[ROS-O] drop deprecated use of boost _1, _2

sr_edc_ethercat_drivers/src/sr09.cpp

@@ -171,10 +171,10 @@ int SR09::initialize(hardware_interface::HardwareInterface *hw, bool allow_unpro
 
   imu_gyr_scale_server_ =  nodehandle_.advertiseService
     <sr_robot_msgs::SetImuScale::Request, sr_robot_msgs::SetImuScale::Response>
-    ("/" + imu_name + "/set_gyr_scale", boost::bind(&SR09::imu_scale_callback_, this, _1, _2, "gyr"));
+    ("/" + imu_name + "/set_gyr_scale", [this](auto req, auto res){ return imu_scale_callback_(req, res, "gyr"); });
   imu_acc_scale_server_ =  nodehandle_.advertiseService
     <sr_robot_msgs::SetImuScale::Request, sr_robot_msgs::SetImuScale::Response>
-    ("/" + imu_name + "/set_acc_scale", boost::bind(&SR09::imu_scale_callback_, this, _1, _2, "acc"));
+    ("/" + imu_name + "/set_acc_scale", [this](auto req, auto res){ return imu_scale_callback_(req, res, "acc"); });
 
   ros::param::param<int>("/" + imu_name + "/acc_scale", imu_scale_acc_, 0);
   ros::param::param<int>("/" + imu_name + "/gyr_scale", imu_scale_gyr_, 0);

sr_edc_ethercat_drivers/src/sr10.cpp

@@ -183,10 +183,10 @@ int SR10::initialize(hardware_interface::HardwareInterface *hw, bool allow_unpro
   // Broadcast /set_gyr_scale and /set_acc_scale services
   imu_gyr_scale_server_ =  nodehandle_.advertiseService
     <sr_robot_msgs::SetImuScale::Request, sr_robot_msgs::SetImuScale::Response>
-    ("/" + imu_name + "/set_gyr_scale", boost::bind(&SR10::imu_scale_callback_, this, _1, _2, "gyr"));
+    ("/" + imu_name + "/set_gyr_scale", [this](auto req, auto res){ return imu_scale_callback_(req, res, "gyr"); });
   imu_acc_scale_server_ =  nodehandle_.advertiseService
     <sr_robot_msgs::SetImuScale::Request, sr_robot_msgs::SetImuScale::Response>
-    ("/" + imu_name + "/set_acc_scale", boost::bind(&SR10::imu_scale_callback_, this, _1, _2, "acc"));
+    ("/" + imu_name + "/set_acc_scale", [this](auto req, auto res){ return imu_scale_callback_(req, res, "acc"); });
 
   // Initialize default IMU scaling values
   ros::param::param<int>("/" + imu_name + "/acc_scale", imu_scale_acc_, 0);

sr_robot_lib/src/generic_updater.cpp

@@ -46,10 +46,11 @@ namespace generic_updater
               double tmp_dur = config.when_to_update;
               ros::Duration duration(tmp_dur);
 
+              int32u data_type = config.what_to_update;
               timers.push_back(
                       nh_tilde.createTimer(
                               duration,
-                              boost::bind(&GenericUpdater::timer_callback, this, _1, config.what_to_update)));
+                              [this, data_type](auto event){ timer_callback(event, data_type); }));
             }
             else
             {

sr_robot_lib/src/motor_data_checker.cpp

@@ -3,7 +3,7 @@
 * @author toni <toni@shadowrobot.com>
 * @date   25 Oct 2011
 *
-/* Copyright 2011 Shadow Robot Company Ltd.
+/* Copyright 2011, 2024 Shadow Robot Company Ltd.
 *
 * This program is free software: you can redistribute it and/or modify it
 * under the terms of the GNU General Public License as published by the Free
@@ -53,7 +53,7 @@ namespace generic_updater
   {
     // Create a one-shot timer
     check_timeout_timer = nh_tilde.createTimer(init_max_duration,
-                                               boost::bind(&MotorDataChecker::timer_callback, this, _1), true);
+                                               [this](auto event){ timer_callback(event); }, true);
     update_state = operation_mode::device_update_state::INITIALIZATION;
     msg_checkers_.clear();
 

