Fix build with Boost 1.69

3 files changed, 144 insertions, 7 deletions

diff --git a/PKGBUILD b/PKGBUILD
index dd752ab5e360..598041f4621b 100644
--- a/PKGBUILD
+++ b/PKGBUILD
@@ -32,15 +32,17 @@ depends=(${ros_depends[@]}
 
 # Tarball version (faster download)
 _dir="geometry2-release-release-kinetic-tf2-${pkgver}-${_pkgver_patch}"
-source=("${pkgname}-${pkgver}-${_pkgver_patch}.tar.gz"::"https://github.com/ros-gbp/geometry2-release/archive/release/kinetic/tf2/${pkgver}-${_pkgver_patch}.tar.gz")
-sha256sums=('a77e9391ece6f3c2d65fcce807dc9f9c79982e226bb8b75555d38b35abf5d140')
+source=("${pkgname}-${pkgver}-${_pkgver_patch}.tar.gz"::"https://github.com/ros-gbp/geometry2-release/archive/release/kinetic/tf2/${pkgver}-${_pkgver_patch}.tar.gz"
+        "deprecated-log-macros.patch::https://github.com/ros/geometry2/commit/0173a538f89c66e2783dc67ee3609660625e16b4.patch"
+        "remove-boost-signals.patch::https://github.com/ros/geometry2/commit/6223549e4d5e1d442a9cfb8e8c7334bcc62c1662.patch")
+sha256sums=('a77e9391ece6f3c2d65fcce807dc9f9c79982e226bb8b75555d38b35abf5d140'
+            '78c2afef26f613c6461c6bd330147c7b75e9bb1d1fac88a2a43dff1f10e7b1a6'
+            '29b1d7bc96363847cd03f504504e4dcca142f05517b126327a2eaac1948a0638')
 
 prepare() {
-  cd ${srcdir}
-  find . \( -iname *.cpp -o -iname *.h \) \
-	  -exec sed -r -i "s/[^_]logError/CONSOLE_BRIDGE_logError/" {} \; \
-	  -exec sed -r -i "s/[^_]logWarn/CONSOLE_BRIDGE_logWarn/" {} \; \
-	  -exec sed -r -i "s/[^_]logDebug/CONSOLE_BRIDGE_logDebug/" {} \;
+  cd "${srcdir}/${_dir}"
+  patch -p2 -i "${srcdir}/deprecated-log-macros.patch"
+  patch -p2 -i "${srcdir}/remove-boost-signals.patch"
 }
 
