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[ROS-O] drop deprecated use of boost _1, _2 #239

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[ROS-O] drop deprecated use of boost _1, _2 #239

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4 changes: 2 additions & 2 deletions sr_hand/include/sr_hand/sr_subscriber.h
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
/*
* Copyright 2010 Shadow Robot Company Ltd.
* Copyright 2010, 2024 Shadow Robot Company Ltd.
*
* This program is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the Free
Expand Down Expand Up @@ -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;
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7 changes: 4 additions & 3 deletions sr_hand/src/sr_subscriber.cpp
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
/*
* Copyright 2010 Shadow Robot Company Ltd.
* Copyright 2010, 2024 Shadow Robot Company Ltd.
*
* This program is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the Free
Expand Down Expand Up @@ -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); }));
}
}

Expand All @@ -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));
Expand Down
5 changes: 2 additions & 3 deletions sr_mechanism_controllers/src/joint_spline_trajectory_action_controller.cpp
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
/*
* Copyright 2011 Shadow Robot Company Ltd.
* Copyright 2011, 2024 Shadow Robot Company Ltd.
*
* This program is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the Free
Expand Down Expand Up @@ -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;

Expand Down
4 changes: 2 additions & 2 deletions sr_mechanism_controllers/src/joint_trajectory_action_controller.cpp
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
/*
* Copyright 2011 Shadow Robot Company Ltd.
* Copyright 2011, 2024 Shadow Robot Company Ltd.
*
* This program is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the Free
Expand Down Expand Up @@ -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
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2 changes: 1 addition & 1 deletion sr_tactile_sensors/package.xml
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
<!--
Copyright 2022 Shadow Robot Company Ltd.
Copyright 2022, 2024 Shadow Robot Company Ltd.
This program is free software: you can redistribute it and/or modify it
under the terms of the GNU General Public License as published by the Free
Software Foundation version 2 of the License.
Expand Down