Merge pull request #105 from locusrobotics/noetic_eol_devel

paulbovbel · web-flow · commit 4d3fc096c9ec · 2025-05-15T23:07:18.000-04:00
Noetic EOL Changes
diff --git a/costmap_queue/CMakeLists.txt b/costmap_queue/CMakeLists.txt
@@ -1,7 +1,10 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.10.2)
 project(costmap_queue)
 
-set_directory_properties(PROPERTIES COMPILE_OPTIONS "-std=c++11;-Wall;-Werror")
+set_directory_properties(PROPERTIES COMPILE_OPTIONS "-Wall;-Werror")
+if(NOT "${CMAKE_CXX_STANDARD}")
+    set(CMAKE_CXX_STANDARD 14)
+endif()
 
 find_package(catkin REQUIRED COMPONENTS
   nav_core2
diff --git a/dlux_global_planner/CMakeLists.txt b/dlux_global_planner/CMakeLists.txt
@@ -1,6 +1,9 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.10.2)
 project(dlux_global_planner)
-set_directory_properties(PROPERTIES COMPILE_OPTIONS "-std=c++11;-Wall;-Werror")
+set_directory_properties(PROPERTIES COMPILE_OPTIONS "-Wall;-Werror")
+if(NOT "${CMAKE_CXX_STANDARD}")
+    set(CMAKE_CXX_STANDARD 14)
+endif()
 find_package(catkin REQUIRED COMPONENTS
         geometry_msgs
         nav_2d_msgs
diff --git a/dlux_global_planner/src/planner_node.cpp b/dlux_global_planner/src/planner_node.cpp
@@ -76,9 +76,9 @@ class PlannerNode
 
     gp_.initialize(nh, "planner", tf_, costmap_);
     goal_sub_ = nh.subscribe<geometry_msgs::PoseStamped>("/move_base_simple/goal", 1,
-                                                         boost::bind(&PlannerNode::goalCB, this, _1));
+                                                         std::bind(&PlannerNode::goalCB, this, std::placeholders::_1));
     pose_sub_ = nh.subscribe<geometry_msgs::PoseWithCovarianceStamped>("/initialpose", 1,
-                                                         boost::bind(&PlannerNode::poseCB, this, _1));
+                                                         std::bind(&PlannerNode::poseCB, this, std::placeholders::_1));
     nh.param("red", red_, 1.0);
     nh.param("green", green_, 1.0);
     nh.param("blue", blue_, 1.0);
diff --git a/dlux_plugins/CMakeLists.txt b/dlux_plugins/CMakeLists.txt
@@ -1,6 +1,9 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.10.2)
 project(dlux_plugins)
-set_directory_properties(PROPERTIES COMPILE_OPTIONS "-std=c++11;-Wall;-Werror")
+set_directory_properties(PROPERTIES COMPILE_OPTIONS "-Wall;-Werror")
+if(NOT "${CMAKE_CXX_STANDARD}")
+    set(CMAKE_CXX_STANDARD 14)
+endif()
 
 find_package(catkin REQUIRED
     COMPONENTS dlux_global_planner nav_core2 nav_grid pluginlib
diff --git a/dwb_critics/CMakeLists.txt b/dwb_critics/CMakeLists.txt
@@ -1,7 +1,10 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.10.2)
 project(dwb_critics)
 
-set_directory_properties(PROPERTIES COMPILE_OPTIONS "-std=c++11;-Wall;-Werror")
+set_directory_properties(PROPERTIES COMPILE_OPTIONS "-Wall;-Werror")
+if(NOT "${CMAKE_CXX_STANDARD}")
+    set(CMAKE_CXX_STANDARD 14)
+endif()
 
 find_package(catkin REQUIRED COMPONENTS
   angles
diff --git a/dwb_local_planner/CMakeLists.txt b/dwb_local_planner/CMakeLists.txt
@@ -1,7 +1,10 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.10.2)
 project(dwb_local_planner)
 
-set_directory_properties(PROPERTIES COMPILE_OPTIONS "-std=c++11;-Wall;-Werror")
+set_directory_properties(PROPERTIES COMPILE_OPTIONS "-Wall;-Werror")
+if(NOT "${CMAKE_CXX_STANDARD}")
+    set(CMAKE_CXX_STANDARD 14)
+endif()
 
 find_package(catkin REQUIRED COMPONENTS
   dwb_msgs
diff --git a/dwb_msgs/CMakeLists.txt b/dwb_msgs/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.10.2)
 project(dwb_msgs)
 
 find_package(catkin REQUIRED
diff --git a/dwb_plugins/CMakeLists.txt b/dwb_plugins/CMakeLists.txt
@@ -1,7 +1,10 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.10.2)
 project(dwb_plugins)
 
