From: Jochen Sprickerhof <jspricke@debian.org>
Date: Tue, 15 Dec 2020 13:21:03 +0100
Subject: Switch to new boost/bind/bind.hpp

---
 pcl_ros/src/pcl_ros/features/feature.cpp           | 24 +++++++++++-----------
 pcl_ros/src/pcl_ros/filters/crop_box.cpp           |  2 +-
 pcl_ros/src/pcl_ros/filters/extract_indices.cpp    |  2 +-
 pcl_ros/src/pcl_ros/filters/filter.cpp             |  8 ++++----
 pcl_ros/src/pcl_ros/filters/passthrough.cpp        |  2 +-
 pcl_ros/src/pcl_ros/filters/project_inliers.cpp    |  4 ++--
 .../src/pcl_ros/filters/radius_outlier_removal.cpp |  2 +-
 .../filters/statistical_outlier_removal.cpp        |  2 +-
 pcl_ros/src/pcl_ros/filters/voxel_grid.cpp         |  2 +-
 pcl_ros/src/pcl_ros/io/concatenate_data.cpp        |  6 +++---
 .../src/pcl_ros/segmentation/extract_clusters.cpp  |  8 ++++----
 .../segmentation/extract_polygonal_prism_data.cpp  |  8 ++++----
 .../src/pcl_ros/segmentation/sac_segmentation.cpp  | 22 ++++++++++----------
 .../pcl_ros/segmentation/segment_differences.cpp   |  6 +++---
 pcl_ros/src/pcl_ros/surface/convex_hull.cpp        |  6 +++---
 .../src/pcl_ros/surface/moving_least_squares.cpp   |  8 ++++----
 pcl_ros/src/test/test_tf_message_filter_pcl.cpp    | 24 +++++++++++-----------
 17 files changed, 68 insertions(+), 68 deletions(-)

diff --git a/pcl_ros/src/pcl_ros/features/feature.cpp b/pcl_ros/src/pcl_ros/features/feature.cpp
index 8647e4e..49498aa 100644
--- a/pcl_ros/src/pcl_ros/features/feature.cpp
+++ b/pcl_ros/src/pcl_ros/features/feature.cpp
@@ -80,7 +80,7 @@ pcl_ros::Feature::onInit ()
 
   // Enable the dynamic reconfigure service
   srv_ = boost::make_shared<dynamic_reconfigure::Server<FeatureConfig> > (*pnh_);
-  dynamic_reconfigure::Server<FeatureConfig>::CallbackType f = boost::bind (&Feature::config_callback, this, _1, _2);
+  dynamic_reconfigure::Server<FeatureConfig>::CallbackType f = boost::bind (&Feature::config_callback, this, boost::placeholders::_1, boost::placeholders::_2);
   srv_->setCallback (f);
 
   NODELET_DEBUG ("[%s::onInit] Nodelet successfully created with the following parameters:\n"
@@ -124,7 +124,7 @@ pcl_ros::Feature::subscribe ()
       }
       else                  // Use only indices
       {
-        sub_input_filter_.registerCallback (bind (&Feature::input_callback, this, _1));
+        sub_input_filter_.registerCallback (bind (&Feature::input_callback, this, boost::placeholders::_1));
         // surface not enabled, connect the input-indices duo and register
         if (approximate_sync_)
           sync_input_surface_indices_a_->connectInput (sub_input_filter_, nf_pc_, sub_indices_filter_);
@@ -134,7 +134,7 @@ pcl_ros::Feature::subscribe ()
     }
     else                    // Use only surface
     {
-      sub_input_filter_.registerCallback (bind (&Feature::input_callback, this, _1));
+      sub_input_filter_.registerCallback (bind (&Feature::input_callback, this, boost::placeholders::_1));
       // indices not enabled, connect the input-surface duo and register
       sub_surface_filter_.subscribe (*pnh_, "surface", max_queue_size_);
       if (approximate_sync_)
@@ -144,13 +144,13 @@ pcl_ros::Feature::subscribe ()
     }
     // Register callbacks
     if (approximate_sync_)
-      sync_input_surface_indices_a_->registerCallback (bind (&Feature::input_surface_indices_callback, this, _1, _2, _3));
+      sync_input_surface_indices_a_->registerCallback (bind (&Feature::input_surface_indices_callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
     else
-      sync_input_surface_indices_e_->registerCallback (bind (&Feature::input_surface_indices_callback, this, _1, _2, _3));
+      sync_input_surface_indices_e_->registerCallback (bind (&Feature::input_surface_indices_callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
   }
   else
     // Subscribe in an old fashion to input only (no filters)
-    sub_input_ = pnh_->subscribe<PointCloudIn> ("input", max_queue_size_,  bind (&Feature::input_surface_indices_callback, this, _1, PointCloudInConstPtr (), PointIndicesConstPtr ()));
+    sub_input_ = pnh_->subscribe<PointCloudIn> ("input", max_queue_size_,  bind (&Feature::input_surface_indices_callback, this, boost::placeholders::_1, PointCloudInConstPtr (), PointIndicesConstPtr ()));
 }
 
 ////////////////////////////////////////////////////////////////////////////////////////////
@@ -300,7 +300,7 @@ pcl_ros::FeatureFromNormals::onInit ()
 
   // Enable the dynamic reconfigure service
   srv_ = boost::make_shared<dynamic_reconfigure::Server<FeatureConfig> > (*pnh_);
-  dynamic_reconfigure::Server<FeatureConfig>::CallbackType f = boost::bind (&FeatureFromNormals::config_callback, this, _1, _2);
+  dynamic_reconfigure::Server<FeatureConfig>::CallbackType f = boost::bind (&FeatureFromNormals::config_callback, this, boost::placeholders::_1, boost::placeholders::_2);
   srv_->setCallback (f);
 
