Kicked all boost dependencies

norro · norro · commit d8935ccf73ec · 2020-08-03T15:21:28.000+02:00
Signed-off-by: Arne Nordmann &lt;arne.nordmann@de.bosch.com&gt;
diff --git a/system_modes/CMakeLists.txt b/system_modes/CMakeLists.txt
@@ -25,7 +25,6 @@ find_package(rclcpp_lifecycle REQUIRED)
 find_package(rosidl_typesupport_cpp REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 find_package(lifecycle_msgs REQUIRED)
-find_package(Boost 1.58 COMPONENTS program_options REQUIRED)
 
 # generate service
 rosidl_generate_interfaces(${PROJECT_NAME}
@@ -52,8 +51,6 @@ ament_target_dependencies(mode
   "lifecycle_msgs"
   "rosidl_typesupport_cpp"
   "std_msgs"
-  "Boost"
-  "Boost_PROGRAM_OPTIONS"
   "builtin_interfaces"
 )
 #rosidl_target_interfaces(mode
diff --git a/system_modes/launch/mode_manager.launch.py b/system_modes/launch/mode_manager.launch.py
@@ -25,7 +25,7 @@ def generate_launch_description():
 
     node = launch_ros.actions.Node(
         package='system_modes',
-        node_executable='mode_manager',
+        executable='mode_manager',
         parameters=[{'modelfile': launch.substitutions.LaunchConfiguration('modelfile')}],
         output='screen')
 
diff --git a/system_modes/launch/mode_monitor.launch.py b/system_modes/launch/mode_monitor.launch.py
@@ -25,7 +25,7 @@ def generate_launch_description():
 
     node = launch_ros.actions.Node(
         package='system_modes',
-        node_executable='mode_monitor',
+        executable='mode_monitor',
         parameters=[{'modelfile': launch.substitutions.LaunchConfiguration('modelfile')}],
         output='screen')
 
diff --git a/system_modes/package.xml b/system_modes/package.xml
@@ -14,7 +14,6 @@
   <depend>std_msgs</depend>
   <depend>builtin_interfaces</depend>
   <depend>rosidl_default_generators</depend>
-  <depend>libboost-program-options-dev</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_cmake_gmock</test_depend>
diff --git a/system_modes/src/mode_manager_node.cpp b/system_modes/src/mode_manager_node.cpp
@@ -18,8 +18,6 @@
 #include <lifecycle_msgs/msg/state.hpp>
 #include <lifecycle_msgs/msg/transition_event.hpp>
 
-#include <boost/program_options.hpp>
-
 #include <chrono>
 #include <memory>
 #include <string>
@@ -46,47 +44,12 @@ using system_modes::msg::ModeEvent;
 using lifecycle_msgs::msg::State;
 using lifecycle_msgs::msg::TransitionEvent;
 
-using boost::program_options::value;
-using boost::program_options::variables_map;
-using boost::program_options::command_line_parser;
-using boost::program_options::options_description;
-using boost::program_options::positional_options_description;
-
 using rcl_interfaces::msg::ParameterType;
 using rcl_interfaces::msg::ParameterEvent;
 
 string modelfile, loglevel;
-options_description options("Allowed options");
-
 shared_ptr<ModeManager> manager;
 
-bool parseOptions(int argc, char * argv[])
-{
-  options.add_options()("help", "Help message and options")(
-    "modelfile", value<string>(&modelfile),
-    "Path to yaml model file")(
-    "__log_level", value<string>(&loglevel),
-    "ROS2 log level")(
-    "ros-args", value<vector<string>>()->multitoken(), "ROS args")(
-    "params-file", value<vector<string>>()->multitoken(), "ROS params file");
-
-  positional_options_description positional_options;
-  positional_options.add("modelfile", 1);
-
-  variables_map map;
-  store(
-    command_line_parser(argc, argv)
-    .options(options)
-    .positional(positional_options)
-    .run(), map);
-  notify(map);
-
-  if (map.count("help")) {
-    return true;
-  }
-  return false;
-}
-
 void transition_callback(
   const TransitionEvent::SharedPtr msg,
   const string & node_name)
@@ -147,22 +110,6 @@ int main(int argc, char * argv[])
 {
   using namespace std::placeholders;
 
-  // Handle commandline arguments.
-  try {
-    if (parseOptions(argc, argv)) {
-      cout << "Usage: mode_manager MODELFILE" << std::endl;
-      cout << options;
-      cout << "Or specify the MODELFILE by ROS parameter 'modelfile'." << std::endl << std::endl;
-      return EXIT_SUCCESS;
-    }
-  } catch (const std::exception & e) {
-    cerr << "Error parsing command line: " << e.what() << std::endl;
-    cout << "Usage: mode_manager [MODELFILE]" << std::endl;
-    cout << options;
-    cout << "Or specify the MODELFILE by ROS parameter 'modelfile'." << std::endl << std::endl;
-    return EXIT_FAILURE;
-  }
-
   setvbuf(stdout, NULL, _IONBF, BUFSIZ);
   rclcpp::init(argc, argv);
 
diff --git a/system_modes/src/mode_monitor_node.cpp b/system_modes/src/mode_monitor_node.cpp
@@ -18,8 +18,6 @@
 #include <lifecycle_msgs/msg/state.hpp>
 #include <lifecycle_msgs/msg/transition_event.hpp>
 
-#include <boost/program_options.hpp>
-
 #include <chrono>
 #include <memory>
 #include <string>
@@ -49,66 +47,16 @@ using system_modes::msg::ModeEvent;
 using lifecycle_msgs::msg::State;
 using lifecycle_msgs::msg::TransitionEvent;
 
-using boost::program_options::value;
-using boost::program_options::bool_switch;
-using boost::program_options::variables_map;
-using boost::program_options::command_line_parser;
-using boost::program_options::options_description;
-using boost::program_options::positional_options_description;
-
 using rcl_interfaces::msg::ParameterType;
 using rcl_interfaces::msg::ParameterEvent;
 
 string modelfile, loglevel;
 bool debug = false;
 unsigned int rate = 1000;
 bool verbose = false;
-options_description options("Allowed options");
 
 shared_ptr<system_modes::ModeMonitor> monitor;
 
-bool parseOptions(int argc, char * argv[])
-{
-  options.add_options()("help", "Help message and options")(
-    "modelfile",
-    value<string>(&modelfile), "Path to yaml model file")(
-    "__log_level",
-    value<string>(&loglevel), "ROS 2 log level")(
-    "debug,d", bool_switch(&debug)->default_value(false),
-    "Debug mode (don't clear screen)")(
-    "rate,r", value<unsigned int>(&rate)->default_value(1000),
-    "Update rate in milliseconds")(
-    "verbose,v", bool_switch(&verbose)->default_value(false),
-    "Verbose (displays mode parameters)")(
-    "ros-args", value<vector<string>>()->multitoken(),
-    "ROS args")(
-    "params-file", value<vector<string>>()->multitoken(),
-    "ROS params file");
-
-  positional_options_description positional_options;
-  positional_options.add("modelfile", 1);
-  positional_options.add("debug", 0);
-  positional_options.add("rate", 1);
-  positional_options.add("verbose", 0);
-
-  variables_map map;
-  store(
-    command_line_parser(argc, argv)
-    .options(options)
-    .positional(positional_options)
-    .run(), map);
-  notify(map);
-
-  if (map.count("help")) {
-    return true;
-  }
-
-  // if (modelfile.empty()) {
-  //   throw invalid_argument("Need path to model file.");
-  // }
-  return false;
-}
-
 void transition_callback(
   const TransitionEvent::SharedPtr msg,
   const string & node_name)
@@ -169,22 +117,6 @@ int main(int argc, char * argv[])
 {
   using namespace std::placeholders;
 
-  // Handle commandline arguments.
-  try {
-    if (parseOptions(argc, argv)) {
-      cout << "Usage: mode_monitor MODELFILE" << endl;
-      cout << options;
-      cout << "Or specify the MODELFILE by ROS parameter 'modelfile'." << std::endl << std::endl;
-      return EXIT_SUCCESS;
-    }
-  } catch (const exception & e) {
-    cerr << "Error parsing command line: " << e.what() << endl;
-    cout << "Usage: mode_monitor MODELFILE" << endl;
-    cout << options;
-    cout << "Or specify the MODELFILE by ROS parameter 'modelfile'." << std::endl << std::endl;
-    return EXIT_FAILURE;
-  }
-
   setvbuf(stdout, NULL, _IONBF, BUFSIZ);
   rclcpp::init(argc, argv);
 
diff --git a/system_modes_examples/CMakeLists.txt b/system_modes_examples/CMakeLists.txt
@@ -24,7 +24,6 @@ find_package(std_msgs REQUIRED)
 find_package(rosidl_typesupport_cpp REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 find_package(lifecycle_msgs REQUIRED)
-find_package(Boost 1.58 COMPONENTS program_options REQUIRED)
 find_package(system_modes REQUIRED)
 
 # drive_base
@@ -39,7 +38,6 @@ ament_target_dependencies(drive_base
   "lifecycle_msgs"
   "rosidl_typesupport_cpp"
   "std_msgs"
-  "Boost"
   "system_modes"
 )
 install(TARGETS drive_base
@@ -58,7 +56,6 @@ ament_target_dependencies(manipulator
   "lifecycle_msgs"
   "rosidl_typesupport_cpp"
   "std_msgs"
-  "Boost"
   "system_modes"
 )
 install(TARGETS manipulator
diff --git a/system_modes_examples/launch/drive_base.launch.py b/system_modes_examples/launch/drive_base.launch.py
@@ -29,7 +29,7 @@ def generate_launch_description():
 
     node = launch_ros.actions.Node(
         package='system_modes_examples',
-        node_executable='drive_base',
+        executable='drive_base',
         parameters=[{'modelfile': modelfile}],
         output='screen')
 
diff --git a/system_modes_examples/launch/manipulator.launch.py b/system_modes_examples/launch/manipulator.launch.py
@@ -29,7 +29,7 @@ def generate_launch_description():
 
     node = launch_ros.actions.Node(
         package='system_modes_examples',
-        node_executable='manipulator',
+        executable='manipulator',
         parameters=[{'modelfile': modelfile}],
         output='screen')
 
diff --git a/system_modes_examples/package.xml b/system_modes_examples/package.xml
@@ -12,7 +12,6 @@
   <depend>rclcpp</depend>
   <depend>rclcpp_lifecycle</depend>
   <depend>system_modes</depend>
-  <depend>libboost-program-options-dev</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_cmake_gmock</test_depend>
@@ -22,7 +21,7 @@
   <test_depend>ament_cmake_cppcheck</test_depend>
   <test_depend>ament_cmake_uncrustify</test_depend>
   <test_depend>ament_lint_auto</test_depend>
-  
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>
