From 2bbe3c5e8b03b39b404f7af10f975628d6b2d24c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Xavier=20Sol=C3=A9=20Nogu=C3=A9s?= <xavisolesoft@gmail.com>
Date: Fri, 17 May 2024 11:37:04 +0200
Subject: [PATCH] Remove boost from ROS2 (#7670)

---
 CMakeLists.txt                                     |  1 -
 LibCarla/source/carla/ros2/ROS2CallbackData.h      | 14 ++------------
 Ros2Native/CMakeLists.txt                          |  2 +-
 Ros2Native/LibCarlaRos2Native/CMakeLists.txt       |  4 ----
 .../Carla/Source/Carla/Actor/ActorDispatcher.cpp   |  5 +++--
 5 files changed, 6 insertions(+), 20 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3a8232dc6..ec12313e8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -82,7 +82,6 @@ if (BUILD_OSM_WORLD_RENDERER)
 endif ()
 
 if (ENABLE_ROS2)
-  set (BOOST_INCLUDE_PATH ${CMAKE_BINARY_DIR}/_deps/boost-src/libs)
   add_subdirectory (Ros2Native)
 endif()
 
diff --git a/LibCarla/source/carla/ros2/ROS2CallbackData.h b/LibCarla/source/carla/ros2/ROS2CallbackData.h
index 47a565dbc..488e46cac 100644
--- a/LibCarla/source/carla/ros2/ROS2CallbackData.h
+++ b/LibCarla/source/carla/ros2/ROS2CallbackData.h
@@ -6,16 +6,6 @@
 
 #pragma once
 
-#ifdef _MSC_VER
-#pragma warning(push)
-#pragma warning(disable:4583)
-#pragma warning(disable:4582)
-#include <boost/variant2/variant.hpp>
-#pragma warning(pop)
-#else
-#include <boost/variant2/variant.hpp>
-#endif
-
 #include <variant>
 #include <functional>
 
@@ -38,8 +28,8 @@ namespace ros2 {
     const char* message;
   };
 
-  using ROS2CallbackData = boost::variant2::variant<VehicleControl>;
-  using ROS2MessageCallbackData = boost::variant2::variant<MessageControl>;
+  using ROS2CallbackData = std::variant<VehicleControl>;
+  using ROS2MessageCallbackData = std::variant<MessageControl>;
 
   using ActorCallback = std::function<void(void *actor, ROS2CallbackData data)>;
   using ActorMessageCallback = std::function<void(void *actor, ROS2MessageCallbackData data)>;
diff --git a/Ros2Native/CMakeLists.txt b/Ros2Native/CMakeLists.txt
index bf03f7759..d725812ad 100644
--- a/Ros2Native/CMakeLists.txt
+++ b/Ros2Native/CMakeLists.txt
@@ -33,7 +33,7 @@ ExternalProject_Add (
   carla-ros2-native-lib
   DEPENDS fastdds
   SOURCE_DIR ${PROJECT_SOURCE_DIR}/LibCarlaRos2Native
-  CMAKE_ARGS ${PROJECT_CMAKE_FLAGS} -DBOOST_INCLUDE_PATH=${BOOST_INCLUDE_PATH}
+  CMAKE_ARGS ${PROJECT_CMAKE_FLAGS}
 )
 
 set (CARLA_PLUGIN_BINARY_PATH ${CMAKE_SOURCE_DIR}/Unreal/CarlaUnreal/Plugins/Carla/Binaries/Linux)
diff --git a/Ros2Native/LibCarlaRos2Native/CMakeLists.txt b/Ros2Native/LibCarlaRos2Native/CMakeLists.txt
index a9d211ecc..86d0061a6 100644
--- a/Ros2Native/LibCarlaRos2Native/CMakeLists.txt
+++ b/Ros2Native/LibCarlaRos2Native/CMakeLists.txt
@@ -32,10 +32,6 @@ add_library (
 target_include_directories (carla-ros2-native SYSTEM PRIVATE
     ${LIBCARLA_SOURCE_PATH}
     ${CMAKE_INSTALL_PREFIX}/include
-    ${BOOST_INCLUDE_PATH}/variant2/include
-    ${BOOST_INCLUDE_PATH}/mp11/include
-    ${BOOST_INCLUDE_PATH}/assert/include
-    ${BOOST_INCLUDE_PATH}/config/include
 )
 
 target_compile_definitions (carla-ros2-native PUBLIC
diff --git a/Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Actor/ActorDispatcher.cpp b/Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Actor/ActorDispatcher.cpp
index 0e7f35b3e..c550a8fe8 100644
--- a/Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Actor/ActorDispatcher.cpp
+++ b/Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Actor/ActorDispatcher.cpp
@@ -20,6 +20,7 @@
   #include <compiler/disable-ue4-macros.h>
   #include "carla/ros2/ROS2.h"
   #include <compiler/enable-ue4-macros.h>
+  #include <variant>
 #endif
 
 void UActorDispatcher::Bind(FActorDefinition Definition, SpawnFunctionType Functor)
@@ -213,14 +214,14 @@ FCarlaActor* UActorDispatcher::RegisterActor(
           {
             AActor *UEActor = reinterpret_cast<AActor *>(Actor);
             ActorROS2Handler Handler(UEActor, RosName);
-            boost::variant2::visit(Handler, Data);
+            std::visit(Handler, Data);
           });
 
           ROS2->AddBasicSubscriberCallback(static_cast<void*>(&Actor), RosName, [RosName](void *Actor, carla::ros2::ROS2MessageCallbackData Data) -> void
           {
             AActor *UEActor = reinterpret_cast<AActor *>(Actor);
             ActorROS2Handler Handler(UEActor, RosName);
-            boost::variant2::visit(Handler, Data);
+            std::visit(Handler, Data);
           });
         }
       }