Updates for Ubuntu 22

CMakeLists.txt

@@ -8,10 +8,6 @@ if (POLICY CMP0054)
   cmake_policy(SET CMP0054 NEW)
 endif()
 
-set(CMAKE_CXX_STANDARD 14)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-set(CMAKE_CXX_EXTENSIONS OFF)
-
 # Define global caktin_lint suppressions
 #catkin_lint: ignore uninstalled_script missing_install_target
 

src/image_view/CMakeLists.txt

@@ -2,9 +2,6 @@ add_executable(rviz_image_view
   image_view.cpp
   main.cpp
 )
-if(NOT WIN32)
-  set_target_properties(rviz_image_view PROPERTIES COMPILE_FLAGS "-std=c++11")
-endif()
 
 target_link_libraries(rviz_image_view
   ${OGRE_LIBRARIES}

src/image_view/image_view.cpp

@@ -94,7 +94,8 @@ void ImageView::showEvent(QShowEvent* event)
 
     texture_sub_.reset(new image_transport::SubscriberFilter());
     texture_sub_->subscribe(texture_it_, "image", 1, image_transport::TransportHints("raw"));
-    texture_sub_->registerCallback(boost::bind(&ImageView::textureCallback, this, _1));
+    texture_sub_->registerCallback(
+        boost::bind(&ImageView::textureCallback, this, boost::placeholders::_1));
   }
   catch (ros::Exception& e)
   {

src/python_bindings/shiboken/CMakeLists.txt

@@ -90,9 +90,6 @@ if(shiboken_helper_FOUND)
     )
     shiboken_include_directories(rviz_shiboken "${rviz_shiboken_QT_COMPONENTS}")
     add_library(rviz_shiboken ${rviz_shiboken_SRCS})
-    if(NOT WIN32)
-      set_target_properties(rviz_shiboken PROPERTIES COMPILE_FLAGS "-std=c++11")
-    endif()
     set_target_properties(rviz_shiboken PROPERTIES
       LIBRARY_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${PYTHON_INSTALL_DIR}/rviz)
     target_link_libraries(rviz_shiboken ${PROJECT_NAME})

src/python_bindings/sip/CMakeLists.txt

@@ -66,7 +66,9 @@ if(sip_helper_FOUND)
     DEPENDS ${rviz_sip_DEPENDENT_FILES}
     DEPENDENCIES rviz
   )
-  if(APPLE)
+  if(DEFINED PYTHON_EXTENSION_MODULE_SUFFIX)
+    set(rviz_sip_LIBRARY_FILE librviz_sip${PYTHON_EXTENSION_MODULE_SUFFIX})
+  elseif(APPLE)
     set(rviz_sip_LIBRARY_FILE librviz_sip.so)
   elseif(WIN32)
     set(rviz_sip_LIBRARY_FILE librviz_sip.pyd)

src/rviz/CMakeLists.txt

@@ -128,9 +128,6 @@ add_library(${PROJECT_NAME}
 include(GenerateExportHeader)
 set(EXPORT_FILE_NAME ${EXPORT_HEADER_DIR}/rviz/${PROJECT_NAME}_export.h)
 generate_export_header(${PROJECT_NAME} EXPORT_FILE_NAME ${EXPORT_FILE_NAME})
-if(NOT WIN32)
-  set_target_properties(${PROJECT_NAME} PROPERTIES COMPILE_FLAGS "-std=c++11")
-endif()
 
 target_link_libraries(${PROJECT_NAME}
   ${Boost_LIBRARIES}
@@ -155,10 +152,6 @@ endif(APPLE)
 ########### The rviz executable ###########
 add_executable(executable main.cpp)
 
-if(NOT WIN32)
-  set_target_properties(executable PROPERTIES COMPILE_FLAGS "-std=c++11")
-endif()
-
 target_link_libraries(executable ${PROJECT_NAME} ${QT_LIBRARIES} ${OGRE_LIBRARIES})
 