   NODELET_DEBUG ("[%s::onInit] Nodelet successfully created with the following parameters:\n"
@@ -345,7 +345,7 @@ pcl_ros::FeatureFromNormals::subscribe ()
       }
       else                  // Use only indices
       {
-        sub_input_filter_.registerCallback (bind (&FeatureFromNormals::input_callback, this, _1));
+        sub_input_filter_.registerCallback (bind (&FeatureFromNormals::input_callback, this, boost::placeholders::_1));
         if (approximate_sync_)
           // surface not enabled, connect the input-indices duo and register
           sync_input_normals_surface_indices_a_->connectInput (sub_input_filter_, sub_normals_filter_, nf_pc_, sub_indices_filter_);
@@ -359,7 +359,7 @@ pcl_ros::FeatureFromNormals::subscribe ()
       // indices not enabled, connect the input-surface duo and register
       sub_surface_filter_.subscribe (*pnh_, "surface", max_queue_size_);
 
-      sub_input_filter_.registerCallback (bind (&FeatureFromNormals::input_callback, this, _1));
+      sub_input_filter_.registerCallback (bind (&FeatureFromNormals::input_callback, this, boost::placeholders::_1));
       if (approximate_sync_)
         sync_input_normals_surface_indices_a_->connectInput (sub_input_filter_, sub_normals_filter_, sub_surface_filter_, nf_pi_);
       else
@@ -368,7 +368,7 @@ pcl_ros::FeatureFromNormals::subscribe ()
   }
   else
   {
-    sub_input_filter_.registerCallback (bind (&FeatureFromNormals::input_callback, this, _1));
+    sub_input_filter_.registerCallback (bind (&FeatureFromNormals::input_callback, this, boost::placeholders::_1));
 
     if (approximate_sync_)
       sync_input_normals_surface_indices_a_->connectInput (sub_input_filter_, sub_normals_filter_, nf_pc_, nf_pi_);
@@ -378,9 +378,9 @@ pcl_ros::FeatureFromNormals::subscribe ()
 
   // Register callbacks
   if (approximate_sync_)
-    sync_input_normals_surface_indices_a_->registerCallback (bind (&FeatureFromNormals::input_normals_surface_indices_callback, this, _1, _2, _3, _4));
+    sync_input_normals_surface_indices_a_->registerCallback (bind (&FeatureFromNormals::input_normals_surface_indices_callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
   else
-    sync_input_normals_surface_indices_e_->registerCallback (bind (&FeatureFromNormals::input_normals_surface_indices_callback, this, _1, _2, _3, _4));
+    sync_input_normals_surface_indices_e_->registerCallback (bind (&FeatureFromNormals::input_normals_surface_indices_callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
 }
 
 //////////////////////////////////////////////////////////////////////////////////////////////
diff --git a/pcl_ros/src/pcl_ros/filters/crop_box.cpp b/pcl_ros/src/pcl_ros/filters/crop_box.cpp
index 2392e2b..6c9da6c 100644
--- a/pcl_ros/src/pcl_ros/filters/crop_box.cpp
+++ b/pcl_ros/src/pcl_ros/filters/crop_box.cpp
@@ -46,7 +46,7 @@ pcl_ros::CropBox::child_init (ros::NodeHandle &nh, bool &has_service)
   // Enable the dynamic reconfigure service
   has_service = true;
   srv_ = boost::make_shared <dynamic_reconfigure::Server<pcl_ros::CropBoxConfig> > (nh);
-  dynamic_reconfigure::Server<pcl_ros::CropBoxConfig>::CallbackType f = boost::bind (&CropBox::config_callback, this, _1, _2);
+  dynamic_reconfigure::Server<pcl_ros::CropBoxConfig>::CallbackType f = boost::bind (&CropBox::config_callback, this, boost::placeholders::_1, boost::placeholders::_2);
   srv_->setCallback (f);
 
   return (true);
diff --git a/pcl_ros/src/pcl_ros/filters/extract_indices.cpp b/pcl_ros/src/pcl_ros/filters/extract_indices.cpp
index e92407a..1036a7c 100644
--- a/pcl_ros/src/pcl_ros/filters/extract_indices.cpp
+++ b/pcl_ros/src/pcl_ros/filters/extract_indices.cpp
@@ -45,7 +45,7 @@ pcl_ros::ExtractIndices::child_init (ros::NodeHandle &nh, bool &has_service)
   has_service = true;
 
   srv_ = boost::make_shared <dynamic_reconfigure::Server<pcl_ros::ExtractIndicesConfig> > (nh);
-  dynamic_reconfigure::Server<pcl_ros::ExtractIndicesConfig>::CallbackType f =  boost::bind (&ExtractIndices::config_callback, this, _1, _2);
+  dynamic_reconfigure::Server<pcl_ros::ExtractIndicesConfig>::CallbackType f =  boost::bind (&ExtractIndices::config_callback, this, boost::placeholders::_1, boost::placeholders::_2);
   srv_->setCallback (f);
 
   use_indices_ = true;
diff --git a/pcl_ros/src/pcl_ros/filters/filter.cpp b/pcl_ros/src/pcl_ros/filters/filter.cpp
index 0bfe6d3..e704912 100644
--- a/pcl_ros/src/pcl_ros/filters/filter.cpp
+++ b/pcl_ros/src/pcl_ros/filters/filter.cpp
@@ -116,18 +116,18 @@ pcl_ros::Filter::subscribe()
     {
       sync_input_indices_a_ = boost::make_shared <message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud2, pcl_msgs::PointIndices> > >(max_queue_size_);
       sync_input_indices_a_->connectInput (sub_input_filter_, sub_indices_filter_);
-      sync_input_indices_a_->registerCallback (bind (&Filter::input_indices_callback, this, _1, _2));
+      sync_input_indices_a_->registerCallback (bind (&Filter::input_indices_callback, this, boost::placeholders::_1, boost::placeholders::_2));
     }
     else
     {
       sync_input_indices_e_ = boost::make_shared <message_filters::Synchronizer<sync_policies::ExactTime<PointCloud2, pcl_msgs::PointIndices> > >(max_queue_size_);
       sync_input_indices_e_->connectInput (sub_input_filter_, sub_indices_filter_);
-      sync_input_indices_e_->registerCallback (bind (&Filter::input_indices_callback, this, _1, _2));
+      sync_input_indices_e_->registerCallback (bind (&Filter::input_indices_callback, this, boost::placeholders::_1, boost::placeholders::_2));
     }
   }
   else
     // Subscribe in an old fashion to input only (no filters)
-    sub_input_ = pnh_->subscribe<sensor_msgs::PointCloud2> ("input", max_queue_size_,  bind (&Filter::input_indices_callback, this, _1, pcl_msgs::PointIndicesConstPtr ()));
+    sub_input_ = pnh_->subscribe<sensor_msgs::PointCloud2> ("input", max_queue_size_,  bind (&Filter::input_indices_callback, this, boost::placeholders::_1, pcl_msgs::PointIndicesConstPtr ()));
 }
 