-set_directory_properties(PROPERTIES COMPILE_OPTIONS "-std=c++11;-Wall;-Werror")
+set_directory_properties(PROPERTIES COMPILE_OPTIONS "-Wall;-Werror")
+if(NOT "${CMAKE_CXX_STANDARD}")
+    set(CMAKE_CXX_STANDARD 14)
+endif()
 
 find_package(catkin REQUIRED COMPONENTS angles dwb_local_planner dynamic_reconfigure nav_2d_msgs nav_2d_utils nav_core2 pluginlib roscpp)
 
diff --git a/dwb_plugins/src/kinematic_parameters.cpp b/dwb_plugins/src/kinematic_parameters.cpp
@@ -87,7 +87,7 @@ void KinematicParameters::initialize(const ros::NodeHandle& nh)
   // the rest of the initial values are loaded through the dynamic reconfigure mechanisms
   dsrv_ = std::make_shared<dynamic_reconfigure::Server<KinematicParamsConfig> >(nh);
   dynamic_reconfigure::Server<KinematicParamsConfig>::CallbackType cb =
-    boost::bind(&KinematicParameters::reconfigureCB, this, _1, _2);
+    std::bind(&KinematicParameters::reconfigureCB, this, std::placeholders::_1, std::placeholders::_2);
   dsrv_->setCallback(cb);
 }
 
diff --git a/global_planner_tests/CMakeLists.txt b/global_planner_tests/CMakeLists.txt
@@ -1,6 +1,9 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.10.2)
 project(global_planner_tests)
-set_directory_properties(PROPERTIES COMPILE_OPTIONS "-std=c++11;-Wall;-Werror")
+set_directory_properties(PROPERTIES COMPILE_OPTIONS "-Wall;-Werror")
+if(NOT "${CMAKE_CXX_STANDARD}")
+    set(CMAKE_CXX_STANDARD 14)
+endif()
 
 find_package(catkin REQUIRED COMPONENTS map_server nav_core2 roscpp nav_msgs pluginlib)
 
diff --git a/locomotor/CMakeLists.txt b/locomotor/CMakeLists.txt
@@ -1,6 +1,9 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.10.2)
 project(locomotor)
-set_directory_properties(PROPERTIES COMPILE_OPTIONS "-std=c++11;-Wall;-Werror")
+set_directory_properties(PROPERTIES COMPILE_OPTIONS "-Wall;-Werror")
+if(NOT "${CMAKE_CXX_STANDARD}")
+    set(CMAKE_CXX_STANDARD 14)
+endif()
 
 find_package(catkin REQUIRED COMPONENTS
   actionlib geometry_msgs locomotor_msgs nav_2d_msgs nav_2d_utils nav_core2 nav_msgs pluginlib roscpp rospy
diff --git a/locomotor_msgs/CMakeLists.txt b/locomotor_msgs/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.10.2)
 project(locomotor_msgs)
 
 find_package(catkin REQUIRED
diff --git a/locomove_base/CMakeLists.txt b/locomove_base/CMakeLists.txt
@@ -1,6 +1,9 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.10.2)
 project(locomove_base)
-set_directory_properties(PROPERTIES COMPILE_OPTIONS "-std=c++11;-Wall;-Werror")
+set_directory_properties(PROPERTIES COMPILE_OPTIONS "-Wall;-Werror")
+if(NOT "${CMAKE_CXX_STANDARD}")
+    set(CMAKE_CXX_STANDARD 14)
+endif()
 
 find_package(catkin REQUIRED
     COMPONENTS locomotor move_base_msgs nav_2d_utils nav_core nav_core_adapter
diff --git a/locomove_base/src/locomove_base.cpp b/locomove_base/src/locomove_base.cpp
@@ -201,7 +201,9 @@ LocoMoveBase::LocoMoveBase(const ros::NodeHandle& nh) :
   // they won't get any useful information back about its status, but this is useful for tools
   // like nav_view and rviz
   ros::NodeHandle simple_nh("move_base_simple");
-  goal_sub_ = simple_nh.subscribe<geometry_msgs::PoseStamped>("goal", 1, boost::bind(&LocoMoveBase::goalCB, this, _1));
+  goal_sub_ = simple_nh.subscribe<geometry_msgs::PoseStamped>("goal", 1,
+                                                              std::bind(&LocoMoveBase::goalCB, this,
+                                                                        std::placeholders::_1));
 
   server_.registerGoalCallback(std::bind(&LocoMoveBase::executeCB, this));
   server_.registerPreemptCallback(std::bind(&LocoMoveBase::preemptCB, this));
diff --git a/nav_2d_msgs/CMakeLists.txt b/nav_2d_msgs/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.10.2)
 project(nav_2d_msgs)
 
 find_package(catkin REQUIRED COMPONENTS
diff --git a/nav_2d_utils/CMakeLists.txt b/nav_2d_utils/CMakeLists.txt
@@ -1,7 +1,10 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.10.2)
 project(nav_2d_utils)
 
