most changes from ros/ros_comm#1301

CMakeLists.txt

@@ -1,33 +1,37 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(message_filters)
 
 if(NOT WIN32)
   set_directory_properties(PROPERTIES COMPILE_OPTIONS "-Wall;-Wextra")
 endif()
 
-find_package(catkin REQUIRED COMPONENTS roscpp rosconsole)
-catkin_package(
-  INCLUDE_DIRS include
-  LIBRARIES message_filters
-  CATKIN_DEPENDS roscpp rosconsole
-)
-catkin_python_setup()
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
 
-find_package(Boost REQUIRED COMPONENTS signals thread)
+set(Boost_USE_STATIC_LIBS ON)
+find_package(Boost REQUIRED)
 
-include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
-link_directories(${catkin_LIBRARY_DIRS})
+include_directories(include 
+  ${rclcpp_INCLUDE_DIRS} 
+  ${Boost_INCLUDE_DIRS}
+)
 
 add_library(${PROJECT_NAME} src/connection.cpp)
-target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} 
+  ${rclcpp_LIBRARIES}
+)
+
+ament_export_include_directories(include)
+ament_export_libraries(${PROJECT_NAME})
+ament_package()
 
 install(TARGETS ${PROJECT_NAME}
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
 
 install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  DESTINATION include/${PROJECT_NAME}
   FILES_MATCHING PATTERN "*.h")
 
 if(CATKIN_ENABLE_TESTING)

include/message_filters/connection.h

@@ -48,8 +48,8 @@ namespace message_filters
 class MESSAGE_FILTERS_DECL Connection
 {
 public:
-  typedef boost::function<void(void)> VoidDisconnectFunction;
-  typedef boost::function<void(const Connection&)> WithConnectionDisconnectFunction;
+  typedef std::function<void(void)> VoidDisconnectFunction;
+  typedef std::function<void(const Connection&)> WithConnectionDisconnectFunction;
   Connection() {}
   Connection(const VoidDisconnectFunction& func);
   Connection(const WithConnectionDisconnectFunction& func, boost::signals2::connection conn);

include/message_filters/macros.h

@@ -28,8 +28,6 @@
 #ifndef MESSAGE_FILTERS_MACROS_H_
 #define MESSAGE_FILTERS_MACROS_H_
 
-#include <ros/macros.h> // for the DECL's
-
 // Import/export for windows dll's and visibility for gcc shared libraries.
 
 #ifdef ROS_BUILD_SHARED_LIBS // ros is being built around shared libraries

include/message_filters/signal1.h

@@ -38,8 +38,8 @@
 #include <boost/noncopyable.hpp>
 
 #include "connection.h"
+
 #include <ros/message_event.h>
-#include <ros/parameter_adapter.h>
 
 #include <boost/bind.hpp>
 #include <boost/thread/mutex.hpp>
@@ -54,26 +54,24 @@ class CallbackHelper1
 
   virtual void call(const ros::MessageEvent<M const>& event, bool nonconst_need_copy) = 0;
 
-  typedef boost::shared_ptr<CallbackHelper1<M> > Ptr;
+  typedef std::shared_ptr<CallbackHelper1<M> > Ptr;
 };
 
 template<typename P, typename M>
 class CallbackHelper1T : public CallbackHelper1<M>
 {
 public:
-  typedef ros::ParameterAdapter<P> Adapter;
-  typedef boost::function<void(typename Adapter::Parameter)> Callback;
-  typedef typename Adapter::Event Event;
+  typedef std::function<void(const std::shared_ptr<M const>& msg)> Callback;
 
   CallbackHelper1T(const Callback& cb)
-  : callback_(cb)
+    : callback_(cb)
   {
   }
 
   virtual void call(const ros::MessageEvent<M const>& event, bool nonconst_force_copy)
   {
-    Event my_event(event, nonconst_force_copy || event.nonConstWillCopy());
-    callback_(Adapter::getParameter(my_event));
+    // TODO: validate
+    callback_(event.getMessage());
   }
 
 private:
@@ -83,12 +81,12 @@ class CallbackHelper1T : public CallbackHelper1<M>
 template<class M>
 class Signal1
 {
-  typedef boost::shared_ptr<CallbackHelper1<M> > CallbackHelper1Ptr;
+  typedef std::shared_ptr<CallbackHelper1<M> > CallbackHelper1Ptr;
   typedef std::vector<CallbackHelper1Ptr> V_CallbackHelper1;
 
 public:
   template<typename P>
-  CallbackHelper1Ptr addCallback(const boost::function<void(P)>& callback)
+  CallbackHelper1Ptr addCallback(const std::function<void(P)>& callback)
   {
     CallbackHelper1T<P, M>* helper = new CallbackHelper1T<P, M>(callback);
 

include/message_filters/simple_filter.h

@@ -40,7 +40,6 @@
 #include "connection.h"
 #include "signal1.h"
 #include <ros/message_event.h>
-#include <ros/subscription_callback_helper.h>
 
