransport(nh).advertiseCamera(
           topic, 1,

jsk_topic_tools/include/jsk_topic_tools/constant_rate_throttle_nodelet.h

@@ -7,7 +7,6 @@
 #include <dynamic_reconfigure/server.h>
 #include <jsk_topic_tools/ConstantRateThrottleConfig.h>
 #include <topic_tools/shape_shifter.h>
-#include <mutex>
 
 namespace jsk_topic_tools
 {

jsk_topic_tools/src/block_nodelet.cpp

@@ -31,7 +31,7 @@
  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  *  POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 #include "jsk_topic_tools/block_nodelet.h"
 
 #include <ros/advertise_options.h>

jsk_topic_tools/src/constant_rate_throttle_nodelet.cpp

@@ -11,7 +11,12 @@ namespace jsk_topic_tools
     msg_cached_ = boost::shared_ptr<topic_tools::ShapeShifter>(new topic_tools::ShapeShifter());
 
     srv_ = boost::make_shared<dynamic_reconfigure::Server<Config> >(pnh_);
-    dynamic_reconfigure::Server<Config>::CallbackType f = boost::bind(&ConstantRateThrottle::configCallback, this, _1, _2);
+    dynamic_reconfigure::Server<Config>::CallbackType f
+#if __cplusplus < 201100L
+        = boost::bind(&ConstantRateThrottle::configCallback, this, _1, _2);
+#else
+        = [this](auto& config, auto level) {configCallback(config, level); };
+#endif
     srv_->setCallback(f);
 
     sub_.reset(new ros::Subscriber(
@@ -62,7 +67,12 @@ namespace jsk_topic_tools
     boost::mutex::scoped_lock lock(mutex_);
     if (!advertised_) {
         sub_->shutdown();
-        ros::SubscriberStatusCallback connect_cb = boost::bind(&ConstantRateThrottle::connectionCallback, this, _1);
+        ros::SubscriberStatusCallback connect_cb
+#if __cplusplus < 201100L
+        = boost::bind(&ConstantRateThrottle::connectionCallback, this, _1);
+#else
+        = [this](auto& pub){ connectionCallback(pub); };
+#endif
         ros::AdvertiseOptions opts("output", 1,
                                    msg->getMD5Sum(),
                                    msg->getDataType(),

jsk_topic_tools/src/deprecated_relay_nodelet.cpp

@@ -33,7 +33,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
 
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 #include "jsk_topic_tools/deprecated_relay.h"
 #include "jsk_topic_tools/log_utils.h"
 namespace jsk_topic_tools

jsk_topic_tools/src/diagnostic_nodelet.cpp

@@ -56,10 +56,15 @@ namespace jsk_topic_tools
     diagnostic_updater_->setHardwareID(getName());
     diagnostic_updater_->add(
       getName(),
+#if __cplusplus < 201100L
       boost::bind(
         &DiagnosticNodelet::updateDiagnostic,
         this,
-        _1));
+        _1)
+#else
+      [this](auto& stat){ updateDiagnostic(stat); }
+#endif
+     );
 
     bool use_warn;
     nh_->param("/diagnostic_nodelet/use_warn", use_warn, false);

jsk_topic_tools/src/hz_measure_nodelet.cpp

@@ -34,7 +34,7 @@
 
 #include <limits>
 #include <boost/format.hpp>
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 #include "jsk_topic_tools/hz_measure_nodelet.h"
 
 #include "std_msgs/Float32.h"
@@ -78,9 +78,13 @@ namespace jsk_topic_tools
 
     diagnostic_updater_.reset(new TimeredDiagnosticUpdater(pnh_, ros::Duration(1.0)));
     diagnostic_updater_->setHardwareID(getName());
+#if __cplusplus < 201100L
     diagnostic_updater_->add(getName(),
                              boost::bind(&HzMeasure::updateDiagnostic,
                                          this, _1));
+#else
+    diagnostic_updater_->add(getName(), [this](auto& stat){ updateDiagnostic(stat); });
+#endif
     diagnostic_updater_->start();
 
     hz_pub_ = pnh_.advertise<std_msgs::Float32>("output", 1);

jsk_topic_tools/src/lightweight_throttle_nodelet.cpp

@@ -45,7 +45,11 @@ namespace jsk_topic_tools
 
     srv_ = boost::make_shared<dynamic_reconfigure::Server<Config> >(pnh_);
     dynamic_reconfigure::Server<Config>::CallbackType f =
+#if __cplusplus < 201100L
       boost::bind(&LightweightThrottle::configCallback, this, _1, _2);
+#else
+      [this](auto& config, auto level){ configCallback(config, level); };
+#endif
     srv_->setCallback(f);
 
     // Subscribe input topic at first in order to decide
@@ -95,7 +99,11 @@ namespace jsk_topic_tools
       // This section should be called once
       sub_->shutdown();         // Shutdown before advertising topic
       ros::SubscriberStatusCallback connect_cb
+#if __cplusplus < 201100L
         = boost::bind(&LightweightThrottle::connectionCallback, this, _1);
+#else
+        = [this](auto& pub){ connectionCallback(pub); };
+#endif
       ros::AdvertiseOptions opts("output", 1,
                                  msg->getMD5Sum(),
                                  msg->getDataType(),
@@ -120,6 +128,6 @@ namespace jsk_topic_tools
   }
 }
 
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 typedef jsk_topic_tools::LightweightThrottle LightweightThrottle;
 PLUGINLIB_EXPORT_CLASS(LightweightThrottle, nodelet::Nodelet)