-set_directory_properties(PROPERTIES COMPILE_OPTIONS "-std=c++11;-Wall;-Werror")
+set_directory_properties(PROPERTIES COMPILE_OPTIONS "-Wall;-Werror")
+if(NOT "${CMAKE_CXX_STANDARD}")
+    set(CMAKE_CXX_STANDARD 14)
+endif()
 
 find_package(catkin REQUIRED
     COMPONENTS
diff --git a/nav_2d_utils/include/nav_2d_utils/odom_subscriber.h b/nav_2d_utils/include/nav_2d_utils/odom_subscriber.h
@@ -39,7 +39,6 @@
 #include <nav_2d_utils/conversions.h>
 #include <nav_msgs/Odometry.h>
 #include <nav_2d_msgs/Twist2DStamped.h>
-#include <boost/thread/mutex.hpp>
 #include <string>
 
 namespace nav_2d_utils
@@ -62,7 +61,9 @@ class OdomSubscriber
   {
     std::string odom_topic;
     nh.param("odom_topic", odom_topic, default_topic);
-    odom_sub_ = nh.subscribe<nav_msgs::Odometry>(odom_topic, 1, boost::bind(&OdomSubscriber::odomCallback, this, _1));
+    odom_sub_ = nh.subscribe<nav_msgs::Odometry>(odom_topic, 1,
+                                                 std::bind(&OdomSubscriber::odomCallback, this,
+                                                           std::placeholders::_1));
   }
 
   inline nav_2d_msgs::Twist2D getTwist() { return odom_vel_.velocity; }
diff --git a/nav_2d_utils/package.xml b/nav_2d_utils/package.xml
@@ -9,6 +9,8 @@
   <license>BSD</license>
 
   <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>python3-setuptools</buildtool_depend>
+
   <depend>geometry_msgs</depend>
   <depend>nav_2d_msgs</depend>
   <depend>nav_core2</depend>
diff --git a/nav_2d_utils/setup.py b/nav_2d_utils/setup.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python
 
-from distutils.core import setup
+from setuptools import setup
 from catkin_pkg.python_setup import generate_distutils_setup
 
 package_info = generate_distutils_setup(
diff --git a/nav_core2/CMakeLists.txt b/nav_core2/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.10.2)
 project(nav_core2)
 set_directory_properties(PROPERTIES COMPILE_OPTIONS "-std=c++11")
 
diff --git a/nav_core_adapter/CMakeLists.txt b/nav_core_adapter/CMakeLists.txt
@@ -1,7 +1,10 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.10.2)
 project(nav_core_adapter)
 
-set_directory_properties(PROPERTIES COMPILE_OPTIONS "-std=c++11;-Wall;-Werror")
+set_directory_properties(PROPERTIES COMPILE_OPTIONS "-Wall;-Werror")
+if(NOT "${CMAKE_CXX_STANDARD}")
+    set(CMAKE_CXX_STANDARD 14)
+endif()
 
 find_package(catkin REQUIRED COMPONENTS
         costmap_2d
diff --git a/nav_grid/CMakeLists.txt b/nav_grid/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.10.2)
 project(nav_grid)
 set_directory_properties(PROPERTIES COMPILE_OPTIONS "-std=c++11")
 
diff --git a/nav_grid_iterators/CMakeLists.txt b/nav_grid_iterators/CMakeLists.txt
@@ -1,6 +1,9 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.10.2)
 project(nav_grid_iterators)
-set_directory_properties(PROPERTIES COMPILE_OPTIONS "-std=c++11;-Wall;-Werror")
+set_directory_properties(PROPERTIES COMPILE_OPTIONS "-Wall;-Werror")
+if(NOT "${CMAKE_CXX_STANDARD}")
+    set(CMAKE_CXX_STANDARD 14)
+endif()
 