 #include <boost/bind.hpp>
 
@@ -60,10 +59,10 @@ template<class M>
 class SimpleFilter : public boost::noncopyable
 {
 public:
-  typedef boost::shared_ptr<M const> MConstPtr;
-  typedef boost::function<void(const MConstPtr&)> Callback;
+  typedef std::shared_ptr<M const> MConstPtr;
+  typedef std::function<void(const MConstPtr&)> Callback;
   typedef ros::MessageEvent<M const> EventType;
-  typedef boost::function<void(const EventType&)> EventCallback;
+  typedef std::function<void(const EventType&)> EventCallback;
 
   /**
    * \brief Register a callback to be called when this filter has passed
@@ -73,17 +72,17 @@ class SimpleFilter : public boost::noncopyable
   Connection registerCallback(const C& callback)
   {
     typename CallbackHelper1<M>::Ptr helper = signal_.addCallback(Callback(callback));
-    return Connection(boost::bind(&Signal::removeCallback, &signal_, helper));
+    return Connection(std::bind(&Signal::removeCallback, &signal_, helper));
   }
 
   /**
    * \brief Register a callback to be called when this filter has passed
    * \param callback The callback to call
    */
   template<typename P>
-  Connection registerCallback(const boost::function<void(P)>& callback)
+  Connection registerCallback(const std::function<void(P)>& callback)
   {
-    return Connection(boost::bind(&Signal::removeCallback, &signal_, signal_.addCallback(callback)));
+    return Connection(std::bind(&Signal::removeCallback, &signal_, signal_.addCallback(callback)));
   }
 
   /**
@@ -93,8 +92,8 @@ class SimpleFilter : public boost::noncopyable
   template<typename P>
   Connection registerCallback(void(*callback)(P))
   {
-    typename CallbackHelper1<M>::Ptr helper = signal_.template addCallback<P>(boost::bind(callback, _1));
-    return Connection(boost::bind(&Signal::removeCallback, &signal_, helper));
+    typename CallbackHelper1<M>::Ptr helper = signal_.template addCallback<P>(std::bind(callback, std::placeholders::_1));
+    return Connection(std::bind(&Signal::removeCallback, &signal_, helper));
   }
 
   /**
@@ -104,8 +103,8 @@ class SimpleFilter : public boost::noncopyable
   template<typename T, typename P>
   Connection registerCallback(void(T::*callback)(P), T* t)
   {
-    typename CallbackHelper1<M>::Ptr helper = signal_.template addCallback<P>(boost::bind(callback, t, _1));
-    return Connection(boost::bind(&Signal::removeCallback, &signal_, helper));
+    typename CallbackHelper1<M>::Ptr helper = signal_.template addCallback<P>(std::bind(callback, t, std::placeholders::_1));
+    return Connection(std::bind(&Signal::removeCallback, &signal_, helper));
   }
 
   /**

include/message_filters/subscriber.h

@@ -35,7 +35,10 @@
 #ifndef MESSAGE_FILTERS_SUBSCRIBER_H
 #define MESSAGE_FILTERS_SUBSCRIBER_H
 
-#include <ros/ros.h>
+#include <utility>
+
+#include <rclcpp/node.hpp>
+#include <rclcpp/subscription.hpp>
 
 #include <boost/thread/mutex.hpp>
 
@@ -60,7 +63,7 @@ class SubscriberBase
    * \param transport_hints The transport hints to pass along
    * \param callback_queue The callback queue to pass along
    */
-  virtual void subscribe(ros::NodeHandle& nh, const std::string& topic, uint32_t queue_size, const ros::TransportHints& transport_hints = ros::TransportHints(), ros::CallbackQueueInterface* callback_queue = 0) = 0;
+  virtual void subscribe(rclcpp::Node::SharedPtr& nh, const std::string& topic, uint32_t queue_size) = 0;
   /**
    * \brief Re-subscribe to a topic.  Only works if this subscriber has previously been subscribed to a topic.
    */
@@ -70,7 +73,7 @@ class SubscriberBase
    */
   virtual void unsubscribe() = 0;
 };
-typedef boost::shared_ptr<SubscriberBase> SubscriberBasePtr;
+typedef std::shared_ptr<SubscriberBase> SubscriberBasePtr;
 
 /**
  * \brief ROS subscription filter.
@@ -79,7 +82,7 @@ typedef boost::shared_ptr<SubscriberBase> SubscriberBasePtr;
  * filters which have connected to it.
  *
  * When this object is destroyed it will unsubscribe from the ROS subscription.
- *
+ * 
  * The Subscriber object is templated on the type of message being subscribed to.
  *
  * \section connections CONNECTIONS
@@ -90,12 +93,13 @@ typedef boost::shared_ptr<SubscriberBase> SubscriberBasePtr;
 \verbatim
 void callback(const boost::shared_ptr<M const>&);
 \endverbatim
- */
+  */
 template<class M>
 class Subscriber : public SubscriberBase, public SimpleFilter<M>
 {
 public:
-  typedef boost::shared_ptr<M const> MConstPtr;
+  typedef boost::shared_ptr<M const> BoostMConstPtr;
+  typedef std::shared_ptr<M> MConstPtr;
   typedef ros::MessageEvent<M const> EventType;
 