 //////////////////////////////////////////////////////////////////////////////////////////////
@@ -164,7 +164,7 @@ pcl_ros::Filter::onInit ()
   if (!has_service)
   {
     srv_ = boost::make_shared <dynamic_reconfigure::Server<pcl_ros::FilterConfig> > (*pnh_);
-    dynamic_reconfigure::Server<pcl_ros::FilterConfig>::CallbackType f =  boost::bind (&Filter::config_callback, this, _1, _2);
+    dynamic_reconfigure::Server<pcl_ros::FilterConfig>::CallbackType f =  boost::bind (&Filter::config_callback, this, boost::placeholders::_1, boost::placeholders::_2);
     srv_->setCallback (f);
   }
 
diff --git a/pcl_ros/src/pcl_ros/filters/passthrough.cpp b/pcl_ros/src/pcl_ros/filters/passthrough.cpp
index 110fbac..2d52963 100644
--- a/pcl_ros/src/pcl_ros/filters/passthrough.cpp
+++ b/pcl_ros/src/pcl_ros/filters/passthrough.cpp
@@ -45,7 +45,7 @@ pcl_ros::PassThrough::child_init (ros::NodeHandle &nh, bool &has_service)
   // Enable the dynamic reconfigure service
   has_service = true;
   srv_ = boost::make_shared <dynamic_reconfigure::Server<pcl_ros::FilterConfig> > (nh);
-  dynamic_reconfigure::Server<pcl_ros::FilterConfig>::CallbackType f = boost::bind (&PassThrough::config_callback, this, _1, _2);
+  dynamic_reconfigure::Server<pcl_ros::FilterConfig>::CallbackType f = boost::bind (&PassThrough::config_callback, this, boost::placeholders::_1, boost::placeholders::_2);
   srv_->setCallback (f);
 
   return (true);
diff --git a/pcl_ros/src/pcl_ros/filters/project_inliers.cpp b/pcl_ros/src/pcl_ros/filters/project_inliers.cpp
index 704dc48..bdfabe4 100644
--- a/pcl_ros/src/pcl_ros/filters/project_inliers.cpp
+++ b/pcl_ros/src/pcl_ros/filters/project_inliers.cpp
@@ -99,13 +99,13 @@ pcl_ros::ProjectInliers::subscribe ()
   {
     sync_input_indices_model_a_ = boost::make_shared <message_filters::Synchronizer<message_filters::sync_policies::ApproximateTime<PointCloud2, PointIndices, ModelCoefficients> > > (max_queue_size_);
     sync_input_indices_model_a_->connectInput (sub_input_filter_, sub_indices_filter_, sub_model_);
-    sync_input_indices_model_a_->registerCallback (bind (&ProjectInliers::input_indices_model_callback, this, _1, _2, _3));
+    sync_input_indices_model_a_->registerCallback (bind (&ProjectInliers::input_indices_model_callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
   }
   else
   {
     sync_input_indices_model_e_ = boost::make_shared <message_filters::Synchronizer<message_filters::sync_policies::ExactTime<PointCloud2, PointIndices, ModelCoefficients> > > (max_queue_size_);
     sync_input_indices_model_e_->connectInput (sub_input_filter_, sub_indices_filter_, sub_model_);
-    sync_input_indices_model_e_->registerCallback (bind (&ProjectInliers::input_indices_model_callback, this, _1, _2, _3));
+    sync_input_indices_model_e_->registerCallback (bind (&ProjectInliers::input_indices_model_callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
   }
 }
 
diff --git a/pcl_ros/src/pcl_ros/filters/radius_outlier_removal.cpp b/pcl_ros/src/pcl_ros/filters/radius_outlier_removal.cpp
index 331c648..69e84f9 100644
--- a/pcl_ros/src/pcl_ros/filters/radius_outlier_removal.cpp
+++ b/pcl_ros/src/pcl_ros/filters/radius_outlier_removal.cpp
@@ -45,7 +45,7 @@ pcl_ros::RadiusOutlierRemoval::child_init (ros::NodeHandle &nh, bool &has_servic
   // Enable the dynamic reconfigure service
   has_service = true;
   srv_ = boost::make_shared <dynamic_reconfigure::Server<pcl_ros::RadiusOutlierRemovalConfig> > (nh);
-  dynamic_reconfigure::Server<pcl_ros::RadiusOutlierRemovalConfig>::CallbackType f = boost::bind (&RadiusOutlierRemoval::config_callback, this, _1, _2);
+  dynamic_reconfigure::Server<pcl_ros::RadiusOutlierRemovalConfig>::CallbackType f = boost::bind (&RadiusOutlierRemoval::config_callback, this, boost::placeholders::_1, boost::placeholders::_2);
   srv_->setCallback (f);
 
