From 03e30e3156447badec50a9198945e93d3fac61c0 Mon Sep 17 00:00:00 2001
From: Kei Okada <kei.okada@gmail.com>
Date: Thu, 8 Dec 2022 17:39:25 +0900
Subject: [PATCH 01/11] add test to compile on 22.04, see #1770

---
 .github/workflows/config.yml | 74 ++++++++++++++++++++++++++++++++++++
 1 file changed, 74 insertions(+)

diff --git a/.github/workflows/config.yml b/.github/workflows/config.yml
index 782b7943b..510c54d4d 100644
--- a/.github/workflows/config.yml
+++ b/.github/workflows/config.yml
@@ -84,3 +84,77 @@ jobs:
           TEST_PKGS : ${{ matrix.TEST_PKGS }}
           BEFORE_SCRIPT : ${{ matrix.BEFORE_SCRIPT }}
           EXTRA_DEB : ${{ matrix.EXTRA_DEB }}
+
+
+  ubuntu:
+    runs-on: ubuntu-latest
+
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - DISTRO: ubuntu:22.04
+
+    container: ${{ matrix.DISTRO }}
+
+    steps:
+      - name: Chcekout Source
+        uses: actions/checkout@v3.0.2
+
+      - name: Install Buildtools
+        run: |
+          set -x
+          echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
+          apt update -q
+          apt install -y -q -qq catkin git curl build-essential libboost-all-dev python3-pip python3-venv python3-rosdep2
+          apt install -y -q -qq ros-desktop-dev rosbash
+          apt install -y -q -qq libself-test-dev libpcl-ros-dev
+          apt install -y -q -qq ros-core-dev ros-robot-dev
+          pip install vcstool
+          rosdep update
+
+      - name: Setup rosinstall_generator
+        run: |
+          set -x
+          # install rosinstall_geneartor with --depend-type buildtool build, see  https://github.com/ros-infrastructure/rosinstall_generator/pull/81
+          git clone https://github.com/k-okada/rosinstall_generator -b add_depend_type
+          cd rosinstall_generator
+          python3 ./setup.py install
+
+      - name: Setup Dependencies Workspace
+        run: |
+          set -x
+          # install dependencies
+          mkdir -p ~/ws_depend/src
+          cd ~/ws_depend/src
+          ROS_PACKAGE_PATH=/usr/share rosinstall_generator --rosdistro noetic --from-path $GITHUB_WORKSPACE --deps --exclude RPP --depend-type buildtool build | tee repos
+          vcs import --shallow < repos
+          # override to use latest development for 22.04
+          rosinstall_generator laser_filters laser_assembler map_server --rosdistro noetic  --upstream-development  | vcs import --force
+          rosinstall_generator catkin_virtualenv --rosdistro noetic | vcs import --force
+          rm -fr jsk_common
+          curl -s -L -O https://patch-diff.githubusercontent.com/raw/locusrobotics/catkin_virtualenv/pull/89.diff
+          patch -p1 < 89.diff
+          rosdep install -qq -r -y --from-path . --ignore-src || echo "OK"
+          cd ..
+          catkin_make_isolated --cmake-args -DCATKIN_ENABLE_TESTING=OFF
+
+      - name: Setup Workspace
+        run: |
+          set -x
+          # hack!
+          apt install -y -q -qq python-is-python3
+          sed -i s/noetic/Debian/ $GITHUB_WORKSPACE/jsk_rosbag_tools/CMakeLists.txt
+          # setup workspace
+          mkdir -p ~/ws_current/src
+          cd ~/ws_current/src
+          ln -sf $GITHUB_WORKSPACE .
+          rosdep install -qq -r -y --from-path . --ignore-src || echo "OK"
+
+      - name: Compile Packages
+        run: |
+          set -x
+          cd ~/ws_current/
+          source ~/ws_depend/devel_isolated/setup.bash
+          catkin_make_isolated --cmake-args -DCATKIN_ENABLE_TESTING=OFF
+        shell: bash

From 18e200ca51ac035af3e8ab5955cde2b76fc9c980 Mon Sep 17 00:00:00 2001
From: v4hn <me@v4hn.de>
Date: Tue, 4 Oct 2022 14:08:09 +0200
Subject: [PATCH 02/11] do not specify c++ standard

it break with current log4cxx which requires c++17.
No, going forward it's no option to specify the standard anymore.
And it's not necessary either.
---
 jsk_ros_patch/image_view2/CMakeLists.txt | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/jsk_ros_patch/image_view2/CMakeLists.txt b/jsk_ros_patch/image_view2/CMakeLists.txt
index c9509c3c9..447840333 100644
--- a/jsk_ros_patch/image_view2/CMakeLists.txt
+++ b/jsk_ros_patch/image_view2/CMakeLists.txt
@@ -11,12 +11,6 @@ if (CMAKE_VERSION VERSION_LESS 3.4)
   endif(CCACHE_FOUND)
 endif()
 
-if(NOT $ENV{ROS_DISTRO} STRLESS noetic)
-  add_compile_options(-std=c++14)
-elseif(NOT $ENV{ROS_DISTRO} STRLESS kinetic)
-  add_compile_options(-std=c++11)
-endif()
-
 find_package(catkin REQUIRED COMPONENTS roscpp dynamic_reconfigure  cv_bridge std_msgs sensor_msgs geometry_msgs image_transport tf image_geometry message_filters message_generation std_srvs pcl_ros)
 
 generate_dynamic_reconfigure_options(

From bbf92efeb74a7e886db9bf0262d4937008f81f7b Mon Sep 17 00:00:00 2001
From: v4hn <me@v4hn.de>
Date: Sat, 29 Oct 2022 17:06:11 +0200
Subject: [PATCH 03/11] update pluginlib includes

the non-hpp headers are deprecated since kinetic
---
 jsk_topic_tools/src/block_nodelet.cpp                 | 2 +-
 jsk_topic_tools/src/deprecated_relay_nodelet.cpp      | 2 +-
 jsk_topic_tools/src/hz_measure_nodelet.cpp            | 2 +-
 jsk_topic_tools/src/lightweight_throttle_nodelet.cpp  | 2 +-
 jsk_topic_tools/src/mux_nodelet.cpp                   | 2 +-
 jsk_topic_tools/src/passthrough_nodelet.cpp           | 2 +-
 jsk_topic_tools/src/relay_nodelet.cpp                 | 2 +-
 jsk_topic_tools/src/snapshot_nodelet.cpp              | 2 +-
 jsk_topic_tools/src/stealth_relay_nodelet.cpp         | 2 +-
 jsk_topic_tools/src/string_relay_nodelet.cpp          | 2 +-
 jsk_topic_tools/src/synchronized_throttle_nodelet.cpp | 2 +-
 jsk_topic_tools/src/tests/test_log_utils_nodelet.cpp  | 2 +-
 jsk_topic_tools/src/vital_checker_nodelet.cpp         | 2 +-
 13 files changed, 13 insertions(+), 13 deletions(-)

diff --git a/jsk_topic_tools/src/block_nodelet.cpp b/jsk_topic_tools/src/block_nodelet.cpp
index cf5534c39..1f9e2a60b 100644
--- a/jsk_topic_tools/src/block_nodelet.cpp
+++ b/jsk_topic_tools/src/block_nodelet.cpp
@@ -31,7 +31,7 @@
  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  *  POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 #include "jsk_topic_tools/block_nodelet.h"
 
 #include <ros/advertise_options.h>
diff --git a/jsk_topic_tools/src/deprecated_relay_nodelet.cpp b/jsk_topic_tools/src/deprecated_relay_nodelet.cpp
index ff66e106a..adfda15f2 100644
--- a/jsk_topic_tools/src/deprecated_relay_nodelet.cpp
+++ b/jsk_topic_tools/src/deprecated_relay_nodelet.cpp
@@ -33,7 +33,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
 
