dev-ros/pcl_ros: bump to 1.7.2

Closes: https://bugs.gentoo.org/748180
Package-Manager: Portage-3.0.8, Repoman-3.0.2
Signed-off-by: Alexis Ballier <aballier@gentoo.org>

4 files changed, 1 insertions, 977 deletions

diff --git a/dev-ros/pcl_ros/Manifest b/dev-ros/pcl_ros/Manifest
index 111bcc238e1c..229a958123b7 100644
--- a/dev-ros/pcl_ros/Manifest
+++ b/dev-ros/pcl_ros/Manifest
@@ -1 +1 @@
-DIST perception_pcl-1.7.1.tar.gz 80899 BLAKE2B 2898d88efa1b27a27eea06fb949254127cf92eb2c788ae914a40f0000fa8204202c4823c69ab5fa9bd83c2426289a4897a56fab9ec3df61e3ab0a184fc068c41 SHA512 97e9240c660adde84976860ed9c94cf8c127615526641dbcdb729ffbda4cda4dfb9f351cc2d471988732ad61e6508bfa5906c8b4503c31172e7f4e4dfc31260e
+DIST perception_pcl-1.7.2.tar.gz 81897 BLAKE2B 692f000337090c7a2354bf9626d391aa0fe390041042718e7dde7335c750137e7e1b6f939728ad1e2af3411e535ba63b42bc17f74b3535e38628f2b6c1c87036 SHA512 228b1d7d589bfd1460e8c58448b0d9257e86c1796b009853aeceeb1da20d8f46462d8c273a95804003ce3c43326c6575553d19b319aa9effcef4854347d5c3f9
diff --git a/dev-ros/pcl_ros/files/kdtree.patch b/dev-ros/pcl_ros/files/kdtree.patch
deleted file mode 100644
index ee5571f07151..000000000000
--- a/dev-ros/pcl_ros/files/kdtree.patch
+++ /dev/null
@@ -1,12 +0,0 @@
-Index: pcl_ros/include/pcl_ros/surface/moving_least_squares.h
-===================================================================
---- pcl_ros.orig/include/pcl_ros/surface/moving_least_squares.h
-+++ pcl_ros/include/pcl_ros/surface/moving_least_squares.h
-@@ -42,6 +42,7 @@
- 
- // PCL includes
- #include <pcl/surface/mls.h>
-+#include <pcl/search/kdtree.h> // for KdTree
- 
- // Dynamic reconfigure
- #include <dynamic_reconfigure/server.h>
diff --git a/dev-ros/pcl_ros/files/pcl111.patch b/dev-ros/pcl_ros/files/pcl111.patch
deleted file mode 100644
index 839e87dcf0a1..000000000000
--- a/dev-ros/pcl_ros/files/pcl111.patch
+++ /dev/null
@@ -1,963 +0,0 @@
-From e812d3cf1b67cc73841b41e690d53c74e5077a05 Mon Sep 17 00:00:00 2001
-From: Kunal Tyagi <tyagi.kunal@live.com>
-Date: Wed, 6 May 2020 08:41:07 +0900
-Subject: [PATCH] Changes in preparation for PCL 1.11 (#273)
-
-* Deriving typedef from pcl type
-
-* Explicit boost shared_ptr for function parameters
-
-* Use boost::shared_ptr instead of PCL::Ptr
-
-* Implementing boost-std compatibility
-
-* Using the compatibility layer
----
- pcl_ros/include/pcl_ros/features/feature.h    |  14 +-
- pcl_ros/include/pcl_ros/filters/filter.h      |   4 +-
- pcl_ros/include/pcl_ros/pcl_nodelet.h         |   9 +-
- pcl_ros/include/pcl_ros/point_cloud.h         | 121 ++++++++++++++++++
- .../extract_polygonal_prism_data.h            |   4 +-
- .../pcl_ros/segmentation/sac_segmentation.h   |  12 +-
- .../segmentation/segment_differences.h        |   4 +-
- pcl_ros/include/pcl_ros/surface/convex_hull.h |   4 +-
- .../pcl_ros/surface/moving_least_squares.h    |   4 +-
- pcl_ros/src/pcl_ros/features/boundary.cpp     |  10 +-
- pcl_ros/src/pcl_ros/features/fpfh.cpp         |  10 +-
- pcl_ros/src/pcl_ros/features/fpfh_omp.cpp     |  10 +-
- .../pcl_ros/features/moment_invariants.cpp    |   8 +-
- pcl_ros/src/pcl_ros/features/normal_3d.cpp    |   8 +-
- .../src/pcl_ros/features/normal_3d_omp.cpp    |   8 +-
- .../src/pcl_ros/features/normal_3d_tbb.cpp    |   4 +-
- pcl_ros/src/pcl_ros/features/pfh.cpp          |  10 +-
- .../pcl_ros/features/principal_curvatures.cpp |  10 +-
- pcl_ros/src/pcl_ros/features/shot.cpp         |  10 +-
- pcl_ros/src/pcl_ros/features/shot_omp.cpp     |  10 +-
