ros-noetic-ros-babel-fish.patch

diff --git a/ros_babel_fish/CMakeLists.txt b/ros_babel_fish/CMakeLists.txt
index 45e26fe..d625e0f 100644
--- a/ros_babel_fish/CMakeLists.txt
+++ b/ros_babel_fish/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5.1)
+cmake_minimum_required(VERSION 3.10.2)
 project(ros_babel_fish VERSION 0.9.1)
 
 # If the value doesn't fit, an exception is thrown in any case because that could result in unexpected behavior and can not be ignored lightly
@@ -9,9 +9,9 @@ if (WARN_ON_INCOMPATIBLE_TYPE)
 endif ()
 
 ## Compile as C++11, supported in ROS Kinetic and newer
-add_compile_options(-std=c++11)
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-add_definitions(-Wall -Wextra)
 
 #set(CMAKE_BUILD_TYPE "Debug")
 
@@ -20,6 +20,7 @@ add_definitions(-Wall -Wextra)
 ## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS actionlib roscpp roslib std_msgs)
 find_package(OpenSSL REQUIRED)
+find_package(Boost REQUIRED COMPONENTS filesystem)
 
 ###################################
 ## catkin specific configuration ##
@@ -34,7 +35,7 @@ catkin_package(
   INCLUDE_DIRS include
   LIBRARIES ${PROJECT_NAME}
   CATKIN_DEPENDS actionlib roscpp roslib
-  DEPENDS OPENSSL
+  DEPENDS OPENSSL Boost
 )
 
 ###########
@@ -46,13 +47,13 @@ catkin_package(
 include_directories(
   include
   ${catkin_INCLUDE_DIRS}
+  ${Boost_INCLUDE_DIRS}
   ${OPENSSL_INCLUDE_DIR}
 )
 
 set(LIBRARIES
   ${catkin_LIBRARIES}
   OpenSSL::SSL
-  stdc++fs
 )
 
 set(SOURCES
diff --git a/ros_babel_fish/examples/rosbag_frame_ids.cpp b/ros_babel_fish/examples/rosbag_frame_ids.cpp
index 1aae260..ab0f36e 100644
--- a/ros_babel_fish/examples/rosbag_frame_ids.cpp
+++ b/ros_babel_fish/examples/rosbag_frame_ids.cpp
@@ -47,7 +47,7 @@ public:
 
   const uint8_t *buffer() const final
   {
-    if ( buffer_.empty() and size() > 0 )
+    if ( buffer_.empty() && size() > 0 )
     {
       buffer_.resize( size());
       ros::serialization::OStream stream( buffer_.data(), buffer_.size());
diff --git a/ros_babel_fish/include/ros_babel_fish/actionlib/client/babel_fish_action_client.h b/ros_babel_fish/include/ros_babel_fish/actionlib/client/babel_fish_action_client.h
index 8714b5b..a7c1580 100644
--- a/ros_babel_fish/include/ros_babel_fish/actionlib/client/babel_fish_action_client.h
+++ b/ros_babel_fish/include/ros_babel_fish/actionlib/client/babel_fish_action_client.h
@@ -179,20 +179,20 @@ private:
     // Start publishers and subscribers
     goal_pub_ = advertiseGoal( description, "goal", static_cast<uint32_t>(pub_queue_size),
                                boost::bind( &ConnectionMonitor::goalConnectCallback, connection_monitor_,
-                                            _1 ),
+                                            boost::placeholders::_1 ),
                                boost::bind( &ConnectionMonitor::goalDisconnectCallback,
-                                            connection_monitor_, _1 ),
+                                            connection_monitor_, boost::placeholders::_1 ),
                                queue );
     cancel_pub_ =
       queue_advertise<actionlib_msgs::GoalID>( "cancel", static_cast<uint32_t>(pub_queue_size),
                                                boost::bind( &ConnectionMonitor::cancelConnectCallback,
-                                                            connection_monitor_, _1 ),
+                                                            connection_monitor_, boost::placeholders::_1 ),
                                                boost::bind( &ConnectionMonitor::cancelDisconnectCallback,
-                                                            connection_monitor_, _1 ),
+                                                            connection_monitor_, boost::placeholders::_1 ),
                                                queue );
 
