Remove Boost Dependency

CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package dynamixel_hardware_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.4.3 (2025-04-09)
+------------------
+* Removed Boost dependency to reduce external dependencies
+* Contributors: Woojin Wie
+
 1.4.2 (2025-04-05)
 ------------------
 * Added OM-Y dynamixel model files

include/dynamixel_hardware_interface/dynamixel/dynamixel_info.hpp

@@ -19,15 +19,14 @@
 
 #include <cmath>
 #include <cstring>
+#include <cstdint>
 
 #include <fstream>
 #include <iostream>
 #include <map>
 #include <string>
 #include <vector>
 
-#include <boost/algorithm/string.hpp>
-
 namespace dynamixel_hardware_interface
 {
 

package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>dynamixel_hardware_interface</name>
-  <version>1.4.2</version>
+  <version>1.4.3</version>
   <description>
     ROS 2 package providing a hardware interface for controlling Dynamixel motors via the ROS 2 control framework.
   </description>

src/dynamixel/dynamixel_info.cpp

@@ -18,10 +18,35 @@
 #include <string>
 #include <utility>
 #include <vector>
+#include <sstream>
 
 namespace dynamixel_hardware_interface
 {
 
+// Helper function to split string by delimiter
+std::vector<std::string> split_string(const std::string & str, char delimiter, bool trim = false)
+{
+  std::vector<std::string> tokens;
+  std::string token;
+  std::istringstream token_stream(str);
+  while (std::getline(token_stream, token, delimiter)) {
+    if (trim) {
+      // Trim leading and trailing whitespace
+      size_t first = token.find_first_not_of(" \t\r\n");
+      size_t last = token.find_last_not_of(" \t\r\n");
+      if (first != std::string::npos && last != std::string::npos) {
+        token = token.substr(first, (last - first + 1));
+      } else {
+        token.clear();
+      }
+    }
+    if (!token.empty()) {  // Skip empty tokens
+      tokens.push_back(token);
+    }
+  }
+  return tokens;
+}
+
 void DynamixelInfo::SetDxlModelFolderPath(const char * path)
 {
   dxl_model_file_dir = std::string(path);
@@ -80,21 +105,30 @@ void DynamixelInfo::ReadDxlModelFile(uint8_t id, uint16_t model_num)
       break;
     }
 
-    std::vector<std::string> strs;
-    boost::split(strs, line, boost::is_any_of("\t"));
-
-    if (strs.at(0) == "value_of_zero_radian_position") {
-      temp_dxl_info.value_of_zero_radian_position = static_cast<int32_t>(stoi(strs.at(1)));
-    } else if (strs.at(0) == "value_of_max_radian_position") {
-      temp_dxl_info.value_of_max_radian_position = static_cast<int32_t>(stoi(strs.at(1)));
-    } else if (strs.at(0) == "value_of_min_radian_position") {
-      temp_dxl_info.value_of_min_radian_position = static_cast<int32_t>(stoi(strs.at(1)));
-    } else if (strs.at(0) == "min_radian") {
-      temp_dxl_info.min_radian = static_cast<double>(stod(strs.at(1)));
-    } else if (strs.at(0) == "max_radian") {
-      temp_dxl_info.max_radian = static_cast<double>(stod(strs.at(1)));
-    } else if (strs.at(0) == "torque_constant") {
-      temp_dxl_info.torque_constant = static_cast<double>(stod(strs.at(1)));
+    std::vector<std::string> strs = split_string(line, '\t', true);
+
+    if (!strs.empty()) {
+      try {
+        if (strs.at(0) == "value_of_zero_radian_position") {
+          temp_dxl_info.value_of_zero_radian_position = static_cast<int32_t>(std::stoi(strs.at(1)));
+        } else if (strs.at(0) == "value_of_max_radian_position") {
+          temp_dxl_info.value_of_max_radian_position = static_cast<int32_t>(std::stoi(strs.at(1)));
+        } else if (strs.at(0) == "value_of_min_radian_position") {
+          temp_dxl_info.value_of_min_radian_position = static_cast<int32_t>(std::stoi(strs.at(1)));
+        } else if (strs.at(0) == "min_radian") {
+          temp_dxl_info.min_radian = static_cast<double>(std::stod(strs.at(1)));
+        } else if (strs.at(0) == "max_radian") {
+          temp_dxl_info.max_radian = static_cast<double>(std::stod(strs.at(1)));
+        } else if (strs.at(0) == "torque_constant") {
+          temp_dxl_info.torque_constant = static_cast<double>(std::stod(strs.at(1)));
+        }
+      } catch (const std::invalid_argument & e) {
+        fprintf(stderr, "[ERROR] Invalid argument in model file: %s\n", e.what());
+        continue;
+      } catch (const std::out_of_range & e) {
+        fprintf(stderr, "[ERROR] Out of range in model file: %s\n", e.what());
+        continue;
+      }
     }
   }
 
@@ -105,14 +139,23 @@ void DynamixelInfo::ReadDxlModelFile(uint8_t id, uint16_t model_num)
       break;
     }
 
-    std::vector<std::string> strs;
-    boost::split(strs, line, boost::is_any_of("\t"));
-
-    ControlItem temp;
-    temp.address = static_cast<uint16_t>(stoi(strs.at(0)));
-    temp.size = static_cast<uint8_t>(stoi(strs.at(1)));
-    temp.item_name = strs.at(2);
-    temp_dxl_info.item.push_back(temp);
+    std::vector<std::string> strs = split_string(line, '\t', true);
+
+    if (!strs.empty()) {
+      try {
+        ControlItem temp;
+        temp.address = static_cast<uint16_t>(std::stoi(strs.at(0)));
+        temp.size = static_cast<uint8_t>(std::stoi(strs.at(1)));
+        temp.item_name = strs.at(2);
+        temp_dxl_info.item.push_back(temp);
+      } catch (const std::invalid_argument & e) {
+        fprintf(stderr, "[ERROR] Invalid argument in control table: %s\n", e.what());
+        continue;
+      } catch (const std::out_of_range & e) {
+        fprintf(stderr, "[ERROR] Out of range in control table: %s\n", e.what());
+        continue;
+      }
+    }
   }
 
   dxl_info_[id] = temp_dxl_info;