   return (true);
diff --git a/pcl_ros/src/pcl_ros/filters/statistical_outlier_removal.cpp b/pcl_ros/src/pcl_ros/filters/statistical_outlier_removal.cpp
index 2085dee..90bedde 100644
--- a/pcl_ros/src/pcl_ros/filters/statistical_outlier_removal.cpp
+++ b/pcl_ros/src/pcl_ros/filters/statistical_outlier_removal.cpp
@@ -45,7 +45,7 @@ pcl_ros::StatisticalOutlierRemoval::child_init (ros::NodeHandle &nh, bool &has_s
   // Enable the dynamic reconfigure service
   has_service = true;
   srv_ = boost::make_shared <dynamic_reconfigure::Server<pcl_ros::StatisticalOutlierRemovalConfig> > (nh);
-  dynamic_reconfigure::Server<pcl_ros::StatisticalOutlierRemovalConfig>::CallbackType f = boost::bind (&StatisticalOutlierRemoval::config_callback, this, _1, _2);
+  dynamic_reconfigure::Server<pcl_ros::StatisticalOutlierRemovalConfig>::CallbackType f = boost::bind (&StatisticalOutlierRemoval::config_callback, this, boost::placeholders::_1, boost::placeholders::_2);
   srv_->setCallback (f);
 
   return (true);
diff --git a/pcl_ros/src/pcl_ros/filters/voxel_grid.cpp b/pcl_ros/src/pcl_ros/filters/voxel_grid.cpp
index a3bf77f..b033e86 100644
--- a/pcl_ros/src/pcl_ros/filters/voxel_grid.cpp
+++ b/pcl_ros/src/pcl_ros/filters/voxel_grid.cpp
@@ -45,7 +45,7 @@ pcl_ros::VoxelGrid::child_init (ros::NodeHandle &nh, bool &has_service)
   // Enable the dynamic reconfigure service
   has_service = true;
   srv_ = boost::make_shared <dynamic_reconfigure::Server<pcl_ros::VoxelGridConfig> > (nh);
-  dynamic_reconfigure::Server<pcl_ros::VoxelGridConfig>::CallbackType f = boost::bind (&VoxelGrid::config_callback, this, _1, _2);
+  dynamic_reconfigure::Server<pcl_ros::VoxelGridConfig>::CallbackType f = boost::bind (&VoxelGrid::config_callback, this, boost::placeholders::_1, boost::placeholders::_2);
   srv_->setCallback (f);
 
   return (true);
diff --git a/pcl_ros/src/pcl_ros/io/concatenate_data.cpp b/pcl_ros/src/pcl_ros/io/concatenate_data.cpp
index 458c6bf..070182a 100644
--- a/pcl_ros/src/pcl_ros/io/concatenate_data.cpp
+++ b/pcl_ros/src/pcl_ros/io/concatenate_data.cpp
@@ -118,7 +118,7 @@ pcl_ros::PointCloudConcatenateDataSynchronizer::subscribe ()
   }
 
   // Bogus null filter
-  filters_[0]->registerCallback (bind (&PointCloudConcatenateDataSynchronizer::input_callback, this, _1));
+  filters_[0]->registerCallback (bind (&PointCloudConcatenateDataSynchronizer::input_callback, this, boost::placeholders::_1));
 
   switch (input_topics_.size ())
   {
@@ -186,9 +186,9 @@ pcl_ros::PointCloudConcatenateDataSynchronizer::subscribe ()
   }
 
   if (approximate_sync_)
-    ts_a_->registerCallback (boost::bind (&PointCloudConcatenateDataSynchronizer::input, this, _1, _2, _3, _4, _5, _6, _7, _8));
+    ts_a_->registerCallback (boost::bind (&PointCloudConcatenateDataSynchronizer::input, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5, boost::placeholders::_6, boost::placeholders::_7, boost::placeholders::_8));
   else
-    ts_e_->registerCallback (boost::bind (&PointCloudConcatenateDataSynchronizer::input, this, _1, _2, _3, _4, _5, _6, _7, _8));
+    ts_e_->registerCallback (boost::bind (&PointCloudConcatenateDataSynchronizer::input, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5, boost::placeholders::_6, boost::placeholders::_7, boost::placeholders::_8));
 }
 
 //////////////////////////////////////////////////////////////////////////////////////////////
diff --git a/pcl_ros/src/pcl_ros/segmentation/extract_clusters.cpp b/pcl_ros/src/pcl_ros/segmentation/extract_clusters.cpp
index 5599b40..687b4bd 100644
--- a/pcl_ros/src/pcl_ros/segmentation/extract_clusters.cpp
+++ b/pcl_ros/src/pcl_ros/segmentation/extract_clusters.cpp
@@ -76,7 +76,7 @@ pcl_ros::EuclideanClusterExtraction::onInit ()
 
   // Enable the dynamic reconfigure service
   srv_ = boost::make_shared <dynamic_reconfigure::Server<EuclideanClusterExtractionConfig> > (*pnh_);
-  dynamic_reconfigure::Server<EuclideanClusterExtractionConfig>::CallbackType f =  boost::bind (&EuclideanClusterExtraction::config_callback, this, _1, _2);
+  dynamic_reconfigure::Server<EuclideanClusterExtractionConfig>::CallbackType f =  boost::bind (&EuclideanClusterExtraction::config_callback, this, boost::placeholders::_1, boost::placeholders::_2);
   srv_->setCallback (f);
 