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 #include "jsk_topic_tools/deprecated_relay.h"
 #include "jsk_topic_tools/log_utils.h"
 namespace jsk_topic_tools
diff --git a/jsk_topic_tools/src/hz_measure_nodelet.cpp b/jsk_topic_tools/src/hz_measure_nodelet.cpp
index 2a378ce6d..bdc22f111 100644
--- a/jsk_topic_tools/src/hz_measure_nodelet.cpp
+++ b/jsk_topic_tools/src/hz_measure_nodelet.cpp
@@ -34,7 +34,7 @@
 
 #include <limits>
 #include <boost/format.hpp>
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 #include "jsk_topic_tools/hz_measure_nodelet.h"
 
 #include "std_msgs/Float32.h"
diff --git a/jsk_topic_tools/src/lightweight_throttle_nodelet.cpp b/jsk_topic_tools/src/lightweight_throttle_nodelet.cpp
index 1caf36c97..f68e0f263 100644
--- a/jsk_topic_tools/src/lightweight_throttle_nodelet.cpp
+++ b/jsk_topic_tools/src/lightweight_throttle_nodelet.cpp
@@ -120,6 +120,6 @@ namespace jsk_topic_tools
   }
 }
 
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 typedef jsk_topic_tools::LightweightThrottle LightweightThrottle;
 PLUGINLIB_EXPORT_CLASS(LightweightThrottle, nodelet::Nodelet)
diff --git a/jsk_topic_tools/src/mux_nodelet.cpp b/jsk_topic_tools/src/mux_nodelet.cpp
index 3d2575c9a..c9a34fc51 100644
--- a/jsk_topic_tools/src/mux_nodelet.cpp
+++ b/jsk_topic_tools/src/mux_nodelet.cpp
@@ -31,7 +31,7 @@
  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  *  POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 #include "jsk_topic_tools/mux_nodelet.h"
 #include <std_msgs/String.h>
 #include "jsk_topic_tools/rosparam_utils.h"
diff --git a/jsk_topic_tools/src/passthrough_nodelet.cpp b/jsk_topic_tools/src/passthrough_nodelet.cpp
index ad7a4276f..0c8b5adee 100644
--- a/jsk_topic_tools/src/passthrough_nodelet.cpp
+++ b/jsk_topic_tools/src/passthrough_nodelet.cpp
@@ -31,7 +31,7 @@
  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  *  POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 #include "jsk_topic_tools/passthrough_nodelet.h"
 
 namespace jsk_topic_tools
diff --git a/jsk_topic_tools/src/relay_nodelet.cpp b/jsk_topic_tools/src/relay_nodelet.cpp
index 4ff3fb8f7..c96f04a25 100644
--- a/jsk_topic_tools/src/relay_nodelet.cpp
+++ b/jsk_topic_tools/src/relay_nodelet.cpp
@@ -31,7 +31,7 @@
  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  *  POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 #include "jsk_topic_tools/relay_nodelet.h"
 
 namespace jsk_topic_tools
diff --git a/jsk_topic_tools/src/snapshot_nodelet.cpp b/jsk_topic_tools/src/snapshot_nodelet.cpp
index 84770b786..e5ac57308 100644
--- a/jsk_topic_tools/src/snapshot_nodelet.cpp
+++ b/jsk_topic_tools/src/snapshot_nodelet.cpp
@@ -101,5 +101,5 @@ namespace jsk_topic_tools
   
 }
 
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 PLUGINLIB_EXPORT_CLASS (jsk_topic_tools::Snapshot, nodelet::Nodelet);
diff --git a/jsk_topic_tools/src/stealth_relay_nodelet.cpp b/jsk_topic_tools/src/stealth_relay_nodelet.cpp
index 4a01d0915..9fc7c9866 100644
--- a/jsk_topic_tools/src/stealth_relay_nodelet.cpp
+++ b/jsk_topic_tools/src/stealth_relay_nodelet.cpp
@@ -197,6 +197,6 @@ namespace jsk_topic_tools
   }
 }
 
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 typedef jsk_topic_tools::StealthRelay StealthRelay;
 PLUGINLIB_EXPORT_CLASS(StealthRelay, nodelet::Nodelet)
diff --git a/jsk_topic_tools/src/string_relay_nodelet.cpp b/jsk_topic_tools/src/string_relay_nodelet.cpp
index 1cf270797..fc3ac622d 100644
--- a/jsk_topic_tools/src/string_relay_nodelet.cpp
+++ b/jsk_topic_tools/src/string_relay_nodelet.cpp
@@ -60,6 +60,6 @@ namespace jsk_topic_tools
   }
 }
 
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 typedef jsk_topic_tools::StringRelay StringRelay;
 PLUGINLIB_EXPORT_CLASS(StringRelay, nodelet::Nodelet)
diff --git a/jsk_topic_tools/src/synchronized_throttle_nodelet.cpp b/jsk_topic_tools/src/synchronized_throttle_nodelet.cpp
index c58f93c54..282a98273 100644
--- a/jsk_topic_tools/src/synchronized_throttle_nodelet.cpp
+++ b/jsk_topic_tools/src/synchronized_throttle_nodelet.cpp
@@ -427,6 +427,6 @@ void SynchronizedThrottle::inputCallback(
 
 } // jsk_topic_tools
 
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 typedef jsk_topic_tools::SynchronizedThrottle SynchronizedThrottle;
 PLUGINLIB_EXPORT_CLASS(SynchronizedThrottle, nodelet::Nodelet)
diff --git a/jsk_topic_tools/src/tests/test_log_utils_nodelet.cpp b/jsk_topic_tools/src/tests/test_log_utils_nodelet.cpp
index d789cb392..62a1bd909 100644
--- a/jsk_topic_tools/src/tests/test_log_utils_nodelet.cpp
+++ b/jsk_topic_tools/src/tests/test_log_utils_nodelet.cpp
@@ -45,5 +45,5 @@ class LogUtils : public nodelet::Nodelet
 
 }  // namespace jsk_topic_tools
 
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 PLUGINLIB_EXPORT_CLASS(jsk_topic_tools::test::LogUtils, nodelet::Nodelet)
diff --git a/jsk_topic_tools/src/vital_checker_nodelet.cpp b/jsk_topic_tools/src/vital_checker_nodelet.cpp
index d39a0c7cd..395a31e6b 100644
--- a/jsk_topic_tools/src/vital_checker_nodelet.cpp
+++ b/jsk_topic_tools/src/vital_checker_nodelet.cpp
@@ -86,6 +86,6 @@ namespace jsk_topic_tools
   }
 }
 
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 typedef jsk_topic_tools::VitalCheckerNodelet VitalCheckerNodelet;
 PLUGINLIB_EXPORT_CLASS(VitalCheckerNodelet, nodelet::Nodelet)

From 07997f522099ade7906d35cd8342be85b5c2af08 Mon Sep 17 00:00:00 2001
From: v4hn <me@v4hn.de>
Date: Sat, 29 Oct 2022 17:12:04 +0200
Subject: [PATCH 04/11] avoid boost::bind (esp. global _1)

it's deprecated to use global _1 from boost for a while now
and the Debian ROS packages do not provide it anymore.
---
 jsk_ros_patch/image_view2/image_view2.cpp     |  2 +-
 .../points_rectangle_extractor.cpp            |  4 +--
 jsk_tilt_laser/src/spin_laser_snapshotter.cpp |  4 +--
 .../connection_based_nodelet.h                | 22 +++++---------
 jsk_topic_tools/src/diagnostic_nodelet.cpp    |  5 +---
 jsk_topic_tools/src/hz_measure_nodelet.cpp    |  4 +--
 .../src/lightweight_throttle_nodelet.cpp      |  4 +--
 jsk_topic_tools/src/mux_nodelet.cpp           |  2 +-
 jsk_topic_tools/src/relay_nodelet.cpp         |  3 +-
 jsk_topic_tools/src/stealth_relay_nodelet.cpp |  2 +-
 .../src/synchronized_throttle_nodelet.cpp     | 29 ++++++++++++++-----
 .../src/timered_diagnostic_updater.cpp        |  5 +---
 jsk_topic_tools/src/topic_buffer_client.cpp   |  3 +-
 jsk_topic_tools/src/topic_buffer_server.cpp   |  2 +-
 14 files changed, 46 insertions(+), 45 deletions(-)

