fix: replace boost::mutex::scoped_lock to std::scoped_lock (tier4#907)

* fix: replace boost::mutex::scoped_lock to std::scoped_lock * fix: replace boost::mutex to std::mutex
boyali · Oct 19, 2022 · 6f5ce8d · 6f5ce8d
1 parent 6987cf7
commit 6f5ce8d
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Showing 20 changed files with 43 additions and 82 deletions.
diff --git a/perception/compare_map_segmentation/src/distance_based_compare_map_filter_nodelet.cpp b/perception/compare_map_segmentation/src/distance_based_compare_map_filter_nodelet.cpp
@@ -43,7 +43,7 @@ void DistanceBasedCompareMapFilterComponent::filter(
   const PointCloud2ConstPtr & input, [[maybe_unused]] const IndicesPtr & indices,
   PointCloud2 & output)
 {
-  boost::mutex::scoped_lock lock(mutex_);
+  std::scoped_lock lock(mutex_);
   if (map_ptr_ == NULL || tree_ == NULL) {
     output = *input;
     return;
@@ -65,7 +65,7 @@ void DistanceBasedCompareMapFilterComponent::input_target_callback(const PointCl
   pcl::fromROSMsg<pcl::PointXYZ>(*map, map_pcl);
   const auto map_pcl_ptr = pcl::make_shared<pcl::PointCloud<pcl::PointXYZ>>(map_pcl);
 
-  boost::mutex::scoped_lock lock(mutex_);
+  std::scoped_lock lock(mutex_);
   map_ptr_ = map_pcl_ptr;
   tf_input_frame_ = map_ptr_->header.frame_id;
   if (!tree_) {
@@ -81,7 +81,7 @@ void DistanceBasedCompareMapFilterComponent::input_target_callback(const PointCl
 rcl_interfaces::msg::SetParametersResult DistanceBasedCompareMapFilterComponent::paramCallback(
   const std::vector<rclcpp::Parameter> & p)
 {
-  boost::mutex::scoped_lock lock(mutex_);
+  std::scoped_lock lock(mutex_);
 
   if (get_param(p, "distance_threshold", distance_threshold_)) {
     RCLCPP_DEBUG(get_logger(), "Setting new distance threshold to: %f.", distance_threshold_);

diff --git a/...ption/compare_map_segmentation/src/voxel_based_approximate_compare_map_filter_nodelet.cpp b/...ption/compare_map_segmentation/src/voxel_based_approximate_compare_map_filter_nodelet.cpp
@@ -56,7 +56,7 @@ void VoxelBasedApproximateCompareMapFilterComponent::filter(
   const PointCloud2ConstPtr & input, [[maybe_unused]] const IndicesPtr & indices,
   PointCloud2 & output)
 {
-  boost::mutex::scoped_lock lock(mutex_);
+  std::scoped_lock lock(mutex_);
   if (voxel_map_ptr_ == NULL) {
     output = *input;
     return;
@@ -86,7 +86,7 @@ void VoxelBasedApproximateCompareMapFilterComponent::input_target_callback(
   pcl::fromROSMsg<pcl::PointXYZ>(*map, map_pcl);
   const auto map_pcl_ptr = pcl::make_shared<pcl::PointCloud<pcl::PointXYZ>>(map_pcl);
 
-  boost::mutex::scoped_lock lock(mutex_);
+  std::scoped_lock lock(mutex_);
   set_map_in_voxel_grid_ = true;
   tf_input_frame_ = map_pcl_ptr->header.frame_id;
   voxel_map_ptr_.reset(new pcl::PointCloud<pcl::PointXYZ>);
@@ -109,7 +109,7 @@ rcl_interfaces::msg::SetParametersResult
 VoxelBasedApproximateCompareMapFilterComponent::paramCallback(
   const std::vector<rclcpp::Parameter> & p)
 {
-  boost::mutex::scoped_lock lock(mutex_);
+  std::scoped_lock lock(mutex_);
 
   if (get_param(p, "distance_threshold", distance_threshold_)) {
     voxel_grid_.setLeafSize(distance_threshold_, distance_threshold_, distance_threshold_);

