drop deprecated use of boost _1, _2

The symbols have always been used through implicit includes from ros_comm, but ROS-O considers changing these includes right now because of excessive deprecation warnings building all of ROS. ros-o/ros_comm#3
shadow-robot · Aug 6, 2024 · 7d6c12d · 7d6c12d
1 parent af2f341
commit 7d6c12d
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Showing 4 changed files with 6 additions and 6 deletions.
diff --git a/sr_hand/include/sr_hand/sr_subscriber.h b/sr_hand/include/sr_hand/sr_subscriber.h
@@ -101,7 +101,7 @@ class SRSubscriber
    * @param msg the target in radians
    * @param joint_name name of the joint we're sending the command to
    */
-  void cmd_callback(const std_msgs::Float64ConstPtr &msg, std::string &joint_name);
+  void cmd_callback(const std_msgs::Float64ConstPtr &msg, const std::string &joint_name);
 
   /// The vector of subscribers to the different joint topics.
   std::vector<Subscriber> controllers_sub;

diff --git a/sr_hand/src/sr_subscriber.cpp b/sr_hand/src/sr_subscriber.cpp
@@ -81,9 +81,10 @@ namespace shadowrobot
     for (SRArticulatedRobot::JointsMap::iterator joint = sr_articulated_robot->joints_map.begin();
          joint != sr_articulated_robot->joints_map.end(); ++joint)
     {
+      std::string joint_name{ joint->first };
       controllers_sub.push_back(node.subscribe<std_msgs::Float64>(
               "sh_" + boost::to_lower_copy(joint->first + "_position_controller/command"), 2,
-              boost::bind(&SRSubscriber::cmd_callback, this, _1, joint->first)));
+              [this,joint_name](auto msg) { cmd_callback(msg, joint_name); }));
     }
   }
 
@@ -110,7 +111,7 @@ namespace shadowrobot
     }
   }
 
-  void SRSubscriber::cmd_callback(const std_msgs::Float64ConstPtr &msg, std::string &joint_name)
+  void SRSubscriber::cmd_callback(const std_msgs::Float64ConstPtr &msg, const std::string &joint_name)
   {
     // converting to degrees as the old can interface was expecting degrees
     sr_articulated_robot->sendupdate(joint_name, sr_math_utils::to_degrees(msg->data));

diff --git a/sr_mechanism_controllers/src/joint_spline_trajectory_action_controller.cpp b/sr_mechanism_controllers/src/joint_spline_trajectory_action_controller.cpp
@@ -140,8 +140,7 @@ namespace shadowrobot
           nh_tilde("~"), use_sendupdate(false)
   {
     action_server = boost::shared_ptr<JTAS>(new JTAS("/r_arm_controller/joint_trajectory_action",
-                                                     boost::bind(&JointTrajectoryActionController::execute_trajectory,
-                                                                 this, _1),
+                                                     [this](auto msg){ execute_trajectory(msg); },
                                                      false));
     std::vector<std::string> joint_labels;
 

diff --git a/sr_mechanism_controllers/src/joint_trajectory_action_controller.cpp b/sr_mechanism_controllers/src/joint_trajectory_action_controller.cpp
@@ -38,7 +38,7 @@ namespace shadowrobot
   {
     action_server = boost::shared_ptr<JTAS>(
             new JTAS("/r_arm_controller/joint_trajectory_action",
-                     boost::bind(&JointTrajectoryActionController::execute_trajectory, this, _1),
+                     [this](auto msg){ execute_trajectory(msg); },
                      false));
 
     // Create a map of joint names to their command publishers