   NODELET_DEBUG ("[%s::onInit] Nodelet successfully created with the following parameters:\n"
@@ -108,18 +108,18 @@ pcl_ros::EuclideanClusterExtraction::subscribe ()
     {
       sync_input_indices_a_ = boost::make_shared <message_filters::Synchronizer<message_filters::sync_policies::ApproximateTime<PointCloud, PointIndices> > > (max_queue_size_);
       sync_input_indices_a_->connectInput (sub_input_filter_, sub_indices_filter_);
-      sync_input_indices_a_->registerCallback (bind (&EuclideanClusterExtraction::input_indices_callback, this, _1, _2));
+      sync_input_indices_a_->registerCallback (bind (&EuclideanClusterExtraction::input_indices_callback, this, boost::placeholders::_1, boost::placeholders::_2));
     }
     else
     {
       sync_input_indices_e_ = boost::make_shared <message_filters::Synchronizer<message_filters::sync_policies::ExactTime<PointCloud, PointIndices> > > (max_queue_size_);
       sync_input_indices_e_->connectInput (sub_input_filter_, sub_indices_filter_);
-      sync_input_indices_e_->registerCallback (bind (&EuclideanClusterExtraction::input_indices_callback, this, _1, _2));
+      sync_input_indices_e_->registerCallback (bind (&EuclideanClusterExtraction::input_indices_callback, this, boost::placeholders::_1, boost::placeholders::_2));
     }
   }
   else
     // Subscribe in an old fashion to input only (no filters)
-    sub_input_ = pnh_->subscribe<PointCloud> ("input", max_queue_size_, bind (&EuclideanClusterExtraction::input_indices_callback, this, _1, PointIndicesConstPtr ()));
+    sub_input_ = pnh_->subscribe<PointCloud> ("input", max_queue_size_, bind (&EuclideanClusterExtraction::input_indices_callback, this, boost::placeholders::_1, PointIndicesConstPtr ()));
 }
 
 //////////////////////////////////////////////////////////////////////////////////////////////
diff --git a/pcl_ros/src/pcl_ros/segmentation/extract_polygonal_prism_data.cpp b/pcl_ros/src/pcl_ros/segmentation/extract_polygonal_prism_data.cpp
index ff823b1..f06b8f4 100644
--- a/pcl_ros/src/pcl_ros/segmentation/extract_polygonal_prism_data.cpp
+++ b/pcl_ros/src/pcl_ros/segmentation/extract_polygonal_prism_data.cpp
@@ -53,7 +53,7 @@ pcl_ros::ExtractPolygonalPrismData::onInit ()
 
   // Enable the dynamic reconfigure service
   srv_ = boost::make_shared <dynamic_reconfigure::Server<ExtractPolygonalPrismDataConfig> > (*pnh_);
-  dynamic_reconfigure::Server<ExtractPolygonalPrismDataConfig>::CallbackType f = boost::bind (&ExtractPolygonalPrismData::config_callback, this, _1, _2);
+  dynamic_reconfigure::Server<ExtractPolygonalPrismDataConfig>::CallbackType f = boost::bind (&ExtractPolygonalPrismData::config_callback, this, boost::placeholders::_1, boost::placeholders::_2);
   srv_->setCallback (f);
 
   // Advertise the output topics
@@ -85,7 +85,7 @@ pcl_ros::ExtractPolygonalPrismData::subscribe ()
   }
   else
   {
-    sub_input_filter_.registerCallback (bind (&ExtractPolygonalPrismData::input_callback, this, _1));
+    sub_input_filter_.registerCallback (bind (&ExtractPolygonalPrismData::input_callback, this, boost::placeholders::_1));
 
     if (approximate_sync_)
       sync_input_hull_indices_a_->connectInput (sub_input_filter_, sub_hull_filter_, nf_);
@@ -94,9 +94,9 @@ pcl_ros::ExtractPolygonalPrismData::subscribe ()
   }
   // Register callbacks
   if (approximate_sync_)
-    sync_input_hull_indices_a_->registerCallback (bind (&ExtractPolygonalPrismData::input_hull_indices_callback, this, _1, _2, _3));
+    sync_input_hull_indices_a_->registerCallback (bind (&ExtractPolygonalPrismData::input_hull_indices_callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
   else
-    sync_input_hull_indices_e_->registerCallback (bind (&ExtractPolygonalPrismData::input_hull_indices_callback, this, _1, _2, _3));
+    sync_input_hull_indices_e_->registerCallback (bind (&ExtractPolygonalPrismData::input_hull_indices_callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
 }
 
 //////////////////////////////////////////////////////////////////////////////////////////////
diff --git a/pcl_ros/src/pcl_ros/segmentation/sac_segmentation.cpp b/pcl_ros/src/pcl_ros/segmentation/sac_segmentation.cpp
index bc7b97e..78824da 100644
--- a/pcl_ros/src/pcl_ros/segmentation/sac_segmentation.cpp
+++ b/pcl_ros/src/pcl_ros/segmentation/sac_segmentation.cpp
@@ -107,7 +107,7 @@ pcl_ros::SACSegmentation::onInit ()
 
   // Enable the dynamic reconfigure service
   srv_ = boost::make_shared<dynamic_reconfigure::Server<SACSegmentationConfig> >(*pnh_);
-  dynamic_reconfigure::Server<SACSegmentationConfig>::CallbackType f =  boost::bind (&SACSegmentation::config_callback, this, _1, _2);
+  dynamic_reconfigure::Server<SACSegmentationConfig>::CallbackType f =  boost::bind (&SACSegmentation::config_callback, this, boost::placeholders::_1, boost::placeholders::_2);
   srv_->setCallback (f);
 
   NODELET_DEBUG ("[%s::onInit] Nodelet successfully created with the following parameters:\n"
@@ -144,15 +144,15 @@ pcl_ros::SACSegmentation::subscribe ()
     if (latched_indices_)
     {
       // Subscribe to a callback that saves the indices
-      sub_indices_filter_.registerCallback (bind (&SACSegmentation::indices_callback, this, _1));
+      sub_indices_filter_.registerCallback (bind (&SACSegmentation::indices_callback, this, boost::placeholders::_1));
       // Subscribe to a callback that sets the header of the saved indices to the cloud header
-      sub_input_filter_.registerCallback (bind (&SACSegmentation::input_callback, this, _1));
+      sub_input_filter_.registerCallback (bind (&SACSegmentation::input_callback, this, boost::placeholders::_1));
 