 build() {
diff --git a/deprecated-log-macros.patch b/deprecated-log-macros.patch
new file mode 100644
index 000000000000..80e3dce3a020
--- /dev/null
+++ b/deprecated-log-macros.patch
@@ -0,0 +1,107 @@
+From 0173a538f89c66e2783dc67ee3609660625e16b4 Mon Sep 17 00:00:00 2001
+From: Tim Rakowski <tim.rakowski@googlemail.com>
+Date: Thu, 4 Jan 2018 23:14:31 +0100
+Subject: [PATCH] Replaced deprecated log macro calls
+
+---
+ tf2/src/buffer_core.cpp | 22 +++++++++++-----------
+ 1 file changed, 11 insertions(+), 11 deletions(-)
+
+diff --git a/tf2/src/buffer_core.cpp b/tf2/src/buffer_core.cpp
+index 6483ada9..75b827d1 100644
+--- a/tf2/src/buffer_core.cpp
++++ b/tf2/src/buffer_core.cpp
+@@ -123,7 +123,7 @@ bool BufferCore::warnFrameId(const char* function_name_arg, const std::string& f
+   {
+     std::stringstream ss;
+     ss << "Invalid argument passed to "<< function_name_arg <<" in tf2 frame_ids cannot be empty";
+-    logWarn("%s",ss.str().c_str());
++    CONSOLE_BRIDGE_logWarn("%s",ss.str().c_str());
+     return true;
+   }
+ 
+@@ -131,7 +131,7 @@ bool BufferCore::warnFrameId(const char* function_name_arg, const std::string& f
+   {
+     std::stringstream ss;
+     ss << "Invalid argument \"" << frame_id << "\" passed to "<< function_name_arg <<" in tf2 frame_ids cannot start with a '/' like: ";
+-    logWarn("%s",ss.str().c_str());
++    CONSOLE_BRIDGE_logWarn("%s",ss.str().c_str());
+     return true;
+   }
+ 
+@@ -218,26 +218,26 @@ bool BufferCore::setTransform(const geometry_msgs::TransformStamped& transform_i
+   bool error_exists = false;
+   if (stripped.child_frame_id == stripped.header.frame_id)
+   {
+-    logError("TF_SELF_TRANSFORM: Ignoring transform from authority \"%s\" with frame_id and child_frame_id  \"%s\" because they are the same",  authority.c_str(), stripped.child_frame_id.c_str());
++    CONSOLE_BRIDGE_logError("TF_SELF_TRANSFORM: Ignoring transform from authority \"%s\" with frame_id and child_frame_id  \"%s\" because they are the same",  authority.c_str(), stripped.child_frame_id.c_str());
+     error_exists = true;
+   }
+ 
+   if (stripped.child_frame_id == "")
+   {
+-    logError("TF_NO_CHILD_FRAME_ID: Ignoring transform from authority \"%s\" because child_frame_id not set ", authority.c_str());
++    CONSOLE_BRIDGE_logError("TF_NO_CHILD_FRAME_ID: Ignoring transform from authority \"%s\" because child_frame_id not set ", authority.c_str());
+     error_exists = true;
+   }
+ 
+   if (stripped.header.frame_id == "")
+   {
+-    logError("TF_NO_FRAME_ID: Ignoring transform with child_frame_id \"%s\"  from authority \"%s\" because frame_id not set", stripped.child_frame_id.c_str(), authority.c_str());
++    CONSOLE_BRIDGE_logError("TF_NO_FRAME_ID: Ignoring transform with child_frame_id \"%s\"  from authority \"%s\" because frame_id not set", stripped.child_frame_id.c_str(), authority.c_str());
+     error_exists = true;
+   }
+ 
+   if (std::isnan(stripped.transform.translation.x) || std::isnan(stripped.transform.translation.y) || std::isnan(stripped.transform.translation.z)||
+       std::isnan(stripped.transform.rotation.x) ||       std::isnan(stripped.transform.rotation.y) ||       std::isnan(stripped.transform.rotation.z) ||       std::isnan(stripped.transform.rotation.w))
+   {
+-    logError("TF_NAN_INPUT: Ignoring transform for child_frame_id \"%s\" from authority \"%s\" because of a nan value in the transform (%f %f %f) (%f %f %f %f)",
++    CONSOLE_BRIDGE_logError("TF_NAN_INPUT: Ignoring transform for child_frame_id \"%s\" from authority \"%s\" because of a nan value in the transform (%f %f %f) (%f %f %f %f)",
+               stripped.child_frame_id.c_str(), authority.c_str(),
+               stripped.transform.translation.x, stripped.transform.translation.y, stripped.transform.translation.z,