 find_package(catkin REQUIRED COMPONENTS
   nav_grid nav_2d_msgs nav_2d_utils nav_msgs roscpp
diff --git a/nav_grid_pub_sub/CMakeLists.txt b/nav_grid_pub_sub/CMakeLists.txt
@@ -1,6 +1,9 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.10.2)
 project(nav_grid_pub_sub)
-set_directory_properties(PROPERTIES COMPILE_OPTIONS "-std=c++11;-Wall;-Werror")
+set_directory_properties(PROPERTIES COMPILE_OPTIONS "-Wall;-Werror")
+if(NOT "${CMAKE_CXX_STANDARD}")
+    set(CMAKE_CXX_STANDARD 14)
+endif()
 
 find_package(catkin REQUIRED
     COMPONENTS
diff --git a/nav_grid_pub_sub/include/nav_grid_pub_sub/nav_grid_publisher.h b/nav_grid_pub_sub/include/nav_grid_pub_sub/nav_grid_publisher.h
@@ -139,11 +139,11 @@ class GenericGridPublisher
     publish_updates_ = publish_updates;
 
     createPublishers<NavGridOfX, NavGridOfXUpdate>(
-        nh, nav_grid_topic, boost::bind(&GenericGridPublisher::onNewSubscriptionNav, this, _1),
+        nh, nav_grid_topic, std::bind(&GenericGridPublisher::onNewSubscriptionNav, this, std::placeholders::_1),
         nav_pub_, nav_update_pub_, publish_updates);
 
     createPublishers<nav_msgs::OccupancyGrid, map_msgs::OccupancyGridUpdate>(
-        nh, occupancy_grid_topic, boost::bind(&GenericGridPublisher::onNewSubscriptionOcc, this, _1),
+        nh, occupancy_grid_topic, std::bind(&GenericGridPublisher::onNewSubscriptionOcc, this, std::placeholders::_1),
         occ_pub_, occ_update_pub_, publish_updates);
 
     if (update_area_topic.length() > 0)
diff --git a/nav_grid_server/CMakeLists.txt b/nav_grid_server/CMakeLists.txt
@@ -1,6 +1,9 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.10.2)
 project(nav_grid_server)
-set_directory_properties(PROPERTIES COMPILE_OPTIONS "-std=c++11;-Wall;-Werror")
+set_directory_properties(PROPERTIES COMPILE_OPTIONS "-Wall;-Werror")
+if(NOT "${CMAKE_CXX_STANDARD}")
+    set(CMAKE_CXX_STANDARD 14)
+endif()
 
 find_package(catkin REQUIRED COMPONENTS
     nav_2d_utils
diff --git a/robot_nav_tools/color_util/CMakeLists.txt b/robot_nav_tools/color_util/CMakeLists.txt
@@ -1,6 +1,9 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.10.2)
 project(color_util)
-set_directory_properties(PROPERTIES COMPILE_OPTIONS "-std=c++11;-Wall;-Werror")
+set_directory_properties(PROPERTIES COMPILE_OPTIONS "-Wall;-Werror")
+if(NOT "${CMAKE_CXX_STANDARD}")
+    set(CMAKE_CXX_STANDARD 14)
+endif()
 
 find_package(catkin REQUIRED COMPONENTS std_msgs)
 
diff --git a/robot_nav_tools/robot_nav_rviz_plugins/CMakeLists.txt b/robot_nav_tools/robot_nav_rviz_plugins/CMakeLists.txt
@@ -1,6 +1,9 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.10.2)
 project(robot_nav_rviz_plugins)
-set_directory_properties(PROPERTIES COMPILE_OPTIONS "-std=c++11;-Wall;-Werror")
+set_directory_properties(PROPERTIES COMPILE_OPTIONS "-Wall;-Werror")
+if(NOT "${CMAKE_CXX_STANDARD}")
+    set(CMAKE_CXX_STANDARD 14)
+endif()
 
 find_package(catkin REQUIRED COMPONENTS
     color_util
diff --git a/robot_nav_tools/robot_nav_rviz_plugins/include/robot_nav_rviz_plugins/nav_grid_display.h b/robot_nav_tools/robot_nav_rviz_plugins/include/robot_nav_rviz_plugins/nav_grid_display.h
@@ -36,7 +36,6 @@
 #define ROBOT_NAV_RVIZ_PLUGINS_NAV_GRID_DISPLAY_H
 
 #ifndef Q_MOC_RUN
-#include <boost/thread/thread.hpp>
 #include <OgreTexture.h>
 #include <OgreMaterial.h>
 #include <OgreSharedPtr.h>
diff --git a/robot_nav_tools/robot_nav_rviz_plugins/src/nav_grid_display.cpp b/robot_nav_tools/robot_nav_rviz_plugins/src/nav_grid_display.cpp
@@ -34,7 +34,6 @@
 