sr_robot_lib/src/sr_motor_hand_lib.cpp

@@ -164,25 +164,23 @@ namespace shadow_robot
         ostringstream ss;
         ss << "change_force_PID_" << joint_names[index];
         // initialize the force pid service
+        const int motor_id = motor_wrapper->motor_id;
+        auto change_force_cb = [this, motor_id](auto req, auto res){ return force_pid_callback(req, res, motor_id); };
         // NOTE: the template keyword is needed to avoid a compiler complaint apparently due to the fact that
         // we are using an explicit template function inside this template class
         motor_wrapper->force_pid_service =
                 this->nh_tilde.template advertiseService<sr_robot_msgs::ForceController::Request,
-                        sr_robot_msgs::ForceController::Response>(ss.str().c_str(),
-                                                                  boost::bind(
-                                                                          &SrMotorHandLib<StatusType,
-                                                                                  CommandType>::force_pid_callback,
-                                                                          this, _1, _2,
-                                                                          motor_wrapper->motor_id));
+                        sr_robot_msgs::ForceController::Response>(ss.str().c_str(), change_force_cb);
 
         ss.str("");
         ss << "reset_motor_" << joint_names[index];
         // initialize the reset motor service
+        pair<int, string> joint_pair(motor_wrapper->motor_id, joint.joint_name);
+        auto reset_motor_cb =
+                [this, joint_pair](auto req, auto res){ return reset_motor_callback(req, res, joint_pair); };
         motor_wrapper->reset_motor_service =
                 this->nh_tilde.template advertiseService<std_srvs::Empty::Request, std_srvs::Empty::Response>(
-                        ss.str().c_str(),
-                        boost::bind(&SrMotorHandLib<StatusType, CommandType>::reset_motor_callback, this, _1, _2,
-                                    pair<int, string>(motor_wrapper->motor_id, joint.joint_name)));
+                        ss.str().c_str(), reset_motor_cb);
       }
       else
       { // no motor associated to this joint

sr_robot_lib/src/sr_muscle_hand_lib.cpp

@@ -4,7 +4,7 @@
 * @date   Tue Mar  19 17:12:13 2013
 *
 *
-/* Copyright 2013 Shadow Robot Company Ltd.
+/* Copyright 2013, 2024 Shadow Robot Company Ltd.
 *
 * This program is free software: you can redistribute it and/or modify it
 * under the terms of the GNU General Public License as published by the Free
@@ -113,13 +113,10 @@ namespace shadow_robot
       ostringstream ss;
       ss << "reset_muscle_driver_" << i;
       // initialize the reset muscle driver service
+      auto reset_driver_cb = [this, i](auto req, auto res){ return reset_muscle_driver_callback(req, res, i); };
       driver.reset_driver_service =
               this->nh_tilde.template advertiseService<std_srvs::Empty::Request,
-                      std_srvs::Empty::Response>(ss.str().c_str(),
-                                                 boost::bind(
-                                                         &SrMuscleHandLib<StatusType,
-                                                                 CommandType>::reset_muscle_driver_callback,
-                                                         this, _1, _2, i));
+                      std_srvs::Empty::Response>(ss.str().c_str(), reset_driver_cb);
 
       this->muscle_drivers_vector_.push_back(driver);
     }

sr_robot_lib/src/sr_muscle_robot_lib.cpp

@@ -4,7 +4,7 @@
 * @date   Tue Mar  19 17:12:13 2013
 *
 *
-/* Copyright 2013 Shadow Robot Company Ltd.
+/* Copyright 2013, 2024 Shadow Robot Company Ltd.
 *
 * This program is free software: you can redistribute it and/or modify it
 * under the terms of the GNU General Public License as published by the Free
@@ -75,10 +75,7 @@ namespace shadow_robot
 
             // Create a one-shot timer
             check_init_timeout_timer(this->nh_tilde.createTimer(init_max_duration,
-                                                                boost::bind(
-                                                                        &SrMuscleRobotLib<StatusType,
-                                                                                CommandType>::init_timer_callback,
-                                                                        this, _1), true)),
+                                                                [this](auto ev){ init_timer_callback(ev); }, true)),
             pressure_calibration_map_(read_pressure_calibration())
   {
 #ifdef DEBUG_PUBLISHER

sr_robot_lib/src/sr_robot_lib.cpp

@@ -220,10 +220,7 @@ namespace shadow_robot
             // Create a one-shot timer
             tactile_check_init_timeout_timer(
                     this->nh_tilde.createTimer(tactile_init_max_duration,
-                                               boost::bind(
-                                                       &SrRobotLib<StatusType,
-                                                               CommandType>::tactile_init_timer_callback,
-                                                       this, _1), true)),
+                                               [this](auto event){ tactile_init_timer_callback(event); }, true)),
             lock_tactile_init_timeout_(boost::shared_ptr<boost::mutex>(new boost::mutex())),
             tactiles_init(shared_ptr<GenericTactiles<StatusType, CommandType> >(
                     new GenericTactiles<StatusType, CommandType>(nodehandle_, device_id_,