Use the std library instead of the boost library

Author: rsasaki0109

scanmatcher/CMakeLists.txt

@@ -34,7 +34,6 @@ find_package(pcl_conversions REQUIRED)
 find_package(lidarslam_msgs REQUIRED)
 find_package(ndt_omp_ros2 REQUIRED)
 find_package(PCL REQUIRED)
-find_package(Boost REQUIRED COMPONENTS system)
 find_package(OpenMP)
 
 if (OPENMP_FOUND)

scanmatcher/include/scanmatcher/scanmatcher_component.h

@@ -68,8 +68,8 @@ extern "C" {
 #include <pclomp/gicp_omp_impl.hpp>
 
 #include <mutex>
-#include <boost/thread.hpp>
-#include <boost/thread/future.hpp>
+#include <thread>
+#include <future>
 
 #include <pcl_conversions/pcl_conversions.h>
 
@@ -101,9 +101,9 @@ class ScanMatcherComponent : public rclcpp::Node
   rclcpp::Time last_map_time_;
   bool mapping_flag_{false};
   bool is_map_updated_{false};
-  boost::thread mapping_thread_;
-  boost::packaged_task<void> mapping_task_;
-  boost::unique_future<void> mapping_future_;
+  std::thread mapping_thread_;
+  std::packaged_task<void()> mapping_task_;
+  std::future<void> mapping_future_;
 
   geometry_msgs::msg::PoseStamped corrent_pose_stamped_;
   pcl::PointCloud<pcl::PointXYZI> map_;

scanmatcher/src/scanmatcher_component.cpp

@@ -276,14 +276,17 @@ void ScanMatcherComponent::receiveCloud(
   const pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloud_ptr,
   rclcpp::Time stamp)
 {
-
-  if (mapping_flag_ && mapping_future_.has_value()) {
+  if (mapping_flag_ && mapping_future_.valid()) {
+    auto status = mapping_future_.wait_for(0s);
+    if  (status == std::future_status::ready) {
       if (is_map_updated_ == true) {
         pcl::PointCloud<pcl::PointXYZI>::Ptr targeted_cloud_ptr(new pcl::PointCloud<pcl::PointXYZI>(targeted_cloud_));
         registration_->setInputTarget(targeted_cloud_ptr);
         is_map_updated_ = false;
       }
       mapping_flag_ = false;
+      mapping_thread_.detach();
+    }
   }
 
   pcl::PointCloud<pcl::PointXYZI>::Ptr filtered_cloud_ptr(new pcl::PointCloud<pcl::PointXYZI>());
@@ -399,9 +402,9 @@ void ScanMatcherComponent::publishMapAndPose(
     geometry_msgs::msg::PoseStamped corrent_pose_stamped;
     corrent_pose_stamped = corrent_pose_stamped_;
     previous_position_ = position;
-    mapping_task_ = boost::packaged_task<void>(boost::bind(&ScanMatcherComponent::updateMap, this, cloud_ptr, final_transformation, corrent_pose_stamped));
+    mapping_task_ = std::packaged_task<void()>(std::bind(&ScanMatcherComponent::updateMap, this, cloud_ptr, final_transformation, corrent_pose_stamped));
     mapping_future_ = mapping_task_.get_future();
-    mapping_thread_ = boost::thread(boost::move(boost::ref(mapping_task_)));
+    mapping_thread_ = std::thread(std::move(std::ref(mapping_task_)));
     mapping_flag_ = true;
   }
 }