Replace rcpputils::endian with std::endian

cv_bridge/CMakeLists.txt

@@ -2,11 +2,7 @@ cmake_minimum_required(VERSION 3.14)
 project(cv_bridge)
 
 find_package(ament_cmake_ros REQUIRED)
-
-# Default to C++17
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 17)
-endif()
+find_package(ament_cmake_ros_core REQUIRED)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra)
@@ -40,7 +36,6 @@ else()
 endif()
 
 find_package(rclcpp REQUIRED)
-find_package(rcpputils REQUIRED)
 find_package(sensor_msgs REQUIRED)
 
 find_package(OpenCV 4 QUIET

cv_bridge/include/cv_bridge/cv_mat_sensor_msgs_image_type_adapter.hpp

@@ -15,6 +15,7 @@
 #ifndef CV_BRIDGE__CV_MAT_SENSOR_MSGS_IMAGE_TYPE_ADAPTER_HPP_
 #define CV_BRIDGE__CV_MAT_SENSOR_MSGS_IMAGE_TYPE_ADAPTER_HPP_
 
+#include <bit>
 #include <cstddef>
 #include <memory>
 #include <variant>
@@ -30,26 +31,6 @@
 
 namespace cv_bridge
 {
-namespace detail
-{
-// TODO(audrow): Replace with std::endian when C++ 20 is available
-// https://en.cppreference.com/w/cpp/types/endian
-enum class endian
-{
-#ifdef _WIN32
-  little = 0,
-  big    = 1,
-  native = little
-#else
-  little = __ORDER_LITTLE_ENDIAN__,
-  big    = __ORDER_BIG_ENDIAN__,
-  native = __BYTE_ORDER__
-#endif
-};
-
-}  // namespace detail
-
-
 /// A potentially owning, potentially non-owning, container of a cv::Mat and ROS header.
 /**
  * The two main use cases for this are publishing user controlled data, and
@@ -85,7 +66,7 @@ enum class endian
  */
 class ROSCvMatContainer
 {
-  static constexpr bool is_bigendian_system = detail::endian::native == detail::endian::big;
+  static constexpr bool is_bigendian_system = std::endian::native == std::endian::big;
 
 public:
   using SensorMsgsImageStorageType = std::variant<

cv_bridge/package.xml

@@ -18,14 +18,14 @@
 
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
   <buildtool_depend>python_cmake_module</buildtool_depend>
+  <buildtool_depend>ament_cmake_ros_core</buildtool_depend>
 
   <build_depend>libboost-dev</build_depend>
   <build_depend>libboost-python-dev</build_depend>
 
   <depend>libopencv-dev</depend>
   <depend>python3-numpy</depend>
   <depend>rclcpp</depend>
-  <depend>rcpputils</depend>
   <depend>sensor_msgs</depend>
   <depend>python3-opencv</depend>
 

cv_bridge/src/CMakeLists.txt

@@ -16,10 +16,10 @@ target_link_libraries(${PROJECT_NAME} PUBLIC
   opencv_imgproc
   opencv_imgcodecs
   rclcpp::rclcpp
+  ament_cmake_ros_core::ament_ros_defaults
 )
 target_link_libraries(${PROJECT_NAME} PRIVATE
-  Boost::headers
-  rcpputils::rcpputils)
+  Boost::headers)
 
 install(TARGETS ${PROJECT_NAME} EXPORT export_${PROJECT_NAME}
   ARCHIVE DESTINATION lib
@@ -36,7 +36,8 @@ if(NOT CV_BRIDGE_DISABLE_PYTHON)
   target_link_libraries(${PROJECT_NAME}_boost PRIVATE
     ${PROJECT_NAME}
     ${boost_python_target}
-    Python3::NumPy)
+    Python3::NumPy
+    ament_cmake_ros_core::ament_ros_defaults)
   target_compile_definitions(${PROJECT_NAME}_boost PRIVATE PYTHON3)
 
   if(OpenCV_VERSION_MAJOR VERSION_EQUAL 4)

cv_bridge/src/cv_bridge.cpp

@@ -40,8 +40,8 @@
 #include <opencv2/imgcodecs.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 #include <sensor_msgs/image_encodings.hpp>
-#include "rcpputils/endian.hpp"
 
+#include <bit>
 #include <map>
 #include <memory>
 #include <regex>
@@ -299,8 +299,8 @@ cv::Mat matFromImage(const sensor_msgs::msg::Image & source)
   cv::Mat mat(source.height, source.width, source_type, const_cast<uchar *>(&source.data[0]),
     source.step);
 