 #include <robot_nav_rviz_plugins/nav_grid_display.h>
 #include <robot_nav_rviz_plugins/validate_floats.h>
-#include <boost/bind.hpp>
 
 #include <OgreSharedPtr.h>
 #include <OgreVector3.h>
diff --git a/robot_nav_tools/robot_nav_rviz_plugins/src/path_display.cpp b/robot_nav_tools/robot_nav_rviz_plugins/src/path_display.cpp
@@ -31,7 +31,6 @@
 #include <robot_nav_rviz_plugins/path_display.h>
 #include <robot_nav_rviz_plugins/validate_floats.h>
 #include <nav_2d_utils/conversions.h>
-#include <boost/bind.hpp>
 
 #include <OgreSceneNode.h>
 #include <OgreSceneManager.h>
diff --git a/robot_nav_tools/robot_nav_tools/CMakeLists.txt b/robot_nav_tools/robot_nav_tools/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.10.2)
 project(robot_nav_tools)
 find_package(catkin REQUIRED)
 catkin_metapackage()
diff --git a/robot_nav_tools/robot_nav_viz_demos/CMakeLists.txt b/robot_nav_tools/robot_nav_viz_demos/CMakeLists.txt
@@ -1,6 +1,9 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.10.2)
 project(robot_nav_viz_demos)
-set_directory_properties(PROPERTIES COMPILE_OPTIONS "-std=c++11;-Wall;-Werror")
+set_directory_properties(PROPERTIES COMPILE_OPTIONS "-Wall;-Werror")
+if(NOT "${CMAKE_CXX_STANDARD}")
+    set(CMAKE_CXX_STANDARD 14)
+endif()
 
 find_package(catkin REQUIRED COMPONENTS
     angles
diff --git a/robot_nav_tools/robot_nav_viz_demos/src/spectrum_display.cpp b/robot_nav_tools/robot_nav_viz_demos/src/spectrum_display.cpp
@@ -33,7 +33,6 @@
  */
 
 #include <robot_nav_viz_demos/spectrum_display.h>
-#include <boost/bind.hpp>
 #include <color_util/blend.h>
 #include <color_util/convert.h>
 #include <algorithm>
diff --git a/robot_nav_tools/rqt_dwb_plugin/CMakeLists.txt b/robot_nav_tools/rqt_dwb_plugin/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.10.2)
 project(rqt_dwb_plugin)
 
 find_package(catkin REQUIRED)
diff --git a/robot_nav_tools/rqt_dwb_plugin/package.xml b/robot_nav_tools/rqt_dwb_plugin/package.xml
@@ -7,6 +7,8 @@
   <license>BSD</license>
 
   <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>python3-setuptools</buildtool_depend>
+
   <exec_depend>dwb_msgs</exec_depend>
   <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>nav_2d_utils</exec_depend>
diff --git a/robot_nav_tools/rqt_dwb_plugin/setup.py b/robot_nav_tools/rqt_dwb_plugin/setup.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python
 
-from distutils.core import setup
+from setuptools import setup
 from catkin_pkg.python_setup import generate_distutils_setup
 
 package_info = generate_distutils_setup(
diff --git a/robot_navigation/CMakeLists.txt b/robot_navigation/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.10.2)
 project(robot_navigation)
 find_package(catkin REQUIRED)
 catkin_metapackage()

Original file line number	Diff line number	Diff line change
`@@ -1,4 +1,4 @@`
`1`		`-cmake_minimum_required(VERSION 3.0.2)`
	`1`	`+cmake_minimum_required(VERSION 3.10.2)`
`2`	`2`	`project(dwb_msgs)`
`3`	`3`
`4`	`4`	`find_package(catkin REQUIRED`
Original file line number	Diff line number	Diff line change
`@@ -87,7 +87,7 @@ void KinematicParameters::initialize(const ros::NodeHandle& nh)`
`87`	`87`	`// the rest of the initial values are loaded through the dynamic reconfigure mechanisms`
`88`	`88`	`dsrv_ = std::make_shared<dynamic_reconfigure::Server<KinematicParamsConfig> >(nh);`
`89`	`89`	`dynamic_reconfigure::Server<KinematicParamsConfig>::CallbackType cb =`
`90`		`- boost::bind(&KinematicParameters::reconfigureCB, this, _1, _2);`
	`90`	`+ std::bind(&KinematicParameters::reconfigureCB, this, std::placeholders::_1, std::placeholders::_2);`
`91`	`91`	`dsrv_->setCallback(cb);`
`92`	`92`	`}`
`93`	`93`