+               stripped.transform.rotation.x, stripped.transform.rotation.y, stripped.transform.rotation.z, stripped.transform.rotation.w
+@@ -252,7 +252,7 @@ bool BufferCore::setTransform(const geometry_msgs::TransformStamped& transform_i
+ 
+   if (!valid) 
+   {
+-    logError("TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id \"%s\" from authority \"%s\" because of an invalid quaternion in the transform (%f %f %f %f)",
++    CONSOLE_BRIDGE_logError("TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id \"%s\" from authority \"%s\" because of an invalid quaternion in the transform (%f %f %f %f)",
+              stripped.child_frame_id.c_str(), authority.c_str(),
+              stripped.transform.rotation.x, stripped.transform.rotation.y, stripped.transform.rotation.z, stripped.transform.rotation.w);
+     error_exists = true;
+@@ -274,7 +274,7 @@ bool BufferCore::setTransform(const geometry_msgs::TransformStamped& transform_i
+     }
+     else
+     {
+-      logWarn("TF_OLD_DATA ignoring data from the past for frame %s at time %g according to authority %s\nPossible reasons are listed at http://wiki.ros.org/tf/Errors%%20explained", stripped.child_frame_id.c_str(), stripped.header.stamp.toSec(), authority.c_str());
++      CONSOLE_BRIDGE_logWarn("TF_OLD_DATA ignoring data from the past for frame %s at time %g according to authority %s\nPossible reasons are listed at http://wiki.ros.org/tf/Errors%%20explained", stripped.child_frame_id.c_str(), stripped.header.stamp.toSec(), authority.c_str());
+       return false;
+     }
+   }
+@@ -633,7 +633,7 @@ geometry_msgs::TransformStamped BufferCore::lookupTransform(const std::string& t
+     case tf2_msgs::TF2Error::LOOKUP_ERROR:
+       throw LookupException(error_string);
+     default:
+-      logError("Unknown error code: %d", retval);
++      CONSOLE_BRIDGE_logError("Unknown error code: %d", retval);
+       assert(0);
+     }
+   }
+@@ -1604,7 +1604,7 @@ void BufferCore::_chainAsVector(const std::string & target_frame, ros::Time targ
+     case tf2_msgs::TF2Error::LOOKUP_ERROR:
+       throw LookupException(error_string);
+     default:
+-      logError("Unknown error code: %d", retval);
++      CONSOLE_BRIDGE_logError("Unknown error code: %d", retval);
+       assert(0);
+     }
+   }
+@@ -1623,7 +1623,7 @@ void BufferCore::_chainAsVector(const std::string & target_frame, ros::Time targ
+     case tf2_msgs::TF2Error::LOOKUP_ERROR:
+       throw LookupException(error_string);
+     default:
+-      logError("Unknown error code: %d", retval);
++      CONSOLE_BRIDGE_logError("Unknown error code: %d", retval);
+       assert(0);
+     }
+   }
diff --git a/remove-boost-signals.patch b/remove-boost-signals.patch
new file mode 100644
index 000000000000..21d73e6e9d59
--- /dev/null
+++ b/remove-boost-signals.patch
@@ -0,0 +1,28 @@
+From 6223549e4d5e1d442a9cfb8e8c7334bcc62c1662 Mon Sep 17 00:00:00 2001
+From: Maarten de Vries <maarten@de-vri.es>
+Date: Thu, 17 Jan 2019 16:00:14 +0100
+Subject: [PATCH] Remove `signals` from find_package(Boost COMPONENTS ...).
+
+tf2 is using signals2, which is not the same library.
+Additionally, signals2 has always been header only, and header only
+libraries must not be listed in find_package.
+
+Boost 1.69 removed the old signals library entirely, so the otherwise
+useless `COMPONENTS signals` actually breaks the build.
+---
+ tf2/CMakeLists.txt | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/tf2/CMakeLists.txt b/tf2/CMakeLists.txt
+index 9ffb17a2..7a6da342 100644
+--- a/tf2/CMakeLists.txt
++++ b/tf2/CMakeLists.txt
+@@ -3,7 +3,7 @@ project(tf2)
+ 
+ find_package(console_bridge REQUIRED)
+ find_package(catkin REQUIRED COMPONENTS geometry_msgs rostime tf2_msgs)
+-find_package(Boost REQUIRED COMPONENTS signals system thread)
++find_package(Boost REQUIRED COMPONENTS system thread)
+ 
+ catkin_package(
+    INCLUDE_DIRS include