 set_target_properties(executable

src/rviz/default_plugin/CMakeLists.txt

@@ -72,10 +72,6 @@ add_library(${rviz_DEFAULT_PLUGIN_LIBRARY_TARGET_NAME} ${SOURCE_FILES})
 include(GenerateExportHeader)
 set(EXPORT_FILE_NAME ${EXPORT_HEADER_DIR}/rviz/default_plugin/${rviz_DEFAULT_PLUGIN_LIBRARY_TARGET_NAME}_export.h)
 generate_export_header(${rviz_DEFAULT_PLUGIN_LIBRARY_TARGET_NAME} EXPORT_FILE_NAME ${EXPORT_FILE_NAME})
-if(NOT WIN32)
-  set_target_properties(${rviz_DEFAULT_PLUGIN_LIBRARY_TARGET_NAME}
-    PROPERTIES COMPILE_FLAGS "-std=c++11")
-endif()
 target_link_libraries(${rviz_DEFAULT_PLUGIN_LIBRARY_TARGET_NAME}
   ${PROJECT_NAME}
   ${Boost_LIBRARIES}

src/rviz/default_plugin/axes_display.cpp

@@ -27,7 +27,7 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include <boost/bind.hpp>
+#include <boost/bind/bind.hpp>
 
 #include <OGRE/OgreSceneNode.h>
 #include <OGRE/OgreSceneManager.h>

src/rviz/default_plugin/camera_display.cpp

@@ -27,7 +27,7 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include <boost/bind.hpp>
+#include <boost/bind/bind.hpp>
 
 #include <OGRE/OgreManualObject.h>
 #include <OGRE/OgreMaterialManager.h>

src/rviz/default_plugin/depth_cloud_display.cpp

@@ -41,7 +41,7 @@
 
 #include <tf2_ros/buffer.h>
 
-#include <boost/bind.hpp>
+#include <boost/bind/bind.hpp>
 #include <boost/algorithm/string/erase.hpp>
 #include <boost/foreach.hpp>
 #include <boost/shared_ptr.hpp>
@@ -302,7 +302,8 @@ void DepthCloudDisplay::subscribe()
       // subscribe to CameraInfo  topic
       std::string info_topic = image_transport::getCameraInfoTopic(depthmap_topic);
       cam_info_sub_->subscribe(threaded_nh_, info_topic, queue_size_);
-      cam_info_sub_->registerCallback(boost::bind(&DepthCloudDisplay::caminfoCallback, this, _1));
+      cam_info_sub_->registerCallback(
+          boost::bind(&DepthCloudDisplay::caminfoCallback, this, boost::placeholders::_1));
 
       if (!color_topic.empty() && !color_transport.empty())
       {
@@ -314,14 +315,15 @@ void DepthCloudDisplay::subscribe()
         sync_depth_color_->connectInput(*depthmap_tf_filter_, *rgb_sub_);
         sync_depth_color_->setInterMessageLowerBound(0, ros::Duration(0.5));
         sync_depth_color_->setInterMessageLowerBound(1, ros::Duration(0.5));
-        sync_depth_color_->registerCallback(
-            boost::bind(&DepthCloudDisplay::processMessage, this, _1, _2));
+        sync_depth_color_->registerCallback(boost::bind(
+            &DepthCloudDisplay::processMessage, this, boost::placeholders::_1, boost::placeholders::_2));
 
         pointcloud_common_->color_transformer_property_->setValue("RGB8");
       }
       else
       {
-        depthmap_tf_filter_->registerCallback(boost::bind(&DepthCloudDisplay::processMessage, this, _1));
+        depthmap_tf_filter_->registerCallback(
+            boost::bind(&DepthCloudDisplay::processMessage, this, boost::placeholders::_1));
       }
     }
   }

src/rviz/default_plugin/effort_display.cpp

@@ -119,7 +119,7 @@ void EffortDisplay::onInitialize()
                                                                    std::string(), 1, update_nh_);
 
   // but directly process messages
-  sub_.registerCallback(boost::bind(&EffortDisplay::incomingMessage, this, _1));
+  sub_.registerCallback(boost::bind(&EffortDisplay::incomingMessage, this, boost::placeholders::_1));
   updateHistoryLength();
 }
 

src/rviz/default_plugin/grid_cells_display.cpp

@@ -27,7 +27,7 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include <boost/bind.hpp>
+#include <boost/bind/bind.hpp>
 #include <OGRE/OgreSceneNode.h>
 #include <OGRE/OgreSceneManager.h>
 #include <OGRE/OgreManualObject.h>

src/rviz/default_plugin/grid_display.cpp

@@ -29,7 +29,7 @@
 
 #include <stdint.h>
 
-#include <boost/bind.hpp>
+#include <boost/bind/bind.hpp>
 
 #include <OGRE/OgreSceneNode.h>
 #include <OGRE/OgreSceneManager.h>

src/rviz/default_plugin/image_display.cpp

@@ -27,7 +27,7 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include <boost/bind.hpp>
+#include <boost/bind/bind.hpp>
 