       // Synchronize the two topics. No need for an approximate synchronizer here, as we'll
       // match the timestamps exactly
       sync_input_indices_e_ = boost::make_shared <message_filters::Synchronizer<sync_policies::ExactTime<PointCloud, PointIndices> > > (max_queue_size_);
       sync_input_indices_e_->connectInput (sub_input_filter_, nf_pi_);
-      sync_input_indices_e_->registerCallback (bind (&SACSegmentation::input_indices_callback, this, _1, _2));
+      sync_input_indices_e_->registerCallback (bind (&SACSegmentation::input_indices_callback, this, boost::placeholders::_1, boost::placeholders::_2));
     }
     // "latched_indices" not set, proceed with regular <input,indices> pairs
     else
@@ -161,19 +161,19 @@ pcl_ros::SACSegmentation::subscribe ()
       {
         sync_input_indices_a_ = boost::make_shared <message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud, PointIndices> > > (max_queue_size_);
         sync_input_indices_a_->connectInput (sub_input_filter_, sub_indices_filter_);
-        sync_input_indices_a_->registerCallback (bind (&SACSegmentation::input_indices_callback, this, _1, _2));
+        sync_input_indices_a_->registerCallback (bind (&SACSegmentation::input_indices_callback, this, boost::placeholders::_1, boost::placeholders::_2));
       }
       else
       {
         sync_input_indices_e_ = boost::make_shared <message_filters::Synchronizer<sync_policies::ExactTime<PointCloud, PointIndices> > > (max_queue_size_);
         sync_input_indices_e_->connectInput (sub_input_filter_, sub_indices_filter_);
-        sync_input_indices_e_->registerCallback (bind (&SACSegmentation::input_indices_callback, this, _1, _2));
+        sync_input_indices_e_->registerCallback (bind (&SACSegmentation::input_indices_callback, this, boost::placeholders::_1, boost::placeholders::_2));
       }
     }
   }
   else
     // Subscribe in an old fashion to input only (no filters)
-    sub_input_ = pnh_->subscribe<PointCloud> ("input", max_queue_size_,  bind (&SACSegmentation::input_indices_callback, this, _1, PointIndicesConstPtr ()));
+    sub_input_ = pnh_->subscribe<PointCloud> ("input", max_queue_size_,  bind (&SACSegmentation::input_indices_callback, this, boost::placeholders::_1, PointIndicesConstPtr ()));
 }
 
 //////////////////////////////////////////////////////////////////////////////////////////////
@@ -367,7 +367,7 @@ pcl_ros::SACSegmentationFromNormals::onInit ()
 
   // Enable the dynamic reconfigure service
   srv_ = boost::make_shared <dynamic_reconfigure::Server<SACSegmentationFromNormalsConfig> > (*pnh_);
-  dynamic_reconfigure::Server<SACSegmentationFromNormalsConfig>::CallbackType f = boost::bind (&SACSegmentationFromNormals::config_callback, this, _1, _2);
+  dynamic_reconfigure::Server<SACSegmentationFromNormalsConfig>::CallbackType f = boost::bind (&SACSegmentationFromNormals::config_callback, this, boost::placeholders::_1, boost::placeholders::_2);
   srv_->setCallback (f);
 
   // Advertise the output topics
@@ -471,7 +471,7 @@ pcl_ros::SACSegmentationFromNormals::subscribe ()
   else
   {
     // Create a different callback for copying over the timestamp to fake indices
-    sub_input_filter_.registerCallback (bind (&SACSegmentationFromNormals::input_callback, this, _1));
+    sub_input_filter_.registerCallback (bind (&SACSegmentationFromNormals::input_callback, this, boost::placeholders::_1));
 
     if (approximate_sync_)
       sync_input_normals_indices_a_->connectInput (sub_input_filter_, sub_normals_filter_, nf_);
@@ -480,9 +480,9 @@ pcl_ros::SACSegmentationFromNormals::subscribe ()
   }
 
   if (approximate_sync_)
-    sync_input_normals_indices_a_->registerCallback (bind (&SACSegmentationFromNormals::input_normals_indices_callback, this, _1, _2, _3));
+    sync_input_normals_indices_a_->registerCallback (bind (&SACSegmentationFromNormals::input_normals_indices_callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
   else
-    sync_input_normals_indices_e_->registerCallback (bind (&SACSegmentationFromNormals::input_normals_indices_callback, this, _1, _2, _3));
+    sync_input_normals_indices_e_->registerCallback (bind (&SACSegmentationFromNormals::input_normals_indices_callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
 }
 
 //////////////////////////////////////////////////////////////////////////////////////////////
diff --git a/pcl_ros/src/pcl_ros/segmentation/segment_differences.cpp b/pcl_ros/src/pcl_ros/segmentation/segment_differences.cpp
index e397954..afc209b 100644
--- a/pcl_ros/src/pcl_ros/segmentation/segment_differences.cpp
+++ b/pcl_ros/src/pcl_ros/segmentation/segment_differences.cpp
@@ -65,20 +65,20 @@ pcl_ros::SegmentDifferences::subscribe ()
 
   // Enable the dynamic reconfigure service
   srv_ = boost::make_shared <dynamic_reconfigure::Server<SegmentDifferencesConfig> > (*pnh_);
-  dynamic_reconfigure::Server<SegmentDifferencesConfig>::CallbackType f =  boost::bind (&SegmentDifferences::config_callback, this, _1, _2);
+  dynamic_reconfigure::Server<SegmentDifferencesConfig>::CallbackType f =  boost::bind (&SegmentDifferences::config_callback, this, boost::placeholders::_1, boost::placeholders::_2);
   srv_->setCallback (f);
 