-    manager_.registerSendGoalFunc( boost::bind( &ActionClientT::sendGoalFunc, this, _1 ));
-    manager_.registerCancelFunc( boost::bind( &ActionClientT::sendCancelFunc, this, _1 ));
+    manager_.registerSendGoalFunc( boost::bind( &ActionClientT::sendGoalFunc, this, boost::placeholders::_1 ));
+    manager_.registerCancelFunc( boost::bind( &ActionClientT::sendCancelFunc, this, boost::placeholders::_1 ));
   }
 
   ros::Publisher advertiseGoal( const ::ros_babel_fish::MessageDescription::ConstPtr &description,
@@ -235,7 +235,7 @@ private:
     ops.datatype = ros::message_traits::datatype<M>();
     ops.helper = ros::SubscriptionCallbackHelperPtr(
       new ros::SubscriptionCallbackHelperT<const ros::MessageEvent<M const> &>(
-        boost::bind( fp, obj, _1 )
+        boost::bind( fp, obj, boost::placeholders::_1 )
       )
     );
     return n_.subscribe( ops );
diff --git a/ros_babel_fish/include/ros_babel_fish/actionlib/client/simple_action_client.h b/ros_babel_fish/include/ros_babel_fish/actionlib/client/simple_action_client.h
index 29e4db8..ed69bdf 100644
--- a/ros_babel_fish/include/ros_babel_fish/actionlib/client/simple_action_client.h
+++ b/ros_babel_fish/include/ros_babel_fish/actionlib/client/simple_action_client.h
@@ -319,8 +319,8 @@ void SimpleActionClient<::ros_babel_fish::BabelFishAction_<ContainerAllocator> >
   cur_simple_state_ = SimpleGoalState::PENDING;
 
   // Send the goal to the ActionServer
-  gh_ = ac_->sendGoal( goal, boost::bind( &SimpleActionClientT::handleTransition, this, _1 ),
-                       boost::bind( &SimpleActionClientT::handleFeedback, this, _1, _2 ));
+  gh_ = ac_->sendGoal( goal, boost::bind( &SimpleActionClientT::handleTransition, this, boost::placeholders::_1 ),
+                       boost::bind( &SimpleActionClientT::handleFeedback, this, boost::placeholders::_1, boost::placeholders::_2 ));
 }
 
 template<class ContainerAllocator>
diff --git a/ros_babel_fish/include/ros_babel_fish/message.h b/ros_babel_fish/include/ros_babel_fish/message.h
index 278378c..50d36ec 100644
--- a/ros_babel_fish/include/ros_babel_fish/message.h
+++ b/ros_babel_fish/include/ros_babel_fish/message.h
@@ -8,7 +8,16 @@
 #include "ros_babel_fish/exceptions/babel_fish_exception.h"
 #include <ros/time.h>
 
+#include <cstdint>
 #include <memory>
+#include <stddef.h>
+
+#ifdef _WIN32
+#include <BaseTsd.h>
+typedef SSIZE_T ssize_t;
+#else
+#include <sys/types.h>
+#endif
 
 namespace ros_babel_fish
 {
@@ -64,7 +73,7 @@ public:
   /*!
    * Alias for _stream(). Removed in future release.
    */
-  __attribute_deprecated__ const uint8_t *data() const { return _stream(); }
+  const uint8_t *data() const { return _stream(); }
 
   /*!
    * @return Size of the message in bytes if serialized in ROS message binary format
@@ -74,7 +83,7 @@ public:
   /*!
    * Alias for _sizeInBytes(). Removed in future release.
    */
-  __attribute_deprecated__ size_t size() const { return _sizeInBytes(); }
+  size_t size() const { return _sizeInBytes(); }
 
   /*!
    * @return Whether or not the message is detached from the stream. If false, the message is not fully copied and still relies on the translated message.
diff --git a/ros_babel_fish/include/ros_babel_fish/messages/array_message.h b/ros_babel_fish/include/ros_babel_fish/messages/array_message.h
index 0dfd852..cc65e00 100644
--- a/ros_babel_fish/include/ros_babel_fish/messages/array_message.h
+++ b/ros_babel_fish/include/ros_babel_fish/messages/array_message.h
@@ -117,7 +117,7 @@ public:
    * Alias for assign
    * Deprecated, will be removed in a future release
    */
-  __attribute_deprecated__ void setItem( size_t index, ArgumentType value ) { assign( index, value ); }
+  void setItem( size_t index, ArgumentType value ) { assign( index, value ); }
 
   void push_back( ArgumentType value )
   {
@@ -139,7 +139,7 @@ public:
    * Alias for push_back
    * Deprecated, will be removed in a future release
    */
-  __attribute_deprecated__ void addItem( ArgumentType value ) { push_back( value ); }
+  void addItem( ArgumentType value ) { push_back( value ); }
 
   size_t _sizeInBytes() const override
   {
@@ -219,41 +219,6 @@ protected:
 };
 
