use lambda instead of bind (c++14)

MRPT · Aug 8, 2024 · 2f29b14 · 2f29b14
1 parent c56239a
commit 2f29b14
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Showing 2 changed files with 7 additions and 4 deletions.
diff --git a/mvsim_node_src/mvsim_node.cpp b/mvsim_node_src/mvsim_node.cpp
@@ -603,7 +603,8 @@ void MVSimNode::initPubSubs(TPubSubPerVehicle& pubsubs, mvsim::VehicleBase* veh)
 #if PACKAGE_ROS_VERSION == 1
 	pubsubs.sub_cmd_vel = mvsim_node::make_shared<ros::Subscriber>(n_.subscribe<Msg_Twist>(
 		vehVarName("cmd_vel", *veh), 10,
-		boost::bind(&MVSimNode::onROSMsgCmdVel, this, _1, veh)));
+		[this, veh](Msg_Twist_CSPtr msg)
+		{ return this->onROSMsgCmdVel(msg, veh); }));
 #else
 	pubsubs.sub_cmd_vel = n_->create_subscription<Msg_Twist>(
 		vehVarName("cmd_vel", *veh), 10,

diff --git a/mvsim_node_src/mvsim_node_main.cpp b/mvsim_node_src/mvsim_node_main.cpp
@@ -68,9 +68,11 @@ int main(int argc, char** argv)
 		// Do this before parameter server, else some of the parameter server
 		// values can be overwritten.
 		dynamic_reconfigure::Server<mvsim::mvsimNodeConfig> dr_srv;
-		dynamic_reconfigure::Server<mvsim::mvsimNodeConfig>::CallbackType cb;
-		cb = boost::bind(&MVSimNode::configCallback, node.get(), _1, _2);
-		dr_srv.setCallback(cb);
+		dr_srv.setCallback(
+			[&node](mvsim::mvsimNodeConfig& config, uint32_t level)
+			{
+				return node->configCallback(config, level);
+			});
 #endif
 
 		// Tell ROS how fast to run this node->