   if (approximate_sync_)
   {
     sync_input_target_a_ = boost::make_shared <message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud, PointCloud> > > (max_queue_size_);
     sync_input_target_a_->connectInput (sub_input_filter_, sub_target_filter_);
-    sync_input_target_a_->registerCallback (bind (&SegmentDifferences::input_target_callback, this, _1, _2));
+    sync_input_target_a_->registerCallback (bind (&SegmentDifferences::input_target_callback, this, boost::placeholders::_1, boost::placeholders::_2));
   }
   else
   {
     sync_input_target_e_ = boost::make_shared <message_filters::Synchronizer<sync_policies::ExactTime<PointCloud, PointCloud> > > (max_queue_size_);
     sync_input_target_e_->connectInput (sub_input_filter_, sub_target_filter_);
-    sync_input_target_e_->registerCallback (bind (&SegmentDifferences::input_target_callback, this, _1, _2));
+    sync_input_target_e_->registerCallback (bind (&SegmentDifferences::input_target_callback, this, boost::placeholders::_1, boost::placeholders::_2));
   }
 }
 
diff --git a/pcl_ros/src/pcl_ros/surface/convex_hull.cpp b/pcl_ros/src/pcl_ros/surface/convex_hull.cpp
index 7590388..335ab1b 100644
--- a/pcl_ros/src/pcl_ros/surface/convex_hull.cpp
+++ b/pcl_ros/src/pcl_ros/surface/convex_hull.cpp
@@ -76,19 +76,19 @@ pcl_ros::ConvexHull2D::subscribe()
       sync_input_indices_a_ = boost::make_shared <message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud, PointIndices> > >(max_queue_size_);
       // surface not enabled, connect the input-indices duo and register
       sync_input_indices_a_->connectInput (sub_input_filter_, sub_indices_filter_);
-      sync_input_indices_a_->registerCallback (bind (&ConvexHull2D::input_indices_callback, this, _1, _2));
+      sync_input_indices_a_->registerCallback (bind (&ConvexHull2D::input_indices_callback, this, boost::placeholders::_1, boost::placeholders::_2));
     }
     else
     {
       sync_input_indices_e_ = boost::make_shared <message_filters::Synchronizer<sync_policies::ExactTime<PointCloud, PointIndices> > >(max_queue_size_);
       // surface not enabled, connect the input-indices duo and register
       sync_input_indices_e_->connectInput (sub_input_filter_, sub_indices_filter_);
-      sync_input_indices_e_->registerCallback (bind (&ConvexHull2D::input_indices_callback, this, _1, _2));
+      sync_input_indices_e_->registerCallback (bind (&ConvexHull2D::input_indices_callback, this, boost::placeholders::_1, boost::placeholders::_2));
     }
   }
   else
     // Subscribe in an old fashion to input only (no filters)
-    sub_input_ = pnh_->subscribe<PointCloud> ("input", 1,  bind (&ConvexHull2D::input_indices_callback, this, _1, PointIndicesConstPtr ()));
+    sub_input_ = pnh_->subscribe<PointCloud> ("input", 1,  bind (&ConvexHull2D::input_indices_callback, this, boost::placeholders::_1, PointIndicesConstPtr ()));
 }
 
 //////////////////////////////////////////////////////////////////////////////////////////////
diff --git a/pcl_ros/src/pcl_ros/surface/moving_least_squares.cpp b/pcl_ros/src/pcl_ros/surface/moving_least_squares.cpp
index 9fd2e34..4cd9991 100644
--- a/pcl_ros/src/pcl_ros/surface/moving_least_squares.cpp
+++ b/pcl_ros/src/pcl_ros/surface/moving_least_squares.cpp
@@ -62,7 +62,7 @@ pcl_ros::MovingLeastSquares::onInit ()
 
   // Enable the dynamic reconfigure service
   srv_ = boost::make_shared<dynamic_reconfigure::Server<MLSConfig> > (*pnh_);
-  dynamic_reconfigure::Server<MLSConfig>::CallbackType f = boost::bind (&MovingLeastSquares::config_callback, this, _1, _2 );
+  dynamic_reconfigure::Server<MLSConfig>::CallbackType f = boost::bind (&MovingLeastSquares::config_callback, this, boost::placeholders::_1, boost::placeholders::_2 );
   srv_->setCallback (f); 
 
   // ---[ Optional parameters
@@ -93,19 +93,19 @@ pcl_ros::MovingLeastSquares::subscribe ()
       sync_input_indices_a_ = boost::make_shared <message_filters::Synchronizer<message_filters::sync_policies::ApproximateTime<PointCloudIn, PointIndices> > >(max_queue_size_);
       // surface not enabled, connect the input-indices duo and register
       sync_input_indices_a_->connectInput (sub_input_filter_, sub_indices_filter_);
-      sync_input_indices_a_->registerCallback (bind (&MovingLeastSquares::input_indices_callback, this, _1, _2));
+      sync_input_indices_a_->registerCallback (bind (&MovingLeastSquares::input_indices_callback, this, boost::placeholders::_1, boost::placeholders::_2));
     }
     else
     {
       sync_input_indices_e_ = boost::make_shared <message_filters::Synchronizer<message_filters::sync_policies::ExactTime<PointCloudIn, PointIndices> > >(max_queue_size_);
       // surface not enabled, connect the input-indices duo and register
       sync_input_indices_e_->connectInput (sub_input_filter_, sub_indices_filter_);
-      sync_input_indices_e_->registerCallback (bind (&MovingLeastSquares::input_indices_callback, this, _1, _2));
+      sync_input_indices_e_->registerCallback (bind (&MovingLeastSquares::input_indices_callback, this, boost::placeholders::_1, boost::placeholders::_2));
     }
   }
   else
     // Subscribe in an old fashion to input only (no filters)
-    sub_input_ = pnh_->subscribe<PointCloudIn> ("input", 1,  bind (&MovingLeastSquares::input_indices_callback, this, _1, PointIndicesConstPtr ()));
+    sub_input_ = pnh_->subscribe<PointCloudIn> ("input", 1,  bind (&MovingLeastSquares::input_indices_callback, this, boost::placeholders::_1, PointIndicesConstPtr ()));
 }
 