 
-//! Specialization for Message
-template<>
-ArrayMessage<Message>::ArrayMessage( MessageType element_type, size_t length, bool fixed_length,
-                                     const uint8_t *stream, bool );
-
-template<>
-ArrayMessage<Message>::~ArrayMessage();
-
-template<>
-Message &ArrayMessage<Message>::operator[]( size_t index );
-
-template<>
-const Message &ArrayMessage<Message>::operator[]( size_t index ) const;
-
-template<>
-void ArrayMessage<Message>::assign( size_t index, Message *value );
-
-template<>
-size_t ArrayMessage<Message>::_sizeInBytes() const;
-
-template<>
-size_t ArrayMessage<Message>::writeToStream( uint8_t *stream ) const;
-
-template<>
-inline void ArrayMessage<Message>::detachFromStream()
-{
-  /* So compiler won't complain. This specialization can not be from stream anyway. */
-}
-
-template<>
-ArrayMessage<Message> &ArrayMessage<Message>::operator=( const ArrayMessage<Message> &other );
-
-template<>
-Message *ArrayMessage<Message>::clone() const;
-
 //! Specialization for CompoundMessage
 class CompoundArrayMessage : public ArrayMessage<Message>
 {
@@ -287,6 +252,108 @@ private:
   MessageTemplate::ConstPtr msg_template_;
 };
 
+
+//! Specialization for Message
+template<>
+inline ArrayMessage<Message>::ArrayMessage( MessageType element_type, size_t length, bool fixed_length, const uint8_t *stream,
+                                     bool )
+  : ArrayMessageBase( element_type, length, fixed_length, stream ), values_( 0 ), from_stream_( false ) { }
+
+template<>
+inline ArrayMessage<Message>::~ArrayMessage()
+{
+  for ( auto &entry : values_ )
+  {
+    delete entry;
+  }
+  values_.clear();
+}
+
+template<>
+inline Message &ArrayMessage<Message>::operator[]( size_t index )
+{
+  return *values_[index];
+}
+
+template<>
+inline const Message &ArrayMessage<Message>::operator[]( size_t index ) const
+{
+  return *values_[index];
+}
+
+template<>
+inline void ArrayMessage<Message>::assign( size_t index, Message *value )
+{
+  if ( index >= length_ )
+    throw BabelFishException( "Index in setItem was out of bounds! Maybe you meant push_back?" );
+  delete values_[index];
+  values_[index] = value;
+}
+
+template<>
+inline size_t ArrayMessage<Message>::_sizeInBytes() const
+{
+  size_t result = (fixed_length_ ? 0 : 4);
+  for ( auto &value : values_ )
+  {
+    result += value->_sizeInBytes();
+  }
+  return result;
+}
+
+template<>
+inline size_t ArrayMessage<Message>::writeToStream( uint8_t *stream ) const
+{
+  size_t offset = 0;
+  if ( !fixed_length_ )
+  {
+    *reinterpret_cast<uint32_t *>(stream) = length_;
+    offset = 4;
+  }
+  for ( auto &value : values_ )
+  {
+    offset += value->writeToStream( stream + offset );
+  }
+  return offset;
+}
+
+template<>
+inline ArrayMessage<Message> &ArrayMessage<Message>::operator=( const ArrayMessage<Message> &other )
+{
+  if ( type() != other.type() ||
+       (elementType() == MessageTypes::Compound &&
+        as<CompoundArrayMessage>().elementDataType() != other.as<CompoundArrayMessage>().elementDataType()))
+    throw BabelFishException( "Can not assign incompatible ArrayMessage! They need to have exactly the same type!" );
+  for ( auto &entry : values_ )
+  {
+    delete entry;
+  }
+  values_.clear();
+  values_.reserve( other._sizeInBytes());
+  std::transform( other.values_.begin(), other.values_.end(), std::back_inserter( values_ ),
+                  []( Message *m ) { return m->clone(); } );
+  length_ = other.length_;
+  fixed_length_ = other.fixed_length_;
+  stream_ = other.stream_;
+  return *this;
+}
+
+template<>
+inline Message *ArrayMessage<Message>::clone() const
+{
+  auto result = new ArrayMessage<Message>( elementType(), length(), isFixedSize(), stream_ );
+  result->values_.clear();
+  std::transform( values_.begin(), values_.end(), std::back_inserter( result->values_ ),
+                  []( Message *m ) { return m->clone(); } );
+  return result;
+}
+
+template<>
+inline void ArrayMessage<Message>::detachFromStream()
+{
+  /* So compiler won't complain. This specialization can not be from stream anyway. */
+}
+
 //! Specialization for Bool
 template<>
 bool ArrayMessage<bool>::operator[]( size_t index );
diff --git a/ros_babel_fish/src/generation/description_provider.cpp b/ros_babel_fish/src/generation/description_provider.cpp
index 1f493bd..c3fd3c5 100644
--- a/ros_babel_fish/src/generation/description_provider.cpp
+++ b/ros_babel_fish/src/generation/description_provider.cpp
@@ -160,8 +160,8 @@ MessageDescription::ConstPtr DescriptionProvider::getMessageDescriptionImpl( con
     specs.push_back( buffer );
 