diff --git a/jsk_ros_patch/image_view2/image_view2.cpp b/jsk_ros_patch/image_view2/image_view2.cpp
index 754672116..b6a76efb7 100644
--- a/jsk_ros_patch/image_view2/image_view2.cpp
+++ b/jsk_ros_patch/image_view2/image_view2.cpp
@@ -116,7 +116,7 @@ namespace image_view2{
 
     srv_ = boost::make_shared <dynamic_reconfigure::Server<Config> >(local_nh);
     dynamic_reconfigure::Server<Config>::CallbackType f =
-      boost::bind(&ImageView2::config_callback, this, _1, _2);
+      [this](auto& config, auto level){ config_callback(config, level); };
     srv_->setCallback(f);
   }
 
diff --git a/jsk_ros_patch/image_view2/points_rectangle_extractor.cpp b/jsk_ros_patch/image_view2/points_rectangle_extractor.cpp
index 89d4f13cc..8fb321236 100644
--- a/jsk_ros_patch/image_view2/points_rectangle_extractor.cpp
+++ b/jsk_ros_patch/image_view2/points_rectangle_extractor.cpp
@@ -43,11 +43,11 @@ class PointsRectExtractor
 
     sync_a_polygon_ = boost::make_shared < message_filters::Synchronizer< PolygonApproxSyncPolicy > > (queue_size);
     sync_a_polygon_->connectInput (points_sub_, rect_sub_);
-    sync_a_polygon_->registerCallback (boost::bind (&PointsRectExtractor::callback_polygon, this, _1, _2));
+    sync_a_polygon_->registerCallback (boost::bind (&PointsRectExtractor::callback_polygon, this, boost::placeholders::_1, boost::placeholders::_2));
 
     sync_a_point_ = boost::make_shared < message_filters::Synchronizer< PointApproxSyncPolicy > > (queue_size);
     sync_a_point_->connectInput (points_sub_, point_sub_);
-    sync_a_point_->registerCallback (boost::bind (&PointsRectExtractor::callback_point, this, _1, _2));
+    sync_a_point_->registerCallback (boost::bind (&PointsRectExtractor::callback_point, this, boost::placeholders::_1, boost::placeholders::_2));
 
     pub_ = pnode_.advertise< sensor_msgs::PointCloud2 > ("output", 1);
   }
diff --git a/jsk_tilt_laser/src/spin_laser_snapshotter.cpp b/jsk_tilt_laser/src/spin_laser_snapshotter.cpp
index d92bdb2c3..32b441d1a 100644
--- a/jsk_tilt_laser/src/spin_laser_snapshotter.cpp
+++ b/jsk_tilt_laser/src/spin_laser_snapshotter.cpp
@@ -103,8 +103,8 @@ class SpinLaserSnapshotter
       private_ns_.param("spindle_frame", spindle_frame_, std::string("multisense/spindle"));
       private_ns_.param("motor_frame", motor_frame_, std::string("multisense/motor"));
       timer_ = private_ns_.createTimer(
-        ros::Duration(1.0 / rate_), boost::bind(
-          &SpinLaserSnapshotter::timerCallback, this, _1));
+        ros::Duration(1.0 / rate_),
+        [this](auto& event){ timerCallback(event); });
     }
   }
 
diff --git a/jsk_topic_tools/include/jsk_topic_tools/connection_based_nodelet.h b/jsk_topic_tools/include/jsk_topic_tools/connection_based_nodelet.h
index 0657d29d6..d48a8ad74 100644
--- a/jsk_topic_tools/include/jsk_topic_tools/connection_based_nodelet.h
+++ b/jsk_topic_tools/include/jsk_topic_tools/connection_based_nodelet.h
@@ -192,9 +192,9 @@ namespace jsk_topic_tools
     {
       boost::mutex::scoped_lock lock(connection_mutex_);
       ros::SubscriberStatusCallback connect_cb
-        = boost::bind(&ConnectionBasedNodelet::connectionCallback, this, _1);
+        = [this](auto& pub){ connectionCallback(pub); };
       ros::SubscriberStatusCallback disconnect_cb
-        = boost::bind(&ConnectionBasedNodelet::connectionCallback, this, _1);
+        = [this](auto& pub){ connectionCallback(pub); };
       ros::Publisher ret = nh.advertise<T>(topic, queue_size,
                                            connect_cb,
                                            disconnect_cb,
@@ -254,11 +254,9 @@ namespace jsk_topic_tools
     {
       boost::mutex::scoped_lock lock(connection_mutex_);
       image_transport::SubscriberStatusCallback connect_cb
-        = boost::bind(&ConnectionBasedNodelet::imageConnectionCallback,
-                      this, _1);
+        = [this](auto& pub){ imageConnectionCallback(pub); };
       image_transport::SubscriberStatusCallback disconnect_cb
-        = boost::bind(&ConnectionBasedNodelet::imageConnectionCallback,
-                      this, _1);
+        = [this](auto& pub){ imageConnectionCallback(pub); };
       image_transport::Publisher pub = image_transport::ImageTransport(nh).advertise(
         topic, 1,
         connect_cb,
@@ -318,17 +316,13 @@ namespace jsk_topic_tools
     {
       boost::mutex::scoped_lock lock(connection_mutex_);
       image_transport::SubscriberStatusCallback connect_cb
-        = boost::bind(&ConnectionBasedNodelet::cameraConnectionCallback,
-                      this, _1);
+        = [this](auto& pub){ cameraConnectionCallback(pub); };
       image_transport::SubscriberStatusCallback disconnect_cb
-        = boost::bind(&ConnectionBasedNodelet::cameraConnectionCallback,
-                      this, _1);
+        = [this](auto& pub){ cameraConnectionCallback(pub); };
       ros::SubscriberStatusCallback info_connect_cb
-        = boost::bind(&ConnectionBasedNodelet::cameraInfoConnectionCallback,
-                      this, _1);
+        = [this](auto& pub){ cameraInfoConnectionCallback(pub); };
       ros::SubscriberStatusCallback info_disconnect_cb
-        = boost::bind(&ConnectionBasedNodelet::cameraInfoConnectionCallback,
-                      this, _1);
+        = [this](auto& pub){ cameraInfoConnectionCallback(pub); };
       image_transport::CameraPublisher
         pub = image_transport::ImageTransport(nh).advertiseCamera(
           topic, 1,
diff --git a/jsk_topic_tools/src/diagnostic_nodelet.cpp b/jsk_topic_tools/src/diagnostic_nodelet.cpp
index 14e5bd0ca..e95f83de5 100644
--- a/jsk_topic_tools/src/diagnostic_nodelet.cpp
+++ b/jsk_topic_tools/src/diagnostic_nodelet.cpp
@@ -56,10 +56,7 @@ namespace jsk_topic_tools
     diagnostic_updater_->setHardwareID(getName());
     diagnostic_updater_->add(
       getName(),
-      boost::bind(
-        &DiagnosticNodelet::updateDiagnostic,
-        this,
-        _1));
+      [this](auto& stat){ updateDiagnostic(stat); });
 
     bool use_warn;
     nh_->param("/diagnostic_nodelet/use_warn", use_warn, false);
diff --git a/jsk_topic_tools/src/hz_measure_nodelet.cpp b/jsk_topic_tools/src/hz_measure_nodelet.cpp
index bdc22f111..7b0638666 100644
--- a/jsk_topic_tools/src/hz_measure_nodelet.cpp
+++ b/jsk_topic_tools/src/hz_measure_nodelet.cpp
@@ -78,9 +78,7 @@ namespace jsk_topic_tools
 
     diagnostic_updater_.reset(new TimeredDiagnosticUpdater(pnh_, ros::Duration(1.0)));
     diagnostic_updater_->setHardwareID(getName());
-    diagnostic_updater_->add(getName(),
-                             boost::bind(&HzMeasure::updateDiagnostic,
-                                         this, _1));
+    diagnostic_updater_->add(getName(), [this](auto& stat){ updateDiagnostic(stat); });
     diagnostic_updater_->start();
 
     hz_pub_ = pnh_.advertise<std_msgs::Float32>("output", 1);
diff --git a/jsk_topic_tools/src/lightweight_throttle_nodelet.cpp b/jsk_topic_tools/src/lightweight_throttle_nodelet.cpp
index f68e0f263..4c29a69bb 100644
--- a/jsk_topic_tools/src/lightweight_throttle_nodelet.cpp
+++ b/jsk_topic_tools/src/lightweight_throttle_nodelet.cpp
@@ -45,7 +45,7 @@ namespace jsk_topic_tools
 
     srv_ = boost::make_shared<dynamic_reconfigure::Server<Config> >(pnh_);
     dynamic_reconfigure::Server<Config>::CallbackType f =
-      boost::bind(&LightweightThrottle::configCallback, this, _1, _2);
+      [this](auto& config, auto level){ configCallback(config, level); };
     srv_->setCallback(f);
 