- pcl_ros/src/pcl_ros/features/vfh.cpp          |  10 +-
- .../pcl_ros/segmentation/extract_clusters.cpp |   4 +-
- .../extract_polygonal_prism_data.cpp          |   6 +-
- .../pcl_ros/segmentation/sac_segmentation.cpp |   6 +-
- .../segmentation/segment_differences.cpp      |   8 +-
- pcl_ros/src/pcl_ros/surface/convex_hull.cpp   |   8 +-
- .../pcl_ros/surface/moving_least_squares.cpp  |  10 +-
- pcl_ros/tools/pointcloud_to_pcd.cpp           |   2 +-
- 28 files changed, 225 insertions(+), 103 deletions(-)
-
-diff --git a/pcl_ros/include/pcl_ros/features/feature.h b/pcl_ros/include/pcl_ros/features/feature.h
-index 26bcfe6b..098c20bc 100644
---- a/include/pcl_ros/features/feature.h
-+++ b/include/pcl_ros/features/feature.h
-@@ -69,11 +69,11 @@ namespace pcl_ros
-       typedef pcl::KdTree<pcl::PointXYZ>::Ptr KdTreePtr;
- 
-       typedef pcl::PointCloud<pcl::PointXYZ> PointCloudIn;
--      typedef PointCloudIn::Ptr PointCloudInPtr;
--      typedef PointCloudIn::ConstPtr PointCloudInConstPtr;
-+      typedef boost::shared_ptr<PointCloudIn> PointCloudInPtr;
-+      typedef boost::shared_ptr<const PointCloudIn> PointCloudInConstPtr;
- 
--      typedef boost::shared_ptr <std::vector<int> > IndicesPtr;
--      typedef boost::shared_ptr <const std::vector<int> > IndicesConstPtr;
-+      typedef pcl::IndicesPtr IndicesPtr;
-+      typedef pcl::IndicesConstPtr IndicesConstPtr;
- 
-       /** \brief Empty constructor. */
-       Feature () : /*input_(), indices_(), surface_(), */tree_(), k_(0), search_radius_(0),
-@@ -152,7 +152,7 @@ namespace pcl_ros
-         indices.header.stamp = pcl_conversions::fromPCL(input->header).stamp;
-         PointCloudIn cloud;
-         cloud.header.stamp = input->header.stamp;
--        nf_pc_.add (cloud.makeShared ());
-+        nf_pc_.add (ros_ptr(cloud.makeShared ()));
-         nf_pi_.add (boost::make_shared<PointIndices> (indices));
-       }
- 
-@@ -190,8 +190,8 @@ namespace pcl_ros
-       typedef sensor_msgs::PointCloud2 PointCloud2;
- 
-       typedef pcl::PointCloud<pcl::Normal> PointCloudN;
--      typedef PointCloudN::Ptr PointCloudNPtr;
--      typedef PointCloudN::ConstPtr PointCloudNConstPtr;
-+      typedef boost::shared_ptr<PointCloudN> PointCloudNPtr;
-+      typedef boost::shared_ptr<const PointCloudN> PointCloudNConstPtr;
- 
-       FeatureFromNormals () : normals_() {};
- 
-diff --git a/pcl_ros/include/pcl_ros/filters/filter.h b/pcl_ros/include/pcl_ros/filters/filter.h
-index 94c1e883..b4e79538 100644
---- a/include/pcl_ros/filters/filter.h
-+++ b/include/pcl_ros/filters/filter.h
-@@ -58,8 +58,8 @@ namespace pcl_ros
-     public:
-       typedef sensor_msgs::PointCloud2 PointCloud2;
- 
--      typedef boost::shared_ptr <std::vector<int> > IndicesPtr;
--      typedef boost::shared_ptr <const std::vector<int> > IndicesConstPtr;
-+      typedef pcl::IndicesPtr IndicesPtr;
-+      typedef pcl::IndicesConstPtr IndicesConstPtr;
- 
-       Filter () {}
- 
-diff --git a/pcl_ros/include/pcl_ros/pcl_nodelet.h b/pcl_ros/include/pcl_ros/pcl_nodelet.h
-index f12e62d7..279d6730 100644
---- a/include/pcl_ros/pcl_nodelet.h
-+++ b/include/pcl_ros/pcl_nodelet.h
-@@ -48,6 +48,7 @@
- // PCL includes
- #include <pcl_msgs/PointIndices.h>
- #include <pcl_msgs/ModelCoefficients.h>
-+#include <pcl/pcl_base.h>
- #include <pcl/point_types.h>
- #include <pcl_conversions/pcl_conversions.h>
- #include "pcl_ros/point_cloud.h"
-@@ -75,8 +76,8 @@ namespace pcl_ros
-       typedef sensor_msgs::PointCloud2 PointCloud2;