     // Register all message dependencies
-    bool registered[specs.size()];
-    std::fill_n( registered, specs.size(), false );
+    std::vector<bool> registered(specs.size());
+    std::fill_n(registered.begin(), specs.size(), false );
     bool new_registered = true;
     while ( new_registered )
     {
@@ -451,8 +451,11 @@ DescriptionProvider::MessageSpec DescriptionProvider::createSpec( const std::str
         std::regex_search( val.cbegin(), val.cend(), match, strip_comment_regex );
         val = match.str( 1 );
       }
-      spec.constants.push_back(
-        MessageSpec::Constant{ .type = constant_type, .name = name, .val = val } );
+      MessageSpec::Constant constant;
+      constant.type = constant_type;
+      constant.name = name;
+      constant.val = val;
+      spec.constants.push_back(constant);
     }
     else if ( std::regex_search( first, last, match, field_regex ) && match.size() == 4 )
     {
diff --git a/ros_babel_fish/src/generation/providers/integrated_description_provider.cpp b/ros_babel_fish/src/generation/providers/integrated_description_provider.cpp
index d724b43..f338bf8 100644
--- a/ros_babel_fish/src/generation/providers/integrated_description_provider.cpp
+++ b/ros_babel_fish/src/generation/providers/integrated_description_provider.cpp
@@ -5,11 +5,11 @@
 
 #include <ros/package.h>
 
-#include <experimental/filesystem>
+#include <boost/filesystem.hpp>
 #include <fstream>
 #include <regex>
 
-namespace fs = std::experimental::filesystem;
+namespace fs = boost::filesystem;
 
 namespace ros_babel_fish
 {
@@ -133,7 +133,7 @@ MessageDescription::ConstPtr IntegratedDescriptionProvider::getMessageDescriptio
   }
 
   // Load message specification from file
-  std::ifstream file_input( message_path );
+  std::ifstream file_input( message_path.string() );
   file_input.seekg( 0, std::ios::end );
   std::string specification;
   specification.resize( file_input.tellg());
@@ -177,7 +177,7 @@ ServiceDescription::ConstPtr IntegratedDescriptionProvider::getServiceDescriptio
   }
 
   // Load service specification from file
-  std::ifstream file_input( service_path );
+  std::ifstream file_input( service_path.string() );
   file_input.seekg( 0, std::ios::end );
   std::string spec;
   spec.resize( file_input.tellg());
diff --git a/ros_babel_fish/src/messages/array_message.cpp b/ros_babel_fish/src/messages/array_message.cpp
index c1c302b..f79e902 100644
--- a/ros_babel_fish/src/messages/array_message.cpp
+++ b/ros_babel_fish/src/messages/array_message.cpp
@@ -11,100 +11,6 @@ namespace ros_babel_fish
 //! ============== Message Specialization =============
 //! ===================================================
 