 #include <OGRE/OgreManualObject.h>
 #include <OGRE/OgreMaterialManager.h>

src/rviz/default_plugin/interactive_marker_display.cpp

@@ -109,10 +109,12 @@ void InteractiveMarkerDisplay::onInitialize()
   auto tf = context_->getFrameManager()->getTF2BufferPtr();
   im_client_.reset(new interactive_markers::InteractiveMarkerClient(*tf, fixed_frame_.toStdString()));
 
-  im_client_->setInitCb(boost::bind(&InteractiveMarkerDisplay::initCb, this, _1));
-  im_client_->setUpdateCb(boost::bind(&InteractiveMarkerDisplay::updateCb, this, _1));
-  im_client_->setResetCb(boost::bind(&InteractiveMarkerDisplay::resetCb, this, _1));
-  im_client_->setStatusCb(boost::bind(&InteractiveMarkerDisplay::statusCb, this, _1, _2, _3));
+  im_client_->setInitCb(boost::bind(&InteractiveMarkerDisplay::initCb, this, boost::placeholders::_1));
+  im_client_->setUpdateCb(
+      boost::bind(&InteractiveMarkerDisplay::updateCb, this, boost::placeholders::_1));
+  im_client_->setResetCb(boost::bind(&InteractiveMarkerDisplay::resetCb, this, boost::placeholders::_1));
+  im_client_->setStatusCb(boost::bind(&InteractiveMarkerDisplay::statusCb, this, boost::placeholders::_1,
+                                      boost::placeholders::_2, boost::placeholders::_3));
 
   client_id_ = ros::this_node::getName() + "/" + getNameStd();
 

src/rviz/default_plugin/map_display.cpp

@@ -27,7 +27,7 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include <boost/bind.hpp>
+#include <boost/bind/bind.hpp>
 
 #include <OGRE/OgreManualObject.h>
 #include <OGRE/OgreMaterialManager.h>

src/rviz/default_plugin/marker_display.cpp

@@ -77,8 +77,10 @@ void MarkerDisplay::onInitialize()
                                                              queue_size_property_->getInt(), update_nh_);
 
   tf_filter_->connectInput(sub_);
-  tf_filter_->registerCallback(boost::bind(&MarkerDisplay::incomingMarker, this, _1));
-  tf_filter_->registerFailureCallback(boost::bind(&MarkerDisplay::failedMarker, this, _1, _2));
+  tf_filter_->registerCallback(
+      boost::bind(&MarkerDisplay::incomingMarker, this, boost::placeholders::_1));
+  tf_filter_->registerFailureCallback(
+      boost::bind(&MarkerDisplay::failedMarker, this, boost::placeholders::_1, boost::placeholders::_2));
 
   namespace_config_enabled_state_.clear();
 }

src/rviz/default_plugin/path_display.cpp

@@ -27,7 +27,7 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include <boost/bind.hpp>
+#include <boost/bind/bind.hpp>
 
 #include <OGRE/OgreSceneNode.h>
 #include <OGRE/OgreSceneManager.h>

src/rviz/default_plugin/robot_model_display.cpp

@@ -205,7 +205,8 @@ void RobotModelDisplay::load()
               QString("Errors loading geometries:").append(ss.str().c_str()));
 
   robot_->update(TFLinkUpdater(context_->getFrameManager(),
-                               boost::bind(linkUpdaterStatusFunction, _1, _2, _3, this),
+                               boost::bind(linkUpdaterStatusFunction, boost::placeholders::_1,
+                                           boost::placeholders::_2, boost::placeholders::_3, this),
                                tf_prefix_property_->getStdString()));
 }
 
