Migrate the ROS1 pcl_ros::CropBox filter to ROS2 (#401)

* Add squashed commit for CropBox filter

* Lint

pcl_ros/include/pcl_ros/filters/crop_box.hpp

@@ -41,11 +41,9 @@
 
 // PCL includes
 #include <pcl/filters/crop_box.h>
+#include <vector>
 #include "pcl_ros/filters/filter.hpp"
 
-// Dynamic reconfigure
-#include "pcl_ros/CropBoxConfig.hpp"
-
 namespace pcl_ros
 {
 /** \brief @b CropBox is a filter that allows the user to filter all the data inside of a given box.
@@ -57,9 +55,6 @@ namespace pcl_ros
 class CropBox : public Filter
 {
 protected:
-  /** \brief Pointer to a dynamic reconfigure service. */
-  boost::shared_ptr<dynamic_reconfigure::Server<pcl_ros::CropBoxConfig>> srv_;  // TODO(xxx)
-
   /** \brief Call the actual filter.
     * \param input the input point cloud dataset
     * \param indices the input set of indices to use from \a input
@@ -67,10 +62,10 @@ protected:
     */
   inline void
   filter(
-    const PointCloud2::ConstPtr & input, const IndicesPtr & indices,
-    PointCloud2 & output)
+    const PointCloud2::ConstSharedPtr & input, const IndicesPtr & indices,
+    PointCloud2 & output) override
   {
-    boost::mutex::scoped_lock lock(mutex_);
+    std::lock_guard<std::mutex> lock(mutex_);
     pcl::PCLPointCloud2::Ptr pcl_input(new pcl::PCLPointCloud2);
     pcl_conversions::toPCL(*(input), *(pcl_input));
     impl_.setInputCloud(pcl_input);
@@ -80,19 +75,13 @@ protected:
     pcl_conversions::moveFromPCL(pcl_output, output);
   }
 
-  /** \brief Child initialization routine.
-    * \param nh ROS node handle
-    * \param has_service set to true if the child has a Dynamic Reconfigure service
+  /** \brief Parameter callback
+    * \param params parameter values to set
     */
-  bool
-  child_init(ros::NodeHandle & nh, bool & has_service);
+  rcl_interfaces::msg::SetParametersResult
+  config_callback(const std::vector<rclcpp::Parameter> & params);
 
-  /** \brief Dynamic reconfigure service callback.
-    * \param config the dynamic reconfigure CropBoxConfig object
-    * \param level the dynamic reconfigure level
-    */
-  void
-  config_callback(pcl_ros::CropBoxConfig & config, uint32_t level);
+  OnSetParametersCallbackHandle::SharedPtr callback_handle_;
 
 private:
   /** \brief The PCL filter implementation used. */
@@ -100,6 +89,8 @@ private:
 
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  explicit CropBox(const rclcpp::NodeOptions & options);
 };
 }  // namespace pcl_ros