-template<>
-ArrayMessage<Message>::ArrayMessage( MessageType element_type, size_t length, bool fixed_length, const uint8_t *stream,
-                                     bool )
-  : ArrayMessageBase( element_type, length, fixed_length, stream ), values_( 0 ), from_stream_( false ) { }
-
-template<>
-ArrayMessage<Message>::~ArrayMessage()
-{
-  for ( auto &entry : values_ )
-  {
-    delete entry;
-  }
-  values_.clear();
-}
-
-template<>
-Message &ArrayMessage<Message>::operator[]( size_t index )
-{
-  return *values_[index];
-}
-
-template<>
-const Message &ArrayMessage<Message>::operator[]( size_t index ) const
-{
-  return *values_[index];
-}
-
-template<>
-void ArrayMessage<Message>::assign( size_t index, Message *value )
-{
-  if ( index >= length_ )
-    throw BabelFishException( "Index in setItem was out of bounds! Maybe you meant push_back?" );
-  delete values_[index];
-  values_[index] = value;
-}
-
-template<>
-size_t ArrayMessage<Message>::_sizeInBytes() const
-{
-  size_t result = (fixed_length_ ? 0 : 4);
-  for ( auto &value : values_ )
-  {
-    result += value->_sizeInBytes();
-  }
-  return result;
-}
-
-template<>
-size_t ArrayMessage<Message>::writeToStream( uint8_t *stream ) const
-{
-  size_t offset = 0;
-  if ( !fixed_length_ )
-  {
-    *reinterpret_cast<uint32_t *>(stream) = length_;
-    offset = 4;
-  }
-  for ( auto &value : values_ )
-  {
-    offset += value->writeToStream( stream + offset );
-  }
-  return offset;
-}
-
-template<>
-ArrayMessage<Message> &ArrayMessage<Message>::operator=( const ArrayMessage<Message> &other )
-{
-  if ( type() != other.type() ||
-       (elementType() == MessageTypes::Compound &&
-        as<CompoundArrayMessage>().elementDataType() != other.as<CompoundArrayMessage>().elementDataType()))
-    throw BabelFishException( "Can not assign incompatible ArrayMessage! They need to have exactly the same type!" );
-  for ( auto &entry : values_ )
-  {
-    delete entry;
-  }
-  values_.clear();
-  values_.reserve( other._sizeInBytes());
-  std::transform( other.values_.begin(), other.values_.end(), std::back_inserter( values_ ),
-                  []( Message *m ) { return m->clone(); } );
-  length_ = other.length_;
-  fixed_length_ = other.fixed_length_;
-  stream_ = other.stream_;
-  return *this;
-}
-
-template<>
-Message *ArrayMessage<Message>::clone() const
-{
-  auto result = new ArrayMessage<Message>( elementType(), length(), isFixedSize(), stream_ );
-  result->values_.clear();
-  std::transform( values_.begin(), values_.end(), std::back_inserter( result->values_ ),
-                  []( Message *m ) { return m->clone(); } );
-  return result;
-}
-
 //! ===================================================
 //! =============== Bool Specialization ===============
 //! ===================================================
@@ -521,6 +427,12 @@ size_t ArrayMessage<ros::Duration>::writeToStream( uint8_t *stream ) const
   return length;
 }
 
+// Explicit template instantiation;
+template class ArrayMessage<bool>;
+template class ArrayMessage<ros::Time>;
+template class ArrayMessage<ros::Duration>;
+template class ArrayMessage<std::string>;
+
 //! ===================================================
 //! ================== CompoundArray ==================
 //! ===================================================
diff --git a/ros_babel_fish/src/messages/value_message.cpp b/ros_babel_fish/src/messages/value_message.cpp
index 2f640e3..512fe34 100644
--- a/ros_babel_fish/src/messages/value_message.cpp
+++ b/ros_babel_fish/src/messages/value_message.cpp
@@ -180,4 +180,11 @@ size_t ValueMessage<std::string>::writeToStream( uint8_t *stream ) const
   memcpy( stream, value_.data(), value_.length());
   return value_.length() + sizeof( uint32_t );
 }
+
+// Explicit template instantiation;
+template class ValueMessage<bool>;
+template class ValueMessage<ros::Time>;
+template class ValueMessage<ros::Duration>;
+template class ValueMessage<std::string>;
+
 }