- 
-       typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
--      typedef PointCloud::Ptr PointCloudPtr;
--      typedef PointCloud::ConstPtr PointCloudConstPtr;
-+      typedef boost::shared_ptr<PointCloud> PointCloudPtr;
-+      typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr;
- 
-       typedef pcl_msgs::PointIndices PointIndices;
-       typedef PointIndices::Ptr PointIndicesPtr;
-@@ -86,8 +87,8 @@ namespace pcl_ros
-       typedef ModelCoefficients::Ptr ModelCoefficientsPtr;
-       typedef ModelCoefficients::ConstPtr ModelCoefficientsConstPtr;
- 
--      typedef boost::shared_ptr <std::vector<int> > IndicesPtr;
--      typedef boost::shared_ptr <const std::vector<int> > IndicesConstPtr;
-+      typedef pcl::IndicesPtr IndicesPtr;
-+      typedef pcl::IndicesConstPtr IndicesConstPtr;
- 
-       /** \brief Empty constructor. */
-       PCLNodelet () : use_indices_ (false), latched_indices_ (false),
-diff --git a/pcl_ros/include/pcl_ros/point_cloud.h b/pcl_ros/include/pcl_ros/point_cloud.h
-index bbf30ad1..93df7365 100644
---- a/include/pcl_ros/point_cloud.h
-+++ b/include/pcl_ros/point_cloud.h
-@@ -270,4 +270,125 @@ namespace ros
- 
- } // namespace ros
- 
-+// test if testing machinery can be implemented
-+#if defined(__cpp_rvalue_references) && defined(__cpp_constexpr)
-+#define ROS_POINTER_COMPATIBILITY_IMPLEMENTED 1
-+#else
-+#define ROS_POINTER_COMPATIBILITY_IMPLEMENTED 0
-+#endif
-+
-+#if ROS_POINTER_COMPATIBILITY_IMPLEMENTED
-+#include <type_traits>  // for std::is_same
-+#include <memory>       // for std::shared_ptr
-+
-+#include <pcl/pcl_config.h>
-+#if PCL_VERSION_COMPARE(>=, 1, 11, 0)
-+#include <pcl/memory.h>
-+#elif PCL_VERSION_COMPARE(>=, 1, 10, 0)
-+#include <pcl/make_shared.h>
-+#endif
-+#endif
-+
-+namespace pcl
-+{
-+  namespace detail
-+  {
-+#if ROS_POINTER_COMPATIBILITY_IMPLEMENTED
-+#if PCL_VERSION_COMPARE(>=, 1, 10, 0)
-+    template <class T>
-+    constexpr static bool pcl_uses_boost = std::is_same<boost::shared_ptr<T>,
-+                                                        pcl::shared_ptr<T>>::value;
-+#else
-+    template <class T>
-+    constexpr static bool pcl_uses_boost = true;
-+#endif
-+
-+    template<class SharedPointer> struct Holder
-+    {
-+      SharedPointer p;
-+
-+      Holder(const SharedPointer &p) : p(p) {}
-+      Holder(const Holder &other) : p(other.p) {}
-+      Holder(Holder &&other) : p(std::move(other.p)) {}
-+
-+      void operator () (...) { p.reset(); }
-+    };
-+
-+    template<class T>
-+    inline std::shared_ptr<T> to_std_ptr(const boost::shared_ptr<T> &p)
-+    {
-+        typedef Holder<std::shared_ptr<T>> H;
-+        if(H *h = boost::get_deleter<H>(p))
-+        {
-+            return h->p;
-+        }
-+        else
-+        {
-+            return std::shared_ptr<T>(p.get(), Holder<boost::shared_ptr<T>>(p));
-+        }
-+    }
-+
-+    template<class T>
-+    inline boost::shared_ptr<T> to_boost_ptr(const std::shared_ptr<T> &p)
-+    {
-+        typedef Holder<boost::shared_ptr<T>> H;
-+        if(H * h = std::get_deleter<H>(p))
-+        {
-+            return h->p;
-+        }
-+        else
-+        {
-+            return boost::shared_ptr<T>(p.get(), Holder<std::shared_ptr<T>>(p));
-+        }
-+    }
-+#endif
-+  } // namespace pcl::detail
-+
-+// add functions to convert to smart pointer used by ROS
-+  template <class T>
-+  inline boost::shared_ptr<T> ros_ptr(const boost::shared_ptr<T> &p)
-+  {
-+      return p;
-