-   if ((rcpputils::endian::native == rcpputils::endian::big && source.is_bigendian) ||
-    (rcpputils::endian::native == rcpputils::endian::little && !source.is_bigendian) ||
+   if ((std::endian::native == std::endian::big && source.is_bigendian) ||
+    (std::endian::native == std::endian::little && !source.is_bigendian) ||
     byte_depth == 1)
   {
     return mat;
@@ -392,7 +392,7 @@ void CvImage::toImageMsg(sensor_msgs::msg::Image & ros_image) const
   ros_image.height = image.rows;
   ros_image.width = image.cols;
   ros_image.encoding = encoding;
-  ros_image.is_bigendian = (rcpputils::endian::native == rcpputils::endian::big);
+  ros_image.is_bigendian = (std::endian::native == std::endian::big);
   ros_image.step = image.cols * image.elemSize();
   size_t size = ros_image.step * image.rows;
   ros_image.data.resize(size);
@@ -442,7 +442,7 @@ CvImageConstPtr toCvShare(
 {
   // If the encoding different or the endianness different, you have to copy
   if ((!encoding.empty() && source.encoding != encoding) || (!source.is_bigendian !=
-    (rcpputils::endian::native != rcpputils::endian::big)))
+    (std::endian::native != std::endian::big)))
   {
     return toCvCopy(source, encoding);
   }

cv_bridge/test/test_endian.cpp

@@ -1,12 +1,10 @@
-#include <boost/endian/conversion.hpp>
+#include <bit>
 #include <cv_bridge/cv_bridge.hpp>
 #include <gtest/gtest.h>
 #include <memory>
 
 TEST(CvBridgeTest, endianness)
 {
-  using namespace boost::endian;
-
   // Create an image of the type opposite to the platform
   sensor_msgs::msg::Image msg;
   msg.height = 1;
@@ -15,17 +13,31 @@ TEST(CvBridgeTest, endianness)
   msg.step = 8;
 
   msg.data.resize(msg.step);
-  int32_t * data = reinterpret_cast<int32_t *>(&msg.data[0]);
+  uint8_t * raw = msg.data.data();
 
   // Write 1 and 2 in order, but with an endianness opposite to the platform
-  if (order::native == order::little) {
+  if (std::endian::native == std::endian::little) {
     msg.is_bigendian = true;
-    *(data++) = native_to_big(static_cast<int32_t>(1));
-    *data = native_to_big(static_cast<int32_t>(2));
+    raw[0] = 0x00;
+    raw[1] = 0x00;
+    raw[2] = 0x00;
+    raw[3] = 0x01;
+
+    raw[4] = 0x00;
+    raw[5] = 0x00;
+    raw[6] = 0x00;
+    raw[7] = 0x02;
   } else {
     msg.is_bigendian = false;
-    *(data++) = native_to_little(static_cast<int32_t>(1));
-    *data = native_to_little(static_cast<int32_t>(2));
+    raw[0] = 0x01;
+    raw[1] = 0x00;
+    raw[2] = 0x00;
+    raw[3] = 0x00;
+
+    raw[4] = 0x02;
+    raw[5] = 0x00;
+    raw[6] = 0x00;
+    raw[7] = 0x00;
   }
 
   // Make sure the values are still the same

image_geometry/CMakeLists.txt

@@ -3,14 +3,10 @@ project(image_geometry)
 
 find_package(ament_cmake_python REQUIRED)
 find_package(ament_cmake_ros REQUIRED)
+find_package(ament_cmake_ros_core REQUIRED)
 
 ament_python_install_package(${PROJECT_NAME})
 
-# Default to C++17
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 17)
-endif()
-
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra)
 endif()
@@ -30,7 +26,8 @@ target_link_libraries(${PROJECT_NAME} PUBLIC
   opencv_core
   opencv_highgui
   opencv_imgproc
-  ${sensor_msgs_TARGETS})
+  ${sensor_msgs_TARGETS}
+  ament_cmake_ros_core::ament_ros_defaults)
 
 install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
 

image_geometry/package.xml

@@ -18,6 +18,7 @@
 
   <buildtool_depend>ament_cmake_python</buildtool_depend>
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
+  <buildtool_depend>ament_cmake_ros_core</buildtool_depend>
 
   <depend>libopencv-dev</depend>
   <depend>sensor_msgs</depend>