Cleanups and removed unused files

camera_calibration_parsers/CMakeLists.txt

@@ -46,22 +46,6 @@ endif()
 
 ament_export_targets(export_${PROJECT_NAME})
 
-# TODO: Reenable Python Wrapper with new serialization technique.
-#find_package(PythonLibs REQUIRED)
-#if(PYTHONLIBS_VERSION_STRING VERSION_LESS 3)
-#  find_package(Boost REQUIRED COMPONENTS python)
-#else()
-#  find_package(Boost REQUIRED COMPONENTS python3)
-#endif()
-#add_library(${PROJECT_NAME}_wrapper
-#  src/parse_wrapper.cpp)
-#target_link_libraries(${PROJECT_NAME}_wrapper
-#  rclcpp::rclcpp
-#  sensor_msgs::sensor_msgs
-#)
-#target_include_directories(${PROJECT_NAME}_wrapper PUBLIC ${Boost_INCLUDE_DIRS} ${PYTHON_INCLUDE_DIRS})
-#target_link_libraries(${PROJECT_NAME}_wrapper ${PROJECT_NAME} ${Boost_LIBRARIES} ${PYTHON_LIBRARIES} ${YAML_CPP_LIBRARIES})
-
 # define the exe to convert
 add_executable(convert src/convert.cpp)
 target_link_libraries(convert PRIVATE

camera_calibration_parsers/src/parse_ini.cpp

@@ -31,7 +31,6 @@
 
 #include "camera_calibration_parsers/parse_ini.hpp"
 
-#include <cassert>
 #include <cctype>
 #include <cmath>
 

camera_calibration_parsers/src/parse_yml.cpp

@@ -30,8 +30,6 @@
 #include "camera_calibration_parsers/parse_yml.hpp"
 
 #include <cassert>
-#include <cstring>
-#include <ctime>
 
 #include <filesystem>
 #include <fstream>
@@ -132,15 +130,6 @@ bool writeCalibrationYml(
   YAML::Emitter emitter;
   emitter << YAML::BeginMap;
 
-#if 0
-  // Calibration time
-  /// @todo Emitting the time breaks yaml-cpp on reading for some reason
-  time_t raw_time;
-  time(&raw_time);
-  emitter << YAML::Key << "calibration_time";
-  emitter << YAML::Value << asctime_r(localtime_r(&raw_time));
-#endif
-
   // Image dimensions
   emitter << YAML::Key << WIDTH_YML_NAME << YAML::Value << static_cast<int>(cam_info.width);
   emitter << YAML::Key << HEIGHT_YML_NAME << YAML::Value << static_cast<int>(cam_info.height);

camera_info_manager/src/camera_info_manager.cpp

@@ -30,9 +30,7 @@
 #include "camera_info_manager/camera_info_manager.hpp"
 
 #include <algorithm>
-#include <cstdlib>
 #include <filesystem>
-#include <locale>
 #include <memory>
 #include <string>
 

camera_info_manager_py/camera_info_manager/camera_info_manager.py

@@ -221,7 +221,7 @@ def __str__(self):
 
         :returns: Return string representation of :class:CameraInfoManager.
         """
-        return '[' + self.cname + ']' + str(self.utm)
+        return '[' + self.cname + ']' + str(self.url)
 
     def getCameraInfo(self):
         """

image_transport/include/image_transport/camera_publisher.hpp

@@ -45,8 +45,6 @@
 namespace image_transport
 {
 
-class ImageTransport;
-
 /**
  * \brief Manages advertisements for publishing camera images.
  *

image_transport/include/image_transport/camera_subscriber.hpp

@@ -44,8 +44,6 @@
 namespace image_transport
 {
 
-class ImageTransport;
-
 /**
  * \brief Manages a subscription callback on synchronized Image and CameraInfo topics.
  *

image_transport/include/image_transport/simple_publisher_plugin.hpp

@@ -198,23 +198,6 @@ class SimplePublisherPlugin : public PublisherPlugin
   };
 
   std::unique_ptr<SimplePublisherPluginImpl> simple_impl_;
-
-  typedef std::function<void (const sensor_msgs::msg::Image &)> ImagePublishFn;
-
-  /**
-   * Returns a function object for publishing the transport-specific message type
-   * through some ROS publisher type.
-   *
-   * @param pub An object with method void publish(const M&)
-   */
-  template<class PubT>
-  PublishFn bindInternalPublisher(PubT * pub) const
-  {
-    // Bind PubT::publish(const Message&) as PublishFn
-    typedef void (PubT::* InternalPublishMemFn)(const M &);
-    InternalPublishMemFn internal_pub_mem_fn = &PubT::publish;
-    return std::bind(internal_pub_mem_fn, pub, std::placeholders::_1);
-  }
 };
 
 }  // namespace image_transport

image_transport/include/image_transport/simple_subscriber_plugin.hpp

@@ -129,9 +129,6 @@ class SimpleSubscriberPlugin : public SubscriberPlugin
     rclcpp::SubscriptionOptions options) override
   {
     impl_ = std::make_unique<Impl>();
-    // Push each group of transport-specific parameters into a separate sub-namespace
-    // ros::NodeHandle param_nh(transport_hints.getParameterNH(), getTransportName());
-    //
     auto parameters_interface = node_interfaces.get_node_parameters_interface();
     auto topics_interface = node_interfaces.get_node_topics_interface();
     impl_->sub_ = rclcpp::create_subscription<M>(

image_transport/src/subscriber.cpp

@@ -78,7 +78,6 @@ struct Subscriber::Impl
   SubLoaderPtr loader_;
   std::shared_ptr<SubscriberPlugin> subscriber_;
   bool unsubscribed_;
-  // double constructed_;
 };
 
 Subscriber::Subscriber(

image_transport_py/src/image_transport_py/pybind_image_transport.cpp

@@ -27,14 +27,9 @@
 #include <rclcpp/serialization.hpp>
 #include <sensor_msgs/msg/image.hpp>
 
-using namespace std::chrono_literals;
-
 namespace image_transport_python
 {
 
-template<typename SubscriberType>
-using SubscriberMap = std::unordered_map<SubscriberType *, std::shared_ptr<SubscriberType>>;
-
 // Bindings for the image_transport classes
 PYBIND11_MODULE(_image_transport, m)
 {