     // Subscribe input topic at first in order to decide
@@ -95,7 +95,7 @@ namespace jsk_topic_tools
       // This section should be called once
       sub_->shutdown();         // Shutdown before advertising topic
       ros::SubscriberStatusCallback connect_cb
-        = boost::bind(&LightweightThrottle::connectionCallback, this, _1);
+        = [this](auto& pub){ connectionCallback(pub); };
       ros::AdvertiseOptions opts("output", 1,
                                  msg->getMD5Sum(),
                                  msg->getDataType(),
diff --git a/jsk_topic_tools/src/mux_nodelet.cpp b/jsk_topic_tools/src/mux_nodelet.cpp
index c9a34fc51..b9da17acc 100644
--- a/jsk_topic_tools/src/mux_nodelet.cpp
+++ b/jsk_topic_tools/src/mux_nodelet.cpp
@@ -194,7 +194,7 @@ namespace jsk_topic_tools
   {
     if (!advertised_) {         // first time
       ros::SubscriberStatusCallback connect_cb
-        = boost::bind(&MUX::connectCb, this, _1);
+        = [this](auto& pub){ connectCb(pub); };
       ros::AdvertiseOptions opts("output", 1,
                                  msg->getMD5Sum(),
                                  msg->getDataType(),
diff --git a/jsk_topic_tools/src/relay_nodelet.cpp b/jsk_topic_tools/src/relay_nodelet.cpp
index c96f04a25..62a11f433 100644
--- a/jsk_topic_tools/src/relay_nodelet.cpp
+++ b/jsk_topic_tools/src/relay_nodelet.cpp
@@ -50,8 +50,7 @@ namespace jsk_topic_tools
     diagnostic_updater_->setHardwareID(getName());
     diagnostic_updater_->add(
       getName() + "::Relay",
-      boost::bind(
-        &Relay::updateDiagnostic, this, _1));
+      [this](auto& stat){ updateDiagnostic(stat); });
     double vital_rate;
     pnh_.param("vital_rate", vital_rate, 1.0);
     vital_checker_.reset(
diff --git a/jsk_topic_tools/src/stealth_relay_nodelet.cpp b/jsk_topic_tools/src/stealth_relay_nodelet.cpp
index 9fc7c9866..c62ded51a 100644
--- a/jsk_topic_tools/src/stealth_relay_nodelet.cpp
+++ b/jsk_topic_tools/src/stealth_relay_nodelet.cpp
@@ -69,7 +69,7 @@ namespace jsk_topic_tools
 
     srv_ = boost::make_shared<dynamic_reconfigure::Server<Config> >(*pnh_);
     dynamic_reconfigure::Server<Config>::CallbackType f =
-      boost::bind(&StealthRelay::configCallback, this, _1, _2);
+      [this](auto& config, auto level){ configCallback(config, level); };
     srv_->setCallback(f);
 
     /* To advertise output topic as the same type of input topic,
diff --git a/jsk_topic_tools/src/synchronized_throttle_nodelet.cpp b/jsk_topic_tools/src/synchronized_throttle_nodelet.cpp
index 282a98273..83b228717 100644
--- a/jsk_topic_tools/src/synchronized_throttle_nodelet.cpp
+++ b/jsk_topic_tools/src/synchronized_throttle_nodelet.cpp
@@ -66,7 +66,7 @@ void SynchronizedThrottle::onInit()
 
   srv_ = boost::make_shared<dynamic_reconfigure::Server<Config> >(*pnh_);
   dynamic_reconfigure::Server<Config>::CallbackType f =
-      boost::bind(&SynchronizedThrottle::configCallback, this, _1, _2);
+      [this](auto& config, auto level){ configCallback(config, level); };
   srv_->setCallback(f);
 
   // message_filter supports 2~8 input topics
@@ -89,7 +89,7 @@ void SynchronizedThrottle::onInit()
   {
     check_sub_[i] = pnh_->subscribe<topic_tools::ShapeShifterStamped>(
         input_topics_[i], 1,
-        boost::bind(&SynchronizedThrottle::checkCallback, this, _1, i));
+        [this,i](auto& msg){ checkCallback(msg, i); });
     sub_[i].reset(new message_filters::Subscriber<topic_tools::ShapeShifterStamped>());
   }
 
@@ -178,7 +178,7 @@ void SynchronizedThrottle::subscribe()
   if (n_topics < MAX_SYNC_NUM)
   {
     sub_[0]->registerCallback(
-        boost::bind(&SynchronizedThrottle::fillNullMessage, this, _1));
+        [this](auto& msg){ fillNullMessage(msg); });
   }
 
   if (approximate_sync_)
@@ -220,8 +220,16 @@ void SynchronizedThrottle::subscribe()
         return;
     }
     async_->registerCallback(
-        boost::bind(&SynchronizedThrottle::inputCallback, this,
-                    _1, _2, _3, _4, _5, _6, _7, _8));
+         boost::bind(&SynchronizedThrottle::inputCallback, this,
+                     boost::placeholders::_1,
+                     boost::placeholders::_2,
+                     boost::placeholders::_3,
+                     boost::placeholders::_4,
+                     boost::placeholders::_5,
+                     boost::placeholders::_6,
+                     boost::placeholders::_7,
+                     boost::placeholders::_8));
+
   } else {
     sync_ = boost::make_shared<message_filters::Synchronizer<SyncPolicy> >(queue_size_);
 
@@ -260,8 +268,15 @@ void SynchronizedThrottle::subscribe()
         return;
     }
     sync_->registerCallback(
-        boost::bind(&SynchronizedThrottle::inputCallback, this,
-                    _1, _2, _3, _4, _5, _6, _7, _8));
+         boost::bind(&SynchronizedThrottle::inputCallback, this,
+                     boost::placeholders::_1,
+                     boost::placeholders::_2,
+                     boost::placeholders::_3,
+                     boost::placeholders::_4,
+                     boost::placeholders::_5,
+                     boost::placeholders::_6,
+                     boost::placeholders::_7,
+                     boost::placeholders::_8));
   }
 }
 
diff --git a/jsk_topic_tools/src/timered_diagnostic_updater.cpp b/jsk_topic_tools/src/timered_diagnostic_updater.cpp
index 93c07f9e7..bfa42ecd9 100644
--- a/jsk_topic_tools/src/timered_diagnostic_updater.cpp
+++ b/jsk_topic_tools/src/timered_diagnostic_updater.cpp
@@ -43,10 +43,7 @@ namespace jsk_topic_tools
     diagnostic_updater_(new diagnostic_updater::Updater)
   {
     timer_ = nh.createTimer(
-      timer_duration, boost::bind(
-        &TimeredDiagnosticUpdater::timerCallback,
-        this,
-        _1));
+      timer_duration, [this](auto& event){ timerCallback(event); });
     timer_.stop();
   }
   