diff --git a/perception/compare_map_segmentation/src/voxel_based_compare_map_filter_nodelet.cpp b/perception/compare_map_segmentation/src/voxel_based_compare_map_filter_nodelet.cpp
@@ -55,7 +55,7 @@ void VoxelBasedCompareMapFilterComponent::filter(
   const PointCloud2ConstPtr & input, [[maybe_unused]] const IndicesPtr & indices,
   PointCloud2 & output)
 {
-  boost::mutex::scoped_lock lock(mutex_);
+  std::scoped_lock lock(mutex_);
   if (voxel_map_ptr_ == NULL) {
     output = *input;
     return;
@@ -252,7 +252,7 @@ void VoxelBasedCompareMapFilterComponent::input_target_callback(const PointCloud
   pcl::fromROSMsg<pcl::PointXYZ>(*map, map_pcl);
   const auto map_pcl_ptr = pcl::make_shared<pcl::PointCloud<pcl::PointXYZ>>(map_pcl);
 
-  boost::mutex::scoped_lock lock(mutex_);
+  std::scoped_lock lock(mutex_);
   set_map_in_voxel_grid_ = true;
   tf_input_frame_ = map_pcl_ptr->header.frame_id;
   voxel_map_ptr_.reset(new pcl::PointCloud<pcl::PointXYZ>);
@@ -275,7 +275,7 @@ void VoxelBasedCompareMapFilterComponent::input_target_callback(const PointCloud
 rcl_interfaces::msg::SetParametersResult VoxelBasedCompareMapFilterComponent::paramCallback(
   const std::vector<rclcpp::Parameter> & p)
 {
-  boost::mutex::scoped_lock lock(mutex_);
+  std::scoped_lock lock(mutex_);
 
   if (get_param(p, "distance_threshold", distance_threshold_)) {
     voxel_grid_.setLeafSize(distance_threshold_, distance_threshold_, distance_threshold_);

diff --git a/perception/compare_map_segmentation/src/voxel_distance_based_compare_map_filter_nodelet.cpp b/perception/compare_map_segmentation/src/voxel_distance_based_compare_map_filter_nodelet.cpp
@@ -43,7 +43,7 @@ void VoxelDistanceBasedCompareMapFilterComponent::filter(
   const PointCloud2ConstPtr & input, [[maybe_unused]] const IndicesPtr & indices,
   PointCloud2 & output)
 {
-  boost::mutex::scoped_lock lock(mutex_);
+  std::scoped_lock lock(mutex_);
   if (voxel_map_ptr_ == NULL || map_ptr_ == NULL || tree_ == NULL) {
     output = *input;
     return;
@@ -76,7 +76,7 @@ void VoxelDistanceBasedCompareMapFilterComponent::input_target_callback(
   pcl::fromROSMsg<pcl::PointXYZ>(*map, map_pcl);
   const auto map_pcl_ptr = pcl::make_shared<pcl::PointCloud<pcl::PointXYZ>>(map_pcl);
 
-  boost::mutex::scoped_lock lock(mutex_);
+  std::scoped_lock lock(mutex_);
   tf_input_frame_ = map_pcl_ptr->header.frame_id;
   // voxel
   voxel_map_ptr_.reset(new pcl::PointCloud<pcl::PointXYZ>);
@@ -99,7 +99,7 @@ void VoxelDistanceBasedCompareMapFilterComponent::input_target_callback(
 rcl_interfaces::msg::SetParametersResult VoxelDistanceBasedCompareMapFilterComponent::paramCallback(
   const std::vector<rclcpp::Parameter> & p)
 {
-  boost::mutex::scoped_lock lock(mutex_);
+  std::scoped_lock lock(mutex_);
 
   if (get_param(p, "distance_threshold", distance_threshold_)) {
     voxel_grid_.setLeafSize(distance_threshold_, distance_threshold_, distance_threshold_);

diff --git a/perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp b/perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp
@@ -231,7 +231,7 @@ void RANSACGroundFilterComponent::filter(
   const PointCloud2::ConstSharedPtr & input, [[maybe_unused]] const IndicesPtr & indices,
   PointCloud2 & output)
 {
-  boost::mutex::scoped_lock lock(mutex_);
+  std::scoped_lock lock(mutex_);
   sensor_msgs::msg::PointCloud2::SharedPtr input_transformed_ptr(new sensor_msgs::msg::PointCloud2);
   if (!transformPointCloud(base_frame_, input, input_transformed_ptr)) {
     RCLCPP_ERROR_STREAM_THROTTLE(
@@ -322,7 +322,7 @@ void RANSACGroundFilterComponent::filter(
 rcl_interfaces::msg::SetParametersResult RANSACGroundFilterComponent::paramCallback(
   const std::vector<rclcpp::Parameter> & p)
 {
-  boost::mutex::scoped_lock lock(mutex_);
+  std::scoped_lock lock(mutex_);
 
