Removing some boost usage #1331

henrygerardmoore · 2022-06-09T20:42:33Z

Description

Taking over from #1118, this is part 1 of the work that will be done. More boost usage can be (somewhat) easily removed, but the PR is already quite large so that will take place in another PR. The changes included in this PR are

boost::array -> std::array
boost::function -> std::function
boost::mutex and similar objects (boost::shared_lock etc) -> std::mutex
boost::starts_with(name, object.first) -> name.rfind(object.first, 0) == 0
boost::math::tools::epsilon<double>() -> std::numeric_limits<double>::min()
boost::filesystem -> std::filesystem
boost::thread -> std::thread
Adding now-necessary includes
Changing some calls that differ between boost and the std equivalent

In a future PR, the following will be done:

replace boost::regex
replace boost::noncopyable
replace boost::lexical_cast
replace boost::optional
replace boost::thread_group

When MoveIt is updated to C++20, any use of boost::math::constants can be replaced with std::numbers constants

Checklist

Required by CI: Code is auto formatted using clang-format
Extend the tutorials / documentation reference
Document API changes relevant to the user in the MIGRATION.md notes
Create tests, which fail without this PR reference
Include a screenshot if changing a GUI
While waiting for someone to review your request, please help review another open pull request to support the maintainers

codecov · 2022-06-09T22:08:58Z

Codecov Report

Merging #1331 (46670a2) into main (212af0f) will increase coverage by 0.02%.
The diff coverage is 29.47%.

@@            Coverage Diff             @@
##             main    #1331      +/-   ##
==========================================
+ Coverage   61.57%   61.58%   +0.02%     
==========================================
  Files         274      274              
  Lines       24965    24965              
==========================================
+ Hits        15369    15372       +3     
+ Misses       9596     9593       -3

Impacted Files	Coverage Δ
...lude/moveit/collision_detection/collision_common.h	`83.88% <ø> (ø)`
...lude/moveit/collision_detection/collision_matrix.h	`100.00% <ø> (ø)`
...include/moveit/collision_detection/occupancy_map.h	`0.00% <ø> (ø)`
...tection/include/moveit/collision_detection/world.h	`100.00% <ø> (ø)`
..._core/collision_detection/src/collision_matrix.cpp	`37.15% <ø> (ø)`
...e/collision_detection_fcl/src/collision_common.cpp	`73.76% <ø> (ø)`
...sion_distance_field/collision_env_distance_field.h	`4.77% <ø> (ø)`
...it/collision_distance_field/collision_env_hybrid.h	`0.00% <ø> (ø)`
...e/include/moveit/kinematics_base/kinematics_base.h	`75.76% <ø> (ø)`
...ene/include/moveit/planning_scene/planning_scene.h	`43.55% <ø> (ø)`
... and 37 more

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mergify · 2022-06-13T18:13:21Z

This pull request is in conflict. Could you fix it @henrygerardmoore?

henningkayser

Thanks for continuing on this effort. It's a lot of changes, but I assume it's fine squash-merging this since everything is pretty straight-forward. @Abishalini should be mentioned as co-author as she has prepared a sizeable portion of these changes (this can be added with the squash-merge commit).

@henrygerardmoore Are there any packages that don't depend on boost anymore? This should be reflected in the CMakeLists.txt fiels, possibly also in the package.xml dependencies. Could you verify this?

moveit_core/collision_detection/src/world.cpp

moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h

mergify · 2022-06-14T15:00:19Z

This pull request is in conflict. Could you fix it @henrygerardmoore?

henrygerardmoore · 2022-06-14T18:38:01Z

Removed boost from as many CMakeLists as I think is possible, and also made sure it wasn't unnecessarily in any package.xml files. I believe the PR should be good to go now.

Abishalini

Found some headers that can be removed

...core/collision_distance_field/include/moveit/collision_distance_field/collision_env_hybrid.h

moveit_core/kinematics_metrics/src/kinematics_metrics.cpp

moveit_core/planning_scene/test/test_collision_objects.cpp

moveit_core/planning_scene/test/test_planning_scene.cpp

moveit_core/robot_model/include/moveit/robot_model/robot_model.h

.../kinematics_plugin_loader/include/moveit/kinematics_plugin_loader/kinematics_plugin_loader.h

...ros/planning_interface/planning_scene_interface/src/wrap_python_planning_scene_interface.cpp

moveit_ros/robot_interaction/include/moveit/robot_interaction/kinematic_options_map.h

moveit_ros/robot_interaction/test/locked_robot_state_test.cpp

Abishalini

Looks good to me! Thanks for this

tylerjw

Thank you for taking this on and getting it over the finish line!