diff --git a/jsk_topic_tools/src/topic_buffer_client.cpp b/jsk_topic_tools/src/topic_buffer_client.cpp
index f4aaafacf..d5724c750 100644
--- a/jsk_topic_tools/src/topic_buffer_client.cpp
+++ b/jsk_topic_tools/src/topic_buffer_client.cpp
@@ -200,7 +200,8 @@ int main(int argc, char **argv)
         pub_info->advertised = false;
         pub_info->topic_with_header = false;
         ROS_INFO_STREAM("subscribe " << pub_info->topic_name+string("_update"));
-        pub_info->sub = new ros::Subscriber(n.subscribe<ShapeShifter>(pub_info->topic_name+string("_update"), 10, boost::bind(in_cb, _1, pub_info)));
+        pub_info->sub = new ros::Subscriber(n.subscribe<ShapeShifter>(pub_info->topic_name+string("_update"), 10,
+            [pub_info](auto& msg){ in_cb(msg, pub_info); }));
 
         g_pubs.push_back(pub_info);
     }
diff --git a/jsk_topic_tools/src/topic_buffer_server.cpp b/jsk_topic_tools/src/topic_buffer_server.cpp
index 4358e4ab2..f78b7f77b 100644
--- a/jsk_topic_tools/src/topic_buffer_server.cpp
+++ b/jsk_topic_tools/src/topic_buffer_server.cpp
@@ -219,7 +219,7 @@ int main(int argc, char **argv)
             sub_info->advertised = false;
             sub_info->periodic = false;
             ROS_INFO_STREAM("subscribe " << sub_info->topic_name);
-            sub_info->sub = new ros::Subscriber(n.subscribe<ShapeShifter>(sub_info->topic_name, 10, boost::bind(in_cb, _1, sub_info)));
+            sub_info->sub = new ros::Subscriber(n.subscribe<ShapeShifter>(sub_info->topic_name, 10, [sub_info](auto& msg){ in_cb(msg, sub_info); }));
 
             // waiting for all topics are publisherd
             while (sub_info->sub->getNumPublishers() == 0 ) {

From beee45cf53c130d7d6761dadf3aefa7e6a8e9fd5 Mon Sep 17 00:00:00 2001
From: v4hn <me@v4hn.de>
Date: Sat, 29 Oct 2022 17:14:51 +0200
Subject: [PATCH 05/11] fixup documentation

this confused me when I looked through the code.
---
 .../include/jsk_topic_tools/connection_based_nodelet.h          | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_topic_tools/include/jsk_topic_tools/connection_based_nodelet.h b/jsk_topic_tools/include/jsk_topic_tools/connection_based_nodelet.h
index d48a8ad74..bba9e4385 100644
--- a/jsk_topic_tools/include/jsk_topic_tools/connection_based_nodelet.h
+++ b/jsk_topic_tools/include/jsk_topic_tools/connection_based_nodelet.h
@@ -86,7 +86,7 @@ namespace jsk_topic_tools
     virtual void onInitPostProcess();
     
     /** @brief
-     * callback function which is called when new subscriber come
+     * callback function which is called when new subscriber connects or disconnects
      */
     virtual void connectionCallback(const ros::SingleSubscriberPublisher& pub);
 

From f834c0a86a2d19013675e60ffbb2c26ba5b87e6c Mon Sep 17 00:00:00 2001
From: v4hn <me@v4hn.de>
Date: Wed, 9 Nov 2022 13:47:07 +0100
Subject: [PATCH 06/11] use setuptools

setup from distutils is deprecated and will be removed eventually.
---
 jsk_network_tools/setup.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_network_tools/setup.py b/jsk_network_tools/setup.py
index 7ffd6d804..844bbc07c 100755
--- a/jsk_network_tools/setup.py
+++ b/jsk_network_tools/setup.py
@@ -1,6 +1,6 @@
 ## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
 
-from distutils.core import setup
+from setuptools import setup
 from catkin_pkg.python_setup import generate_distutils_setup
 
 # fetch values from package.xml

From 7fb8ffaba9cd958b49b0b5a820eff070fe425074 Mon Sep 17 00:00:00 2001
From: Kei Okada <k-okada@jsk.t.u-tokyo.ac.jp>
Date: Mon, 12 Dec 2022 20:14:29 +0900
Subject: [PATCH 07/11] do not specify c++ standard

it break with current log4cxx which requires c++17.
No, going forward it's no option to specify the standard anymore.
And it's not necessary either.

same fix as https://github.com/jsk-ros-pkg/jsk_common/pull/1773/commits/18e200ca51ac035af3e8ab5955cde2b76fc9c980
---
 jsk_topic_tools/CMakeLists.txt | 2 --
 1 file changed, 2 deletions(-)

diff --git a/jsk_topic_tools/CMakeLists.txt b/jsk_topic_tools/CMakeLists.txt
index 4699dea1f..7d4895d06 100644
--- a/jsk_topic_tools/CMakeLists.txt
+++ b/jsk_topic_tools/CMakeLists.txt
@@ -2,8 +2,6 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(jsk_topic_tools)
 
-add_compile_options(-std=c++11)
-
 # Use ccache if installed to make it fast to generate object files
 if (CMAKE_VERSION VERSION_LESS 3.4)
   find_program(CCACHE_FOUND ccache)

From 4973030c552e937566ccfaf182676478b508e439 Mon Sep 17 00:00:00 2001
From: Kei Okada <k-okada@jsk.t.u-tokyo.ac.jp>
Date: Mon, 12 Dec 2022 20:24:17 +0900
Subject: [PATCH 08/11] avoid boost::bind (esp. global _1)

it's deprecated to use global _1 from boost for a while now
and the Debian ROS packages do not provide it anymore.
---
 jsk_topic_tools/src/constant_rate_throttle_nodelet.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/jsk_topic_tools/src/constant_rate_throttle_nodelet.cpp b/jsk_topic_tools/src/constant_rate_throttle_nodelet.cpp
index b0de6e9d1..6da3502d3 100644
--- a/jsk_topic_tools/src/constant_rate_throttle_nodelet.cpp
+++ b/jsk_topic_tools/src/constant_rate_throttle_nodelet.cpp
@@ -11,7 +11,7 @@ namespace jsk_topic_tools
     msg_cached_ = boost::shared_ptr<topic_tools::ShapeShifter>(new topic_tools::ShapeShifter());
 
     srv_ = boost::make_shared<dynamic_reconfigure::Server<Config> >(pnh_);
-    dynamic_reconfigure::Server<Config>::CallbackType f = boost::bind(&ConstantRateThrottle::configCallback, this, _1, _2);
+    dynamic_reconfigure::Server<Config>::CallbackType f = [this](auto& config, auto level) {configCallback(config, level); };
     srv_->setCallback(f);
 
     sub_.reset(new ros::Subscriber(
@@ -62,7 +62,7 @@ namespace jsk_topic_tools
     boost::mutex::scoped_lock lock(mutex_);
     if (!advertised_) {
         sub_->shutdown();
-        ros::SubscriberStatusCallback connect_cb = boost::bind(&ConstantRateThrottle::connectionCallback, this, _1);
+        ros::SubscriberStatusCallback connect_cb = [this](auto& pub){ connectionCallback(pub); };
         ros::AdvertiseOptions opts("output", 1,
                                    msg->getMD5Sum(),
                                    msg->getDataType(),

From 6fd594b5f5f382487dab8218d7c6433a0be2fb1a Mon Sep 17 00:00:00 2001
From: Kei Okada <k-okada@jsk.t.u-tokyo.ac.jp>
Date: Mon, 12 Dec 2022 13:45:10 +0000
Subject: [PATCH 09/11] <mutex> requries -std=c++11 compile options, but it is
 not used in source tree