   if (get_param(p, "base_frame", base_frame_)) {
     RCLCPP_DEBUG(get_logger(), "Setting base_frame to: %s.", base_frame_.c_str());

diff --git a/perception/ground_segmentation/src/ray_ground_filter_nodelet.cpp b/perception/ground_segmentation/src/ray_ground_filter_nodelet.cpp
@@ -310,7 +310,7 @@ void RayGroundFilterComponent::filter(
   const PointCloud2::ConstSharedPtr & input, [[maybe_unused]] const IndicesPtr & indices,
   PointCloud2 & output)
 {
-  boost::mutex::scoped_lock lock(mutex_);
+  std::scoped_lock lock(mutex_);
 
   sensor_msgs::msg::PointCloud2::SharedPtr input_transformed_ptr(new sensor_msgs::msg::PointCloud2);
   bool succeeded = TransformPointCloud(base_frame_, input, input_transformed_ptr);
@@ -366,7 +366,7 @@ void RayGroundFilterComponent::filter(
 rcl_interfaces::msg::SetParametersResult RayGroundFilterComponent::paramCallback(
   const std::vector<rclcpp::Parameter> & p)
 {
-  boost::mutex::scoped_lock lock(mutex_);
+  std::scoped_lock lock(mutex_);
 
   if (get_param(p, "min_x", min_x_)) {
     RCLCPP_DEBUG(get_logger(), "Setting min_x to: %f.", min_x_);

diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/filter.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/filter.hpp
@@ -171,7 +171,7 @@ class Filter : public rclcpp::Node
   std::string tf_output_frame_;
 
   /** \brief Internal mutex. */
-  boost::mutex mutex_;
+  std::mutex mutex_;
 
   /** \brief processing time publisher. **/
   std::unique_ptr<tier4_autoware_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_;

diff --git a/sensing/pointcloud_preprocessor/src/blockage_diag/blockage_diag_nodelet.cpp b/sensing/pointcloud_preprocessor/src/blockage_diag/blockage_diag_nodelet.cpp
@@ -106,7 +106,7 @@ void BlockageDiagComponent::filter(
   const PointCloud2ConstPtr & input, [[maybe_unused]] const IndicesPtr & indices,
   PointCloud2 & output)
 {
-  boost::mutex::scoped_lock lock(mutex_);
+  std::scoped_lock lock(mutex_);
   uint horizontal_bins = static_cast<uint>((angle_range_deg_[1] - angle_range_deg_[0]));
   uint vertical_bins = vertical_bins_;
   pcl::PointCloud<PointXYZIRADRT>::Ptr pcl_input(new pcl::PointCloud<PointXYZIRADRT>);
@@ -224,7 +224,7 @@ void BlockageDiagComponent::filter(
 rcl_interfaces::msg::SetParametersResult BlockageDiagComponent::paramCallback(
   const std::vector<rclcpp::Parameter> & p)
 {
-  boost::mutex::scoped_lock lock(mutex_);
+  std::scoped_lock lock(mutex_);
   if (get_param(p, "blockage_ratio_threshold", blockage_ratio_threshold_)) {
     RCLCPP_DEBUG(
       get_logger(), "Setting new blockage_ratio_threshold to: %f.", blockage_ratio_threshold_);

diff --git a/sensing/pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_nodelet.cpp
@@ -60,16 +60,6 @@ namespace pointcloud_preprocessor
 CropBoxFilterComponent::CropBoxFilterComponent(const rclcpp::NodeOptions & options)
 : Filter("CropBoxFilter", options)
 {
-  // initialize debug tool
-  {
-    using tier4_autoware_utils::DebugPublisher;
-    using tier4_autoware_utils::StopWatch;
-    stop_watch_ptr_ = std::make_unique<StopWatch<std::chrono::milliseconds>>();
-    debug_publisher_ = std::make_unique<DebugPublisher>(this, "crop_box_filter");
-    stop_watch_ptr_->tic("cyclic_time");
-    stop_watch_ptr_->tic("processing_time");
-  }
-
   // set initial parameters
   {
     auto & p = param_;
@@ -100,8 +90,8 @@ void CropBoxFilterComponent::filter(
   const PointCloud2ConstPtr & input, [[maybe_unused]] const IndicesPtr & indices,
   PointCloud2 & output)
 {
-  boost::mutex::scoped_lock lock(mutex_);
-  stop_watch_ptr_->toc("processing_time", true);
+  std::scoped_lock lock(mutex_);
+
   output.data.resize(input->data.size());
   Eigen::Vector3f pt(Eigen::Vector3f::Zero());
   size_t j = 0;
@@ -142,15 +132,6 @@ void CropBoxFilterComponent::filter(
   output.row_step = static_cast<uint32_t>(output.data.size() / output.height);
 
