Remove boost from fiducial_slam

UbiquityRobotics · Sep 12, 2021 · f323393 · f323393
1 parent 3c9246a
commit f323393
Show file tree

Hide file tree

Showing 2 changed files with 2 additions and 8 deletions.
diff --git a/fiducial_slam/CMakeLists.txt b/fiducial_slam/CMakeLists.txt
@@ -81,6 +81,8 @@ install(FILES fiducials.rviz
   DESTINATION share/${PROJECT_NAME}
 )
 
+install(DIRECTORY DESTINATION $ENV{HOME}/.ros/slam)
+
 ###########
 ## Tests ##
 ###########

diff --git a/fiducial_slam/src/map.cpp b/fiducial_slam/src/map.cpp
@@ -44,9 +44,6 @@
 #include <geometry_msgs/msg/transform_stamped.hpp>
 #include <visualization_msgs/msg/marker.hpp>
 
-#include <boost/filesystem.hpp>
-
-
 static double systematic_error = 0.01;
 
 // Update a fiducial position in map with a new estimate
@@ -123,11 +120,6 @@ Map::Map(rclcpp::Node::SharedPtr &nh)
     multiErrorThreshold = nh->declare_parameter("multi_error_theshold", -1.0);
     mapFilename = nh->declare_parameter("map_file", std::string(getenv("HOME")) + "/.ros/slam/map.txt");
 
-
-    boost::filesystem::path mapPath(mapFilename);
-    boost::filesystem::path dir = mapPath.parent_path();
-    boost::filesystem::create_directories(dir);
-
     std::string initialMap;
     initialMap = nh->declare_parameter("initial_map_file", "");