@@ -230,7 +231,8 @@ void RobotModelDisplay::update(float wall_dt, float /*ros_dt*/)
   if (has_new_transforms_ || update)
   {
     robot_->update(TFLinkUpdater(context_->getFrameManager(),
-                                 boost::bind(linkUpdaterStatusFunction, _1, _2, _3, this),
+                                 boost::bind(linkUpdaterStatusFunction, boost::placeholders::_1,
+                                             boost::placeholders::_2, boost::placeholders::_3, this),
                                  tf_prefix_property_->getStdString()));
     context_->queueRender();
 

src/rviz/default_plugin/tf_display.cpp

@@ -27,7 +27,7 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include <boost/bind.hpp>
+#include <boost/bind/bind.hpp>
 
 #include <OGRE/OgreSceneNode.h>
 #include <OGRE/OgreSceneManager.h>

src/rviz/displays_panel.cpp

@@ -36,7 +36,7 @@
 #include <QApplication>
 #include <QProgressDialog>
 
-#include <boost/bind.hpp>
+#include <boost/bind/bind.hpp>
 
 #include <rviz/display_factory.h>
 #include <rviz/display.h>

src/rviz/frame_manager.h

@@ -192,9 +192,11 @@ class FrameManager : public QObject
   template <class M>
   void registerFilterForTransformStatusCheck(tf2_ros::MessageFilter<M>* filter, Display* display)
   {
-    filter->registerCallback(boost::bind(&FrameManager::messageCallback<M>, this, _1, display));
-    filter->registerFailureCallback(boost::bind(
-        &FrameManager::failureCallback<M, tf2_ros::FilterFailureReason>, this, _1, _2, display));
+    filter->registerCallback(
+        boost::bind(&FrameManager::messageCallback<M>, this, boost::placeholders::_1, display));
+    filter->registerFailureCallback(
+        boost::bind(&FrameManager::failureCallback<M, tf2_ros::FilterFailureReason>, this,
+                    boost::placeholders::_1, boost::placeholders::_2, display));
   }
 
   /** @brief Return the current fixed frame name. */

src/rviz/image/image_display_base.cpp

@@ -181,15 +181,18 @@ void ImageDisplayBase::subscribe()
 
       if (targetFrame_.empty())
       {
-        sub_->registerCallback(boost::bind(&ImageDisplayBase::incomingMessage, this, _1));
+        sub_->registerCallback(
+            boost::bind(&ImageDisplayBase::incomingMessage, this, boost::placeholders::_1));
       }
       else
       {
         tf_filter_.reset(new tf2_ros::MessageFilter<sensor_msgs::Image>(
             *sub_, *context_->getTF2BufferPtr(), targetFrame_, queue_size_property_->getInt(),
             update_nh_));
-        tf_filter_->registerCallback(boost::bind(&ImageDisplayBase::incomingMessage, this, _1));
-        tf_filter_->registerFailureCallback(boost::bind(&ImageDisplayBase::failedMessage, this, _1, _2));
+        tf_filter_->registerCallback(
+            boost::bind(&ImageDisplayBase::incomingMessage, this, boost::placeholders::_1));
+        tf_filter_->registerFailureCallback(boost::bind(
+            &ImageDisplayBase::failedMessage, this, boost::placeholders::_1, boost::placeholders::_2));
       }
     }
     setStatus(StatusProperty::Ok, "Topic", "OK");

src/rviz/message_filter_display.h

@@ -111,7 +111,7 @@ class MessageFilterDisplay : public _RosTopicDisplay
 
     tf_filter_->connectInput(sub_);
     tf_filter_->registerCallback(
-        boost::bind(&MessageFilterDisplay<MessageType>::incomingMessage, this, _1));
+        boost::bind(&MessageFilterDisplay<MessageType>::incomingMessage, this, boost::placeholders::_1));
     context_->getFrameManager()->registerFilterForTransformStatusCheck(tf_filter_, this);
   }
 

src/rviz/visualization_frame.cpp

@@ -53,7 +53,7 @@
 
 #include <boost/algorithm/string/split.hpp>
 #include <boost/algorithm/string/trim.hpp>
-#include <boost/bind.hpp>
+#include <boost/bind/bind.hpp>
 #include <boost/filesystem.hpp>
 
 #include <ros/console.h>

src/rviz/visualization_manager.cpp

@@ -35,7 +35,7 @@
 #include <QTimer>
 #include <QWindow>
 
-#include <boost/bind.hpp>
+#include <boost/bind/bind.hpp>
 
 #include <OGRE/OgreRoot.h>
 #include <OGRE/OgreSceneManager.h>