   publishCropBoxPolygon();
-  // add processing time for debug
-  if (debug_publisher_) {
-    const double cyclic_time_ms = stop_watch_ptr_->toc("cyclic_time", true);
-    const double processing_time_ms = stop_watch_ptr_->toc("processing_time", true);
-    debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
-      "debug/cyclic_time_ms", cyclic_time_ms);
-    debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
-      "debug/processing_time_ms", processing_time_ms);
-  }
 }
 
 void CropBoxFilterComponent::publishCropBoxPolygon()
@@ -207,7 +188,7 @@ void CropBoxFilterComponent::publishCropBoxPolygon()
 rcl_interfaces::msg::SetParametersResult CropBoxFilterComponent::paramCallback(
   const std::vector<rclcpp::Parameter> & p)
 {
-  boost::mutex::scoped_lock lock(mutex_);
+  std::scoped_lock lock(mutex_);
 
   CropBoxParam new_param{};
 

diff --git a/...g/pointcloud_preprocessor/src/downsample_filter/approximate_downsample_filter_nodelet.cpp b/...g/pointcloud_preprocessor/src/downsample_filter/approximate_downsample_filter_nodelet.cpp
@@ -77,7 +77,7 @@ ApproximateDownsampleFilterComponent::ApproximateDownsampleFilterComponent(
 void ApproximateDownsampleFilterComponent::filter(
   const PointCloud2ConstPtr & input, const IndicesPtr & /*indices*/, PointCloud2 & output)
 {
-  boost::mutex::scoped_lock lock(mutex_);
+  std::scoped_lock lock(mutex_);
   pcl::PointCloud<pcl::PointXYZ>::Ptr pcl_input(new pcl::PointCloud<pcl::PointXYZ>);
   pcl::PointCloud<pcl::PointXYZ>::Ptr pcl_output(new pcl::PointCloud<pcl::PointXYZ>);
   pcl::fromROSMsg(*input, *pcl_input);
@@ -94,7 +94,7 @@ void ApproximateDownsampleFilterComponent::filter(
 rcl_interfaces::msg::SetParametersResult ApproximateDownsampleFilterComponent::paramCallback(
   const std::vector<rclcpp::Parameter> & p)
 {
-  boost::mutex::scoped_lock lock(mutex_);
+  std::scoped_lock lock(mutex_);
 
   if (get_param(p, "voxel_size_x", voxel_size_x_)) {
     RCLCPP_DEBUG(get_logger(), "Setting new distance threshold to: %f.", voxel_size_x_);

diff --git a/sensing/pointcloud_preprocessor/src/downsample_filter/random_downsample_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/downsample_filter/random_downsample_filter_nodelet.cpp
@@ -69,7 +69,7 @@ RandomDownsampleFilterComponent::RandomDownsampleFilterComponent(
 void RandomDownsampleFilterComponent::filter(
   const PointCloud2ConstPtr & input, const IndicesPtr & /*indices*/, PointCloud2 & output)
 {
-  boost::mutex::scoped_lock lock(mutex_);
+  std::scoped_lock lock(mutex_);
   pcl::PointCloud<pcl::PointXYZ>::Ptr pcl_input(new pcl::PointCloud<pcl::PointXYZ>);
   pcl::PointCloud<pcl::PointXYZ>::Ptr pcl_output(new pcl::PointCloud<pcl::PointXYZ>);
   pcl::fromROSMsg(*input, *pcl_input);
@@ -87,7 +87,7 @@ void RandomDownsampleFilterComponent::filter(
 rcl_interfaces::msg::SetParametersResult RandomDownsampleFilterComponent::paramCallback(
   const std::vector<rclcpp::Parameter> & p)
 {
-  boost::mutex::scoped_lock lock(mutex_);
+  std::scoped_lock lock(mutex_);
 
