refactor(tier4_autoware_utils): boost optional to std optional (#5756)

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

Author: zulfaqar-azmi-t4

common/tier4_autoware_utils/include/tier4_autoware_utils/ros/marker_helper.hpp

@@ -19,8 +19,7 @@
 
 #include <visualization_msgs/msg/marker_array.hpp>
 
-#include <boost/optional.hpp>
-
+#include <optional>
 #include <string>
 
 namespace tier4_autoware_utils
@@ -75,7 +74,7 @@ visualization_msgs::msg::Marker createDeletedDefaultMarker(
 void appendMarkerArray(
   const visualization_msgs::msg::MarkerArray & additional_marker_array,
   visualization_msgs::msg::MarkerArray * marker_array,
-  const boost::optional<rclcpp::Time> & current_time = {});
+  const std::optional<rclcpp::Time> & current_time = {});
 
 }  // namespace tier4_autoware_utils
 

common/tier4_autoware_utils/package.xml

@@ -18,7 +18,6 @@
   <depend>builtin_interfaces</depend>
   <depend>diagnostic_msgs</depend>
   <depend>geometry_msgs</depend>
-  <depend>libboost-dev</depend>
   <depend>logging_demo</depend>
   <depend>pcl_conversions</depend>
   <depend>pcl_ros</depend>

common/tier4_autoware_utils/src/ros/marker_helper.cpp

@@ -57,13 +57,13 @@ visualization_msgs::msg::Marker createDeletedDefaultMarker(
 void appendMarkerArray(
   const visualization_msgs::msg::MarkerArray & additional_marker_array,
   visualization_msgs::msg::MarkerArray * marker_array,
-  const boost::optional<rclcpp::Time> & current_time)
+  const std::optional<rclcpp::Time> & current_time)
 {
   for (const auto & marker : additional_marker_array.markers) {
     marker_array->markers.push_back(marker);
 
     if (current_time) {
-      marker_array->markers.back().header.stamp = current_time.get();
+      marker_array->markers.back().header.stamp = current_time.value();
     }
   }
 }