Remove boost from fiducial_slam

Author: agutenkunst

fiducial_slam/CMakeLists.txt

@@ -23,10 +23,6 @@ find_package(builtin_interfaces REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 
 find_package(OpenCV REQUIRED)
-find_package(Boost REQUIRED COMPONENTS
-  filesystem
-)
-
 
 set(DEPENDENCIES
   rclcpp
@@ -60,7 +56,7 @@ add_executable(fiducial_slam_node #TODO ROS2PORT should be "fiducial_slam" but t
                src/transform_with_variance.cpp
                src/observation.cpp)
 
-target_link_libraries(fiducial_slam_node ${Boost_LIBRARIES})
+target_link_libraries(fiducial_slam_node)
 
 ament_target_dependencies(fiducial_slam_node ${DEPENDENCIES} OpenCV)
 
@@ -81,6 +77,8 @@ install(FILES fiducials.rviz
   DESTINATION share/${PROJECT_NAME}
 )
 
+install(DIRECTORY DESTINATION $ENV{HOME}/.ros/slam)
+
 ###########
 ## Tests ##
 ###########

fiducial_slam/src/map.cpp

@@ -44,9 +44,6 @@
 #include <geometry_msgs/msg/transform_stamped.hpp>
 #include <visualization_msgs/msg/marker.hpp>
 
-#include <boost/filesystem.hpp>
-
-
 static double systematic_error = 0.01;
 
 // Update a fiducial position in map with a new estimate
@@ -123,11 +120,6 @@ Map::Map(rclcpp::Node::SharedPtr &nh)
     multiErrorThreshold = nh->declare_parameter("multi_error_theshold", -1.0);
     mapFilename = nh->declare_parameter("map_file", std::string(getenv("HOME")) + "/.ros/slam/map.txt");
 
-
-    boost::filesystem::path mapPath(mapFilename);
-    boost::filesystem::path dir = mapPath.parent_path();
-    boost::filesystem::create_directories(dir);
-
     std::string initialMap;
     initialMap = nh->declare_parameter("initial_map_file", "");