   if (get_param(p, "sample_num", sample_num_)) {
     RCLCPP_DEBUG(get_logger(), "Setting new sample num to: %zu.", sample_num_);

diff --git a/...ng/pointcloud_preprocessor/src/downsample_filter/voxel_grid_downsample_filter_nodelet.cpp b/...ng/pointcloud_preprocessor/src/downsample_filter/voxel_grid_downsample_filter_nodelet.cpp
@@ -77,7 +77,7 @@ VoxelGridDownsampleFilterComponent::VoxelGridDownsampleFilterComponent(
 void VoxelGridDownsampleFilterComponent::filter(
   const PointCloud2ConstPtr & input, const IndicesPtr & /*indices*/, PointCloud2 & output)
 {
-  boost::mutex::scoped_lock lock(mutex_);
+  std::scoped_lock lock(mutex_);
   pcl::PointCloud<pcl::PointXYZ>::Ptr pcl_input(new pcl::PointCloud<pcl::PointXYZ>);
   pcl::PointCloud<pcl::PointXYZ>::Ptr pcl_output(new pcl::PointCloud<pcl::PointXYZ>);
   pcl::fromROSMsg(*input, *pcl_input);
@@ -95,7 +95,7 @@ void VoxelGridDownsampleFilterComponent::filter(
 rcl_interfaces::msg::SetParametersResult VoxelGridDownsampleFilterComponent::paramCallback(
   const std::vector<rclcpp::Parameter> & p)
 {
-  boost::mutex::scoped_lock lock(mutex_);
+  std::scoped_lock lock(mutex_);
 
   if (get_param(p, "voxel_size_x", voxel_size_x_)) {
     RCLCPP_DEBUG(get_logger(), "Setting new distance threshold to: %f.", voxel_size_x_);

diff --git a/sensing/pointcloud_preprocessor/src/filter.cpp b/sensing/pointcloud_preprocessor/src/filter.cpp
@@ -210,7 +210,7 @@ void pointcloud_preprocessor::Filter::computePublish(
 rcl_interfaces::msg::SetParametersResult pointcloud_preprocessor::Filter::filterParamCallback(
   const std::vector<rclcpp::Parameter> & p)
 {
-  boost::mutex::scoped_lock lock(mutex_);
+  std::scoped_lock lock(mutex_);
 
   if (get_param(p, "input_frame", tf_input_frame_)) {
     RCLCPP_DEBUG(get_logger(), "Setting the input TF frame to: %s.", tf_input_frame_.c_str());

diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp
@@ -115,7 +115,7 @@ void DualReturnOutlierFilterComponent::filter(
   const PointCloud2ConstPtr & input, [[maybe_unused]] const IndicesPtr & indices,
   PointCloud2 & output)
 {
-  boost::mutex::scoped_lock lock(mutex_);
+  std::scoped_lock lock(mutex_);
   pcl::PointCloud<PointXYZIRADRT>::Ptr pcl_input(new pcl::PointCloud<PointXYZIRADRT>);
   pcl::fromROSMsg(*input, *pcl_input);
 
@@ -349,7 +349,7 @@ void DualReturnOutlierFilterComponent::filter(
 rcl_interfaces::msg::SetParametersResult DualReturnOutlierFilterComponent::paramCallback(
   const std::vector<rclcpp::Parameter> & p)
 {
-  boost::mutex::scoped_lock lock(mutex_);
+  std::scoped_lock lock(mutex_);
 
   if (get_param(p, "weak_first_distance_ratio", weak_first_distance_ratio_)) {
     RCLCPP_DEBUG(

diff --git a/...ng/pointcloud_preprocessor/src/outlier_filter/radius_search_2d_outlier_filter_nodelet.cpp b/...ng/pointcloud_preprocessor/src/outlier_filter/radius_search_2d_outlier_filter_nodelet.cpp
@@ -43,7 +43,7 @@ void RadiusSearch2DOutlierFilterComponent::filter(
   const PointCloud2ConstPtr & input, [[maybe_unused]] const IndicesPtr & indices,
   PointCloud2 & output)
 {
-  boost::mutex::scoped_lock lock(mutex_);
+  std::scoped_lock lock(mutex_);
   pcl::PointCloud<pcl::PointXYZ>::Ptr xyz_cloud(new pcl::PointCloud<pcl::PointXYZ>);
   pcl::fromROSMsg(*input, *xyz_cloud);
 