---
 .../include/jsk_topic_tools/constant_rate_throttle_nodelet.h     | 1 -
 1 file changed, 1 deletion(-)

diff --git a/jsk_topic_tools/include/jsk_topic_tools/constant_rate_throttle_nodelet.h b/jsk_topic_tools/include/jsk_topic_tools/constant_rate_throttle_nodelet.h
index d1ab8e775..4da299844 100644
--- a/jsk_topic_tools/include/jsk_topic_tools/constant_rate_throttle_nodelet.h
+++ b/jsk_topic_tools/include/jsk_topic_tools/constant_rate_throttle_nodelet.h
@@ -7,7 +7,6 @@
 #include <dynamic_reconfigure/server.h>
 #include <jsk_topic_tools/ConstantRateThrottleConfig.h>
 #include <topic_tools/shape_shifter.h>
-#include <mutex>
 
 namespace jsk_topic_tools
 {

From a4e0d40d358348ee08ba7fb52f23b436f1531e4f Mon Sep 17 00:00:00 2001
From: Kei Okada <k-okada@jsk.t.u-tokyo.ac.jp>
Date: Mon, 12 Dec 2022 13:46:47 +0000
Subject: [PATCH 10/11] revert code before C++11

---
 jsk_ros_patch/image_view2/image_view2.cpp     |  4 ++
 .../points_rectangle_extractor.cpp            | 21 ++++++++++
 jsk_tilt_laser/src/spin_laser_snapshotter.cpp |  4 ++
 .../connection_based_nodelet.h                | 38 ++++++++++++++++++
 .../src/constant_rate_throttle_nodelet.cpp    | 14 ++++++-
 jsk_topic_tools/src/diagnostic_nodelet.cpp    | 10 ++++-
 jsk_topic_tools/src/hz_measure_nodelet.cpp    |  6 +++
 .../src/lightweight_throttle_nodelet.cpp      |  8 ++++
 jsk_topic_tools/src/mux_nodelet.cpp           |  4 ++
 jsk_topic_tools/src/relay_nodelet.cpp         |  5 +++
 jsk_topic_tools/src/stealth_relay_nodelet.cpp |  4 ++
 .../src/synchronized_throttle_nodelet.cpp     | 39 ++++++++++++++++++-
 .../src/timered_diagnostic_updater.cpp        |  8 +++-
 jsk_topic_tools/src/topic_buffer_client.cpp   |  8 +++-
 jsk_topic_tools/src/topic_buffer_server.cpp   |  9 ++++-
 15 files changed, 172 insertions(+), 10 deletions(-)

diff --git a/jsk_ros_patch/image_view2/image_view2.cpp b/jsk_ros_patch/image_view2/image_view2.cpp
index b6a76efb7..f50b74f82 100644
--- a/jsk_ros_patch/image_view2/image_view2.cpp
+++ b/jsk_ros_patch/image_view2/image_view2.cpp
@@ -116,7 +116,11 @@ namespace image_view2{
 
     srv_ = boost::make_shared <dynamic_reconfigure::Server<Config> >(local_nh);
     dynamic_reconfigure::Server<Config>::CallbackType f =
+#if __cplusplus < 201100L
+      boost::bind(&ImageView2::config_callback, this, _1, _2);
+#else
       [this](auto& config, auto level){ config_callback(config, level); };
+#endif
     srv_->setCallback(f);
   }
 
diff --git a/jsk_ros_patch/image_view2/points_rectangle_extractor.cpp b/jsk_ros_patch/image_view2/points_rectangle_extractor.cpp
index 8fb321236..7eac64e96 100644
--- a/jsk_ros_patch/image_view2/points_rectangle_extractor.cpp
+++ b/jsk_ros_patch/image_view2/points_rectangle_extractor.cpp
@@ -13,6 +13,27 @@
 #include <geometry_msgs/PointStamped.h>
 #include <geometry_msgs/PolygonStamped.h>
 
+#if BOOST_VERSION < 106000  // since 1.60.0, boost uses placeholders namesapce for _1,_2...
+#ifndef BOOST_PLAEHOLDERS
+#define BOOST_PLAEHOLDERS
+namespace boost
+{
+  namespace placeholders
+  {
+    extern boost::arg<1> _1;
+    extern boost::arg<2> _2;
+    extern boost::arg<3> _3;
+    extern boost::arg<4> _4;
+    extern boost::arg<5> _5;
+    extern boost::arg<6> _6;
+    extern boost::arg<7> _7;
+    extern boost::arg<8> _8;
+    extern boost::arg<9> _9;
+  }  // namespace placeholders
+}  // namespace boost
+#endif  // BOOST_PLAEHOLDERS
+#endif  // BOOST_VERSION < 106000
+
 class PointsRectExtractor
 {
   typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::PointCloud2,
diff --git a/jsk_tilt_laser/src/spin_laser_snapshotter.cpp b/jsk_tilt_laser/src/spin_laser_snapshotter.cpp
index 32b441d1a..e60164717 100644
--- a/jsk_tilt_laser/src/spin_laser_snapshotter.cpp
+++ b/jsk_tilt_laser/src/spin_laser_snapshotter.cpp
@@ -104,7 +104,11 @@ class SpinLaserSnapshotter
       private_ns_.param("motor_frame", motor_frame_, std::string("multisense/motor"));
       timer_ = private_ns_.createTimer(
         ros::Duration(1.0 / rate_),
+#if __cplusplus < 201100L
+	boost::bind(&SpinLaserSnapshotter::timerCallback, this, _1));
+#else
         [this](auto& event){ timerCallback(event); });
+#endif
     }
   }
 
diff --git a/jsk_topic_tools/include/jsk_topic_tools/connection_based_nodelet.h b/jsk_topic_tools/include/jsk_topic_tools/connection_based_nodelet.h
index bba9e4385..075ac3897 100644
--- a/jsk_topic_tools/include/jsk_topic_tools/connection_based_nodelet.h
+++ b/jsk_topic_tools/include/jsk_topic_tools/connection_based_nodelet.h
@@ -192,9 +192,17 @@ namespace jsk_topic_tools
     {
       boost::mutex::scoped_lock lock(connection_mutex_);
       ros::SubscriberStatusCallback connect_cb
+#if __cplusplus < 201100L
+        = boost::bind(&ConnectionBasedNodelet::connectionCallback, this, _1);
+#else
         = [this](auto& pub){ connectionCallback(pub); };
+#endif
       ros::SubscriberStatusCallback disconnect_cb
+#if __cplusplus < 201100L
+        = boost::bind(&ConnectionBasedNodelet::connectionCallback, this, _1);
+#else
         = [this](auto& pub){ connectionCallback(pub); };
+#endif
       ros::Publisher ret = nh.advertise<T>(topic, queue_size,
                                            connect_cb,
                                            disconnect_cb,
@@ -254,9 +262,19 @@ namespace jsk_topic_tools
     {
       boost::mutex::scoped_lock lock(connection_mutex_);
       image_transport::SubscriberStatusCallback connect_cb
+#if __cplusplus < 201100L
+        = boost::bind(&ConnectionBasedNodelet::imageConnectionCallback,
+                      this, _1);
+#else
         = [this](auto& pub){ imageConnectionCallback(pub); };
+#endif
       image_transport::SubscriberStatusCallback disconnect_cb
+#if __cplusplus < 201100L
+        = boost::bind(&ConnectionBasedNodelet::imageConnectionCallback,
+                      this, _1);
+#else
         = [this](auto& pub){ imageConnectionCallback(pub); };
+#endif
       image_transport::Publisher pub = image_transport::ImageTransport(nh).advertise(
         topic, 1,
         connect_cb,
@@ -316,13 +334,33 @@ namespace jsk_topic_tools
     {
       boost::mutex::scoped_lock lock(connection_mutex_);
       image_transport::SubscriberStatusCallback connect_cb
+#if __cplusplus < 201100L
+        = boost::bind(&ConnectionBasedNodelet::cameraConnectionCallback,
+                      this, _1);
+#else
         = [this](auto& pub){ cameraConnectionCallback(pub); };
+#endif
       image_transport::SubscriberStatusCallback disconnect_cb
+#if __cplusplus < 201100L
+        = boost::bind(&ConnectionBasedNodelet::cameraConnectionCallback,
+                      this, _1);
+#else
         = [this](auto& pub){ cameraConnectionCallback(pub); };
+#endif
       ros::SubscriberStatusCallback info_connect_cb
+#if __cplusplus < 201100L
+        = boost::bind(&ConnectionBasedNodelet::cameraInfoConnectionCallback,
+                      this, _1);
+#else
         = [this](auto& pub){ cameraInfoConnectionCallback(pub); };
+#endif
       ros::SubscriberStatusCallback info_disconnect_cb
+#if __cplusplus < 201100L
+        = boost::bind(&ConnectionBasedNodelet::cameraInfoConnectionCallback,
+                      this, _1);
+#else
         = [this](auto& pub){ cameraInfoConnectionCallback(pub); };
+#endif
       image_transport::CameraPublisher
         pub = image_transport::ImageTransport(nh).advertiseCamera(
           topic, 1,
diff --git a/jsk_topic_tools/src/constant_rate_throttle_nodelet.cpp b/jsk_topic_tools/src/constant_rate_throttle_nodelet.cpp
index 6da3502d3..f43a4ac54 100644
--- a/jsk_topic_tools/src/constant_rate_throttle_nodelet.cpp
+++ b/jsk_topic_tools/src/constant_rate_throttle_nodelet.cpp
@@ -11,7 +11,12 @@ namespace jsk_topic_tools
     msg_cached_ = boost::shared_ptr<topic_tools::ShapeShifter>(new topic_tools::ShapeShifter());
 