The noted PR swapped boost::thread to std::thread - however std::thread will cause the program to crash with a note that TERMINATE CALLED WITHOUT ACTIVE EXCEPTION if the thread object goes out of scope while not joinable. Detaching the thread restores the original workflow prior to the PR and allows users to send more than one trajectory via the motion planning plugin in RVIZ (otherwise, it crashes on the first trajectory).

Co-authored-by: Vatan Aksoy Tezer <[email protected]>

The noted PR swapped boost::thread to std::thread - however std::thread will cause the program to crash with a note that TERMINATE CALLED WITHOUT ACTIVE EXCEPTION if the thread object goes out of scope while not joinable. Detaching the thread restores the original workflow prior to the PR and allows users to send more than one trajectory via the motion planning plugin in RVIZ (otherwise, it crashes on the first trajectory).

henrygerardmoore added 8 commits June 7, 2022 16:49

initial pass on removing boost

22cb249

removing boost filesystem usage

a9cb84f

removing boost and changing calls to work without boost

af0fed8

got everything to build and fixed locked robot state test

90f9e00

made thread joining safer

245cad5

remove install and log

05ebbb6

auto formatting

256c020

fixed clang format

fff4fdd

henrygerardmoore and others added 3 commits June 9, 2022 16:14

changes solution callback empty check to work with std::function

58f3828

removed unnecessary comment

190aa61

Merge branch 'main' into remove_boost

47148ff

henrygerardmoore changed the title ~~Removing boost~~ Removing some boost usage Jun 10, 2022

Merge branch 'main' into remove_boost

35fed32

Abishalini mentioned this pull request Jun 10, 2022

Replace boost wherever possible #1118

Closed

6 tasks

removing unnecessary boost inclusions

95ce624

henrygerardmoore marked this pull request as ready for review June 10, 2022 21:05

Merge branch 'main' into remove_boost

d3dddfa

Merge branch 'main' into remove_boost

d33b78d

henningkayser reviewed Jun 13, 2022

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moveit_core/collision_detection/src/world.cpp Outdated Show resolved Hide resolved

changed comment

79405c4

Abishalini reviewed Jun 13, 2022

View reviewed changes

moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h Show resolved Hide resolved

henrygerardmoore and others added 4 commits June 13, 2022 13:09

removing forward declarations

25bfad5

removed reliance on indirect includes

4ba40c8

Merge branch 'main' into remove_boost

61952bc

final changes, removing unnecessary boost includes from CMakeLists

d398386

henrygerardmoore and others added 2 commits June 14, 2022 09:19

removed now-unnecessary package

ee04b2c

Merge branch 'main' into remove_boost

7d20e56

henrygerardmoore and others added 4 commits June 14, 2022 09:33

added direct includes

dd4cda6

fixed formatting

97dd35f

added back mistakenly removed cmake command

051cc11

Merge branch 'main' into remove_boost

6a0a154

henrygerardmoore requested review from Abishalini and henningkayser June 14, 2022 18:38

Abishalini reviewed Jun 14, 2022

View reviewed changes

removing unnecessary includes thanks to Abi's review

2f3c9dd

Abishalini approved these changes Jun 14, 2022

View reviewed changes

henningkayser approved these changes Jun 15, 2022

View reviewed changes

Merge branch 'main' into remove_boost

27418ed

vatanaksoytezer approved these changes Jun 15, 2022

View reviewed changes

Merge branch 'main' into remove_boost

46670a2

tylerjw approved these changes Jun 15, 2022

View reviewed changes

tylerjw merged commit 5ce32f9 into moveit:main Jun 15, 2022

vatanaksoytezer mentioned this pull request Jun 16, 2022

CI broken after removing boost usage on moveit2 moveit/moveit2_tutorials#449

Closed

This was referenced Jun 16, 2022

Removing more boost usage #1372

Merged

Replace boost constants #1373

Closed

henrygerardmoore deleted the remove_boost branch June 17, 2022 16:37

peterdavidfagan pushed a commit to peterdavidfagan/moveit2 that referenced this pull request Jul 14, 2022

Removing some boost usage (moveit#1331)

5cb2d25

Co-authored-by: Vatan Aksoy Tezer <[email protected]>

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Removing some boost usage #1331

Removing some boost usage #1331

henrygerardmoore commented Jun 9, 2022 •

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Removing some boost usage #1331

Removing some boost usage #1331

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henrygerardmoore commented Jun 9, 2022 • edited Loading

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henrygerardmoore commented Jun 9, 2022 •

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