@@ -71,7 +71,7 @@ void RadiusSearch2DOutlierFilterComponent::filter(
 rcl_interfaces::msg::SetParametersResult RadiusSearch2DOutlierFilterComponent::paramCallback(
   const std::vector<rclcpp::Parameter> & p)
 {
-  boost::mutex::scoped_lock lock(mutex_);
+  std::scoped_lock lock(mutex_);
 
   if (get_param(p, "min_neighbors", min_neighbors_)) {
     RCLCPP_DEBUG(get_logger(), "Setting new min neighbors to: %zu.", min_neighbors_);

diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp
@@ -21,16 +21,6 @@ namespace pointcloud_preprocessor
 RingOutlierFilterComponent::RingOutlierFilterComponent(const rclcpp::NodeOptions & options)
 : Filter("RingOutlierFilter", options)
 {
-  // initialize debug tool
-  {
-    using tier4_autoware_utils::DebugPublisher;
-    using tier4_autoware_utils::StopWatch;
-    stop_watch_ptr_ = std::make_unique<StopWatch<std::chrono::milliseconds>>();
-    debug_publisher_ = std::make_unique<DebugPublisher>(this, "ring_outlier_filter");
-    stop_watch_ptr_->tic("cyclic_time");
-    stop_watch_ptr_->tic("processing_time");
-  }
-
   // set initial parameters
   {
     distance_ratio_ = static_cast<double>(declare_parameter("distance_ratio", 1.03));
@@ -48,8 +38,7 @@ void RingOutlierFilterComponent::filter(
   const PointCloud2ConstPtr & input, [[maybe_unused]] const IndicesPtr & indices,
   PointCloud2 & output)
 {
-  boost::mutex::scoped_lock lock(mutex_);
-  stop_watch_ptr_->toc("processing_time", true);
+  std::scoped_lock lock(mutex_);
   std::unordered_map<uint16_t, std::vector<std::size_t>> input_ring_map;
   input_ring_map.reserve(128);
   sensor_msgs::msg::PointCloud2::SharedPtr input_ptr =
@@ -120,21 +109,12 @@ void RingOutlierFilterComponent::filter(
     }
     tmp_indices.clear();
   }
-  // add processing time for debug
-  if (debug_publisher_) {
-    const double cyclic_time_ms = stop_watch_ptr_->toc("cyclic_time", true);
-    const double processing_time_ms = stop_watch_ptr_->toc("processing_time", true);
-    debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
-      "debug/cyclic_time_ms", cyclic_time_ms);
-    debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
-      "debug/processing_time_ms", processing_time_ms);
-  }
 }
 
 rcl_interfaces::msg::SetParametersResult RingOutlierFilterComponent::paramCallback(
   const std::vector<rclcpp::Parameter> & p)
 {
-  boost::mutex::scoped_lock lock(mutex_);
+  std::scoped_lock lock(mutex_);
 
   if (get_param(p, "distance_ratio", distance_ratio_)) {
     RCLCPP_DEBUG(get_logger(), "Setting new distance ratio to: %f.", distance_ratio_);

diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/voxel_grid_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/voxel_grid_outlier_filter_nodelet.cpp
@@ -42,7 +42,7 @@ void VoxelGridOutlierFilterComponent::filter(
   const PointCloud2ConstPtr & input, [[maybe_unused]] const IndicesPtr & indices,
   PointCloud2 & output)
 {
-  boost::mutex::scoped_lock lock(mutex_);
+  std::scoped_lock lock(mutex_);
   pcl::PointCloud<pcl::PointXYZ>::Ptr pcl_input(new pcl::PointCloud<pcl::PointXYZ>);
   pcl::PointCloud<pcl::PointXYZ>::Ptr pcl_voxelized_input(new pcl::PointCloud<pcl::PointXYZ>);
   pcl::PointCloud<pcl::PointXYZ>::Ptr pcl_output(new pcl::PointCloud<pcl::PointXYZ>);
@@ -70,7 +70,7 @@ void VoxelGridOutlierFilterComponent::filter(
 rcl_interfaces::msg::SetParametersResult VoxelGridOutlierFilterComponent::paramCallback(
   const std::vector<rclcpp::Parameter> & p)
 {
-  boost::mutex::scoped_lock lock(mutex_);
+  std::scoped_lock lock(mutex_);
 
   if (get_param(p, "voxel_size_x", voxel_size_x_)) {
     RCLCPP_DEBUG(get_logger(), "Setting new distance threshold to: %f.", voxel_size_x_);