     srv_ = boost::make_shared<dynamic_reconfigure::Server<Config> >(pnh_);
-    dynamic_reconfigure::Server<Config>::CallbackType f = [this](auto& config, auto level) {configCallback(config, level); };
+    dynamic_reconfigure::Server<Config>::CallbackType f
+#if __cplusplus < 201100L
+        = boost::bind(&ConstantRateThrottle::configCallback, this, _1, _2);
+#else
+        = [this](auto& config, auto level) {configCallback(config, level); };
+#endif
     srv_->setCallback(f);
 
     sub_.reset(new ros::Subscriber(
@@ -62,7 +67,12 @@ namespace jsk_topic_tools
     boost::mutex::scoped_lock lock(mutex_);
     if (!advertised_) {
         sub_->shutdown();
-        ros::SubscriberStatusCallback connect_cb = [this](auto& pub){ connectionCallback(pub); };
+        ros::SubscriberStatusCallback connect_cb
+#if __cplusplus < 201100L
+        = boost::bind(&ConstantRateThrottle::connectionCallback, this, _1);
+#else
+        = [this](auto& pub){ connectionCallback(pub); };
+#endif
         ros::AdvertiseOptions opts("output", 1,
                                    msg->getMD5Sum(),
                                    msg->getDataType(),
diff --git a/jsk_topic_tools/src/diagnostic_nodelet.cpp b/jsk_topic_tools/src/diagnostic_nodelet.cpp
index e95f83de5..365968ec0 100644
--- a/jsk_topic_tools/src/diagnostic_nodelet.cpp
+++ b/jsk_topic_tools/src/diagnostic_nodelet.cpp
@@ -56,7 +56,15 @@ namespace jsk_topic_tools
     diagnostic_updater_->setHardwareID(getName());
     diagnostic_updater_->add(
       getName(),
-      [this](auto& stat){ updateDiagnostic(stat); });
+#if __cplusplus < 201100L
+      boost::bind(
+        &DiagnosticNodelet::updateDiagnostic,
+        this,
+        _1)
+#else
+      [this](auto& stat){ updateDiagnostic(stat); }
+#endif
+     );
 
     bool use_warn;
     nh_->param("/diagnostic_nodelet/use_warn", use_warn, false);
diff --git a/jsk_topic_tools/src/hz_measure_nodelet.cpp b/jsk_topic_tools/src/hz_measure_nodelet.cpp
index 7b0638666..f859fe9b9 100644
--- a/jsk_topic_tools/src/hz_measure_nodelet.cpp
+++ b/jsk_topic_tools/src/hz_measure_nodelet.cpp
@@ -78,7 +78,13 @@ namespace jsk_topic_tools
 
     diagnostic_updater_.reset(new TimeredDiagnosticUpdater(pnh_, ros::Duration(1.0)));
     diagnostic_updater_->setHardwareID(getName());
+#if __cplusplus < 201100L
+    diagnostic_updater_->add(getName(),
+                             boost::bind(&HzMeasure::updateDiagnostic,
+                                         this, _1));
+#else
     diagnostic_updater_->add(getName(), [this](auto& stat){ updateDiagnostic(stat); });
+#endif
     diagnostic_updater_->start();
 
     hz_pub_ = pnh_.advertise<std_msgs::Float32>("output", 1);
diff --git a/jsk_topic_tools/src/lightweight_throttle_nodelet.cpp b/jsk_topic_tools/src/lightweight_throttle_nodelet.cpp
index 4c29a69bb..dd59d9551 100644
--- a/jsk_topic_tools/src/lightweight_throttle_nodelet.cpp
+++ b/jsk_topic_tools/src/lightweight_throttle_nodelet.cpp
@@ -45,7 +45,11 @@ namespace jsk_topic_tools
 
     srv_ = boost::make_shared<dynamic_reconfigure::Server<Config> >(pnh_);
     dynamic_reconfigure::Server<Config>::CallbackType f =
+#if __cplusplus < 201100L
+      boost::bind(&LightweightThrottle::configCallback, this, _1, _2);
+#else
       [this](auto& config, auto level){ configCallback(config, level); };
+#endif
     srv_->setCallback(f);
 
     // Subscribe input topic at first in order to decide
@@ -95,7 +99,11 @@ namespace jsk_topic_tools
       // This section should be called once
       sub_->shutdown();         // Shutdown before advertising topic
       ros::SubscriberStatusCallback connect_cb
+#if __cplusplus < 201100L
+        = boost::bind(&LightweightThrottle::connectionCallback, this, _1);
+#else
         = [this](auto& pub){ connectionCallback(pub); };
+#endif
       ros::AdvertiseOptions opts("output", 1,
                                  msg->getMD5Sum(),
                                  msg->getDataType(),
diff --git a/jsk_topic_tools/src/mux_nodelet.cpp b/jsk_topic_tools/src/mux_nodelet.cpp
index b9da17acc..fe27fcff2 100644
--- a/jsk_topic_tools/src/mux_nodelet.cpp
+++ b/jsk_topic_tools/src/mux_nodelet.cpp
@@ -194,7 +194,11 @@ namespace jsk_topic_tools
   {
     if (!advertised_) {         // first time
       ros::SubscriberStatusCallback connect_cb
+#if __cplusplus < 201100L
+        = boost::bind(&MUX::connectCb, this, _1);
+#else
         = [this](auto& pub){ connectCb(pub); };
+#endif
       ros::AdvertiseOptions opts("output", 1,
                                  msg->getMD5Sum(),
                                  msg->getDataType(),
diff --git a/jsk_topic_tools/src/relay_nodelet.cpp b/jsk_topic_tools/src/relay_nodelet.cpp
index 62a11f433..d26bd254a 100644
--- a/jsk_topic_tools/src/relay_nodelet.cpp
+++ b/jsk_topic_tools/src/relay_nodelet.cpp
@@ -50,7 +50,12 @@ namespace jsk_topic_tools
     diagnostic_updater_->setHardwareID(getName());
     diagnostic_updater_->add(
       getName() + "::Relay",
+#if __cplusplus < 201100L
+      boost::bind(
+        &Relay::updateDiagnostic, this, _1));
+#else
       [this](auto& stat){ updateDiagnostic(stat); });
+#endif
     double vital_rate;
     pnh_.param("vital_rate", vital_rate, 1.0);
     vital_checker_.reset(
diff --git a/jsk_topic_tools/src/stealth_relay_nodelet.cpp b/jsk_topic_tools/src/stealth_relay_nodelet.cpp
index c62ded51a..7b309839e 100644
--- a/jsk_topic_tools/src/stealth_relay_nodelet.cpp
+++ b/jsk_topic_tools/src/stealth_relay_nodelet.cpp
@@ -69,7 +69,11 @@ namespace jsk_topic_tools
 
     srv_ = boost::make_shared<dynamic_reconfigure::Server<Config> >(*pnh_);
     dynamic_reconfigure::Server<Config>::CallbackType f =
+#if __cplusplus < 201100L
+      boost::bind(&StealthRelay::configCallback, this, _1, _2);
+#else
       [this](auto& config, auto level){ configCallback(config, level); };
+#endif
     srv_->setCallback(f);
 
     /* To advertise output topic as the same type of input topic,
diff --git a/jsk_topic_tools/src/synchronized_throttle_nodelet.cpp b/jsk_topic_tools/src/synchronized_throttle_nodelet.cpp
index 83b228717..995a6db6b 100644
--- a/jsk_topic_tools/src/synchronized_throttle_nodelet.cpp
+++ b/jsk_topic_tools/src/synchronized_throttle_nodelet.cpp
@@ -39,6 +39,27 @@
 
 #include <jsk_topic_tools/synchronized_throttle.h>
 
+#if BOOST_VERSION < 106000  // since 1.60.0, boost uses placeholders namesapce for _1,_2...
+#ifndef BOOST_PLAEHOLDERS
+#define BOOST_PLAEHOLDERS
+namespace boost
+{
+  namespace placeholders
+  {
+    extern boost::arg<1> _1;
+    extern boost::arg<2> _2;
+    extern boost::arg<3> _3;
+    extern boost::arg<4> _4;
+    extern boost::arg<5> _5;
+    extern boost::arg<6> _6;
+    extern boost::arg<7> _7;
+    extern boost::arg<8> _8;
+    extern boost::arg<9> _9;
+  }  // namespace placeholders
+}  // namespace boost
+#endif  // BOOST_PLAEHOLDERS
+#endif  // BOOST_VERSION < 106000
+
 namespace jsk_topic_tools
 {
 
@@ -66,7 +87,11 @@ void SynchronizedThrottle::onInit()
 
   srv_ = boost::make_shared<dynamic_reconfigure::Server<Config> >(*pnh_);
   dynamic_reconfigure::Server<Config>::CallbackType f =
+#if __cplusplus < 201100L
+      boost::bind(&SynchronizedThrottle::configCallback, this, _1, _2);
+#else
       [this](auto& config, auto level){ configCallback(config, level); };
+#endif
   srv_->setCallback(f);
 
   // message_filter supports 2~8 input topics
@@ -89,7 +114,12 @@ void SynchronizedThrottle::onInit()
   {
     check_sub_[i] = pnh_->subscribe<topic_tools::ShapeShifterStamped>(
         input_topics_[i], 1,
-        [this,i](auto& msg){ checkCallback(msg, i); });
+#if __cplusplus < 201100L
+	boost::bind(&SynchronizedThrottle::checkCallback, this, _1, i)
+#else
+        [this,i](auto& msg){ checkCallback(msg, i); }
+#endif
+        );
     sub_[i].reset(new message_filters::Subscriber<topic_tools::ShapeShifterStamped>());
   }
 
@@ -178,7 +208,12 @@ void SynchronizedThrottle::subscribe()
   if (n_topics < MAX_SYNC_NUM)
   {
     sub_[0]->registerCallback(
-        [this](auto& msg){ fillNullMessage(msg); });
+#if __cplusplus < 201100L
+        boost::bind(&SynchronizedThrottle::fillNullMessage, this, _1)
+#else
+        [this](auto& msg){ fillNullMessage(msg); }
+#endif
+        );
   }
 
   if (approximate_sync_)
diff --git a/jsk_topic_tools/src/timered_diagnostic_updater.cpp b/jsk_topic_tools/src/timered_diagnostic_updater.cpp
index bfa42ecd9..c3b384e9d 100644
--- a/jsk_topic_tools/src/timered_diagnostic_updater.cpp
+++ b/jsk_topic_tools/src/timered_diagnostic_updater.cpp
@@ -43,7 +43,13 @@ namespace jsk_topic_tools
     diagnostic_updater_(new diagnostic_updater::Updater)
   {
     timer_ = nh.createTimer(
-      timer_duration, [this](auto& event){ timerCallback(event); });
+      timer_duration,
+#if __cplusplus < 201100L
+      boost::bind(&TimeredDiagnosticUpdater::timerCallback,this,_1)
+#else
+      [this](auto& event){ timerCallback(event); }
+#endif
+      );
     timer_.stop();
   }
   
diff --git a/jsk_topic_tools/src/topic_buffer_client.cpp b/jsk_topic_tools/src/topic_buffer_client.cpp
index d5724c750..5ab8db2d3 100644
--- a/jsk_topic_tools/src/topic_buffer_client.cpp
+++ b/jsk_topic_tools/src/topic_buffer_client.cpp
@@ -201,8 +201,12 @@ int main(int argc, char **argv)
         pub_info->topic_with_header = false;
         ROS_INFO_STREAM("subscribe " << pub_info->topic_name+string("_update"));
         pub_info->sub = new ros::Subscriber(n.subscribe<ShapeShifter>(pub_info->topic_name+string("_update"), 10,
-            [pub_info](auto& msg){ in_cb(msg, pub_info); }));
-
+#if __cplusplus < 201100L
+            boost::bind(in_cb, _1, pub_info)
+#else
+            [pub_info](auto& msg){ in_cb(msg, pub_info); }
+#endif
+            ));
         g_pubs.push_back(pub_info);
     }
 
diff --git a/jsk_topic_tools/src/topic_buffer_server.cpp b/jsk_topic_tools/src/topic_buffer_server.cpp
index f78b7f77b..b79b0f2a5 100644
--- a/jsk_topic_tools/src/topic_buffer_server.cpp
+++ b/jsk_topic_tools/src/topic_buffer_server.cpp
@@ -219,8 +219,13 @@ int main(int argc, char **argv)
             sub_info->advertised = false;
             sub_info->periodic = false;
             ROS_INFO_STREAM("subscribe " << sub_info->topic_name);
-            sub_info->sub = new ros::Subscriber(n.subscribe<ShapeShifter>(sub_info->topic_name, 10, [sub_info](auto& msg){ in_cb(msg, sub_info); }));
-
+            sub_info->sub = new ros::Subscriber(n.subscribe<ShapeShifter>(sub_info->topic_name, 10,
+#if __cplusplus < 201100L
+                boost::bind(in_cb, _1, sub_info)
+#else
+                [sub_info](auto& msg){ in_cb(msg, sub_info); }
+#endif
+            ));
             // waiting for all topics are publisherd
             while (sub_info->sub->getNumPublishers() == 0 ) {
                 ros::Duration(1.0).sleep();

From 4dd2c68e18403f0e7705851a26ffab6ff5dfdbf9 Mon Sep 17 00:00:00 2001
From: Kei Okada <k-okada@jsk.t.u-tokyo.ac.jp>
Date: Tue, 13 Dec 2022 00:40:46 +0900
Subject: [PATCH 11/11] inidgo uses setuptools==44.1.1 for
 https://github.com/jsk-ros-pkg/jsk_common/pull/1773/commits/f834c0a86a2d19013675e60ffbb2c26ba5b87e6c

---
 .github/workflows/config.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/config.yml b/.github/workflows/config.yml
index 510c54d4d..d42f9826f 100644
--- a/.github/workflows/config.yml
+++ b/.github/workflows/config.yml
@@ -20,7 +20,7 @@ jobs:
             ROS_PARALLEL_TEST_JOBS: "-j8"
             # latest catkin_virtualenv with pip==21.0.1 is incompatible with python 2.x
             # https://github.com/jsk-ros-pkg/jsk_3rdparty/pull/237
-            BEFORE_SCRIPT : "sudo pip install virtualenv==15.1.0"
+            BEFORE_SCRIPT : "sudo pip install virtualenv==15.1.0 setuptools==44.1.1"
           - ROS_DISTRO: kinetic
             CONTAINER: ubuntu:16.04
             ROS_PARALLEL_TEST_JOBS: "-j8"