 //////////////////////////////////////////////////////////////////////////////////////////////
diff --git a/pcl_ros/src/test/test_tf_message_filter_pcl.cpp b/pcl_ros/src/test/test_tf_message_filter_pcl.cpp
index 073e358..b324fc8 100644
--- a/pcl_ros/src/test/test_tf_message_filter_pcl.cpp
+++ b/pcl_ros/src/test/test_tf_message_filter_pcl.cpp
@@ -37,7 +37,7 @@
 #include <tf/message_filter.h>
 #include <tf/transform_listener.h>
 
-#include <boost/bind.hpp>
+#include <boost/bind/bind.hpp>
 #include <boost/scoped_ptr.hpp>
 
 #include <pcl_ros/point_cloud.h>
@@ -104,7 +104,7 @@ TEST(MessageFilter, noTransforms)
   tf::TransformListener tf_client;
   Notification n(1);
   MessageFilter<PCDType> filter(tf_client, "frame1", 1);
-  filter.registerCallback(boost::bind(&Notification::notify, &n, _1));
+  filter.registerCallback(boost::bind(&Notification::notify, &n, boost::placeholders::_1));
 
   boost::shared_ptr<PCDType> msg(new PCDType);
   ros::Time stamp = ros::Time::now();
@@ -120,7 +120,7 @@ TEST(MessageFilter, noTransformsSameFrame)
   tf::TransformListener tf_client;
   Notification n(1);
   MessageFilter<PCDType> filter(tf_client, "frame1", 1);
-  filter.registerCallback(boost::bind(&Notification::notify, &n, _1));
+  filter.registerCallback(boost::bind(&Notification::notify, &n, boost::placeholders::_1));
 
   boost::shared_ptr<PCDType> msg(new PCDType);
   ros::Time stamp = ros::Time::now();
@@ -136,7 +136,7 @@ TEST(MessageFilter, preexistingTransforms)
   tf::TransformListener tf_client;
   Notification n(1);
   MessageFilter<PCDType> filter(tf_client, "frame1", 1);
-  filter.registerCallback(boost::bind(&Notification::notify, &n, _1));
+  filter.registerCallback(boost::bind(&Notification::notify, &n, boost::placeholders::_1));
 
   boost::shared_ptr<PCDType> msg(new PCDType);
 
@@ -157,7 +157,7 @@ TEST(MessageFilter, postTransforms)
   tf::TransformListener tf_client;
   Notification n(1);
   MessageFilter<PCDType> filter(tf_client, "frame1", 1);
-  filter.registerCallback(boost::bind(&Notification::notify, &n, _1));
+  filter.registerCallback(boost::bind(&Notification::notify, &n, boost::placeholders::_1));
 
   ros::Time stamp = ros::Time::now();
   boost::shared_ptr<PCDType> msg(new PCDType);
@@ -182,8 +182,8 @@ TEST(MessageFilter, queueSize)
   tf::TransformListener tf_client;
   Notification n(10);
   MessageFilter<PCDType> filter(tf_client, "frame1", 10);
-  filter.registerCallback(boost::bind(&Notification::notify, &n, _1));
-  filter.registerFailureCallback(boost::bind(&Notification::failure, &n, _1, _2));
+  filter.registerCallback(boost::bind(&Notification::notify, &n, boost::placeholders::_1));
+  filter.registerFailureCallback(boost::bind(&Notification::failure, &n, boost::placeholders::_1, boost::placeholders::_2));
 
   ros::Time stamp = ros::Time::now();
   std::uint64_t pcl_stamp;
@@ -215,7 +215,7 @@ TEST(MessageFilter, setTargetFrame)
   tf::TransformListener tf_client;
   Notification n(1);
   MessageFilter<PCDType> filter(tf_client, "frame1", 1);
-  filter.registerCallback(boost::bind(&Notification::notify, &n, _1));
+  filter.registerCallback(boost::bind(&Notification::notify, &n, boost::placeholders::_1));
   filter.setTargetFrame("frame1000");
 
   ros::Time stamp = ros::Time::now();
@@ -237,7 +237,7 @@ TEST(MessageFilter, multipleTargetFrames)
   tf::TransformListener tf_client;
   Notification n(1);
   MessageFilter<PCDType> filter(tf_client, "", 1);
-  filter.registerCallback(boost::bind(&Notification::notify, &n, _1));
+  filter.registerCallback(boost::bind(&Notification::notify, &n, boost::placeholders::_1));
 
   std::vector<std::string> target_frames;
   target_frames.push_back("frame1");
@@ -276,7 +276,7 @@ TEST(MessageFilter, tolerance)
   tf::TransformListener tf_client;
   Notification n(1);
   MessageFilter<PCDType> filter(tf_client, "frame1", 1);
-  filter.registerCallback(boost::bind(&Notification::notify, &n, _1));
+  filter.registerCallback(boost::bind(&Notification::notify, &n, boost::placeholders::_1));
   filter.setTolerance(offset);
 
   ros::Time stamp = ros::Time::now();
@@ -316,7 +316,7 @@ TEST(MessageFilter, outTheBackFailure)
   tf::TransformListener tf_client;
   Notification n(1);
   MessageFilter<PCDType> filter(tf_client, "frame1", 1);
-  filter.registerFailureCallback(boost::bind(&Notification::failure, &n, _1, _2));
+  filter.registerFailureCallback(boost::bind(&Notification::failure, &n, boost::placeholders::_1, boost::placeholders::_2));
 
   ros::Time stamp = ros::Time::now();
   boost::shared_ptr<PCDType> msg(new PCDType);
@@ -339,7 +339,7 @@ TEST(MessageFilter, emptyFrameIDFailure)
   tf::TransformListener tf_client;
   Notification n(1);
   MessageFilter<PCDType> filter(tf_client, "frame1", 1);
-  filter.registerFailureCallback(boost::bind(&Notification::failure, &n, _1, _2));
+  filter.registerFailureCallback(boost::bind(&Notification::failure, &n, boost::placeholders::_1, boost::placeholders::_2));
 
   boost::shared_ptr<PCDType> msg(new PCDType);
   msg->header.frame_id = "";