   /**
@@ -109,9 +113,9 @@ class Subscriber : public SubscriberBase, public SimpleFilter<M>
    * \param transport_hints The transport hints to pass along
    * \param callback_queue The callback queue to pass along
    */
-  Subscriber(ros::NodeHandle& nh, const std::string& topic, uint32_t queue_size, const ros::TransportHints& transport_hints = ros::TransportHints(), ros::CallbackQueueInterface* callback_queue = 0)
+  Subscriber(rclcpp::Node::SharedPtr& nh, const std::string& topic, uint32_t queue_size)
   {
-    subscribe(nh, topic, queue_size, transport_hints, callback_queue);
+    subscribe(nh, topic, queue_size);
   }
 
   /**
@@ -137,16 +141,17 @@ class Subscriber : public SubscriberBase, public SimpleFilter<M>
    * \param transport_hints The transport hints to pass along
    * \param callback_queue The callback queue to pass along
    */
-  void subscribe(ros::NodeHandle& nh, const std::string& topic, uint32_t queue_size, const ros::TransportHints& transport_hints = ros::TransportHints(), ros::CallbackQueueInterface* callback_queue = 0)
+  void subscribe(rclcpp::Node::SharedPtr& nh, const std::string& topic, uint32_t queue_size)
   {
     unsubscribe();
 
     if (!topic.empty())
     {
-      ops_.template initByFullCallbackType<const EventType&>(topic, queue_size, boost::bind(&Subscriber<M>::cb, this, _1));
-      ops_.callback_queue = callback_queue;
-      ops_.transport_hints = transport_hints;
-      sub_ = nh.subscribe(ops_);
+      topic_ = topic;
+      // TODO: why is this multi-line version needed?
+      auto stdFxn = std::bind(&Subscriber<M>::cb, this, std::placeholders::_1);
+      std::function<void(const std::shared_ptr<M>)> stdFxnPtr = stdFxn;
+      sub_ = nh->create_subscription<M>(topic_, stdFxnPtr, rmw_qos_profile_default);
       nh_ = nh;
     }
   }
@@ -158,9 +163,12 @@ class Subscriber : public SubscriberBase, public SimpleFilter<M>
   {
     unsubscribe();
 
-    if (!ops_.topic.empty())
+    if (!topic_.empty())
     {
-      sub_ = nh_.subscribe(ops_);
+      // TODO: why is this multi-line version needed?
+      auto stdFxn = std::bind(&Subscriber<M>::cb, this, std::placeholders::_1);
+      std::function<void(const std::shared_ptr<M>)> stdFxnPtr = stdFxn;
+      sub_ = nh_->create_subscription<M>(topic_, stdFxnPtr, rmw_qos_profile_default);
     }
   }
 
@@ -169,18 +177,18 @@ class Subscriber : public SubscriberBase, public SimpleFilter<M>
    */
   void unsubscribe()
   {
-    sub_.shutdown();
+    // TODO: No idea how to do this in ROS2???
   }
 
   std::string getTopic() const
   {
-    return ops_.topic;
+    return sub_->get_topic_name();
   }
 
   /**
    * \brief Returns the internal ros::Subscriber object
    */
-  const ros::Subscriber& getSubscriber() const { return sub_; }
+  const std::shared_ptr<rclcpp::Subscription<M>> getSubscriber() const { return sub_; }
 
   /**
    * \brief Does nothing.  Provided so that Subscriber may be used in a message_filters::Chain
@@ -201,14 +209,14 @@ class Subscriber : public SubscriberBase, public SimpleFilter<M>
 
 private:
 
-  void cb(const EventType& e)
+  void cb(const MConstPtr& e)
   {
     this->signalMessage(e);
   }
 
-  ros::Subscriber sub_;
-  ros::SubscribeOptions ops_;
-  ros::NodeHandle nh_;
+  std::string topic_;
+  std::shared_ptr<rclcpp::Subscription<M>> sub_;
+  rclcpp::Node::SharedPtr nh_;
 };
 
 }

package.xml

@@ -1,4 +1,5 @@
-<package>
+<?xml version="1.0"?>
+<package format="2">
   <name>message_filters</name>
   <version>1.14.2</version>
   <description>
@@ -12,18 +13,12 @@
   <author>Josh Faust</author>
   <author>Vijay Pradeep</author>
 
-  <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <build_depend>boost</build_depend>
-  <build_depend>rosconsole</build_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>rostest</build_depend>
-  <build_depend>rosunit</build_depend>
-
-  <run_depend>rosconsole</run_depend>
-  <run_depend>roscpp</run_depend>
+  <build_depend>rclcpp</build_depend>
+  <exec_depend>rclcpp</exec_depend>
 
   <export>
-    <rosdoc config="rosdoc.yaml"/>
+    <build_type>ament_cmake</build_type>
   </export>
 </package>