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Replace boost::asio::io_service with boost::asio::io_context for boost 1.88 compatibility #84

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Replace boost::asio::io_service with boost::asio::io_context for boost 1.88 compatibility #84

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e25a9ae
Replace boost::asio::io_service with boost::asio::io_context for boos…
traversaro Jan 18, 2026
02179a4
Update comments to refer to io_context
traversaro Jan 18, 2026
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4 changes: 2 additions & 2 deletions applications/lds_driver/lds_driver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,7 @@

namespace lds
{
LFCDLaser::LFCDLaser(const std::string & port, uint32_t baud_rate, boost::asio::io_service & io)
LFCDLaser::LFCDLaser(const std::string & port, uint32_t baud_rate, boost::asio::io_context & io)
: port_(port), baud_rate_(baud_rate), shutting_down_(false), serial_(io, port_)
{
serial_.set_option(boost::asio::serial_port_base::baud_rate(baud_rate_));
Expand Down Expand Up @@ -136,7 +136,7 @@ int main(int argc, char ** argv)
uint16_t rpms;
port = "/dev/ttyUSB0";
baud_rate = 230400;
boost::asio::io_service io;
boost::asio::io_context io;

try {
lds::LFCDLaser laser(port, baud_rate, io);
Expand Down
4 changes: 2 additions & 2 deletions applications/lds_driver/lds_driver.hpp
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Expand Up @@ -51,10 +51,10 @@ class LFCDLaser
* @brief Constructs a new LFCDLaser attached to the given serial port
* @param port The string for the serial port device to attempt to connect to, e.g. "/dev/ttyUSB0"
* @param baud_rate The baud rate to open the serial port at.
* @param io Boost ASIO IO Service to use when creating the serial port object
* @param io Boost ASIO IO Context to use when creating the serial port object
*/

LFCDLaser(const std::string & port, uint32_t baud_rate, boost::asio::io_service & io);
LFCDLaser(const std::string & port, uint32_t baud_rate, boost::asio::io_context & io);

@gemini-code-assist gemini-code-assist Bot Jan 18, 2026

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medium

To maintain consistency with the code change, it's recommended to update the Doxygen comment for the io parameter on line 54. It should refer to Boost ASIO IO Context instead of Boost ASIO IO Service.

/**
* @brief Default destructor
*/
Expand Down
2 changes: 1 addition & 1 deletion applications/lds_polar_graph/lds_polar_graph.hpp
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Expand Up @@ -69,7 +69,7 @@ private Q_SLOTS:
qreal angular_max_;
qreal radial_min_;
qreal radial_max;
boost::asio::io_service io_;
boost::asio::io_context io_;
std::string port_;
uint32_t baud_rate_;
bool shutting_down_;
Expand Down
4 changes: 2 additions & 2 deletions include/hls_lfcd_lds_driver/hlds_laser_segment_publisher.hpp
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Expand Up @@ -54,9 +54,9 @@ class LFCDLaser
* @brief Constructs a new LFCDLaser attached to the given serial port
* @param port The string for the serial port device to attempt to connect to, e.g. "/dev/ttyUSB0"
* @param baud_rate The baud rate to open the serial port at.
* @param io Boost ASIO IO Service to use when creating the serial port object
* @param io Boost ASIO IO Context to use when creating the serial port object
*/
explicit LFCDLaser(boost::asio::io_service & io);
explicit LFCDLaser(boost::asio::io_context & io);

@gemini-code-assist gemini-code-assist Bot Jan 18, 2026

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medium

For consistency, the Doxygen comment for the io parameter on line 57 should be updated to reflect the change from io_service to io_context. It currently still refers to Boost ASIO IO Service.


/**
* @brief Default destructor
Expand Down
4 changes: 2 additions & 2 deletions include/hls_lfcd_lds_driver/lfcd_laser.hpp
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Expand Up @@ -52,9 +52,9 @@ class LFCDLaser
* @brief Constructs a new LFCDLaser attached to the given serial port
* @param port The string for the serial port device to attempt to connect to, e.g. "/dev/ttyUSB0"
* @param baud_rate The baud rate to open the serial port at.
* @param io Boost ASIO IO Service to use when creating the serial port object
* @param io Boost ASIO IO Context to use when creating the serial port object
*/
LFCDLaser(const std::string & port, uint32_t baud_rate, boost::asio::io_service & io);
LFCDLaser(const std::string & port, uint32_t baud_rate, boost::asio::io_context & io);

@gemini-code-assist gemini-code-assist Bot Jan 18, 2026

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medium

Please update the Doxygen comment for the io parameter on line 55 to refer to Boost ASIO IO Context. This will align the documentation with the code change from io_service to io_context.


/**
* @brief Default destructor
Expand Down
4 changes: 2 additions & 2 deletions src/hlds_laser_publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -39,7 +39,7 @@

namespace hls_lfcd_lds
{
LFCDLaser::LFCDLaser(const std::string & port, uint32_t baud_rate, boost::asio::io_service & io)
LFCDLaser::LFCDLaser(const std::string & port, uint32_t baud_rate, boost::asio::io_context & io)
: port_(port), baud_rate_(baud_rate), shutting_down_(false), serial_(io, port_)
{
serial_.set_option(boost::asio::serial_port_base::baud_rate(baud_rate_));
Expand Down Expand Up @@ -127,7 +127,7 @@ int main(int argc, char ** argv)

auto node = rclcpp::Node::make_shared("hlds_laser_publisher");
rclcpp::Publisher<sensor_msgs::msg::LaserScan>::SharedPtr laser_pub;
boost::asio::io_service io;
boost::asio::io_context io;

std::string port;
std::string frame_id;
Expand Down
4 changes: 2 additions & 2 deletions src/hlds_laser_segment_publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -41,7 +41,7 @@

namespace hls_lfcd_lds
{
LFCDLaser::LFCDLaser(boost::asio::io_service & io)
LFCDLaser::LFCDLaser(boost::asio::io_context & io)
: serial_(io),
shutting_down_(false)
{
Expand Down Expand Up @@ -132,7 +132,7 @@ int main(int argc, char * argv[])
{
ros::init(argc, argv, "hlds_laser_segment_publisher");

boost::asio::io_service io;
boost::asio::io_context io;
hls_lfcd_lds::LFCDLaser laser(io);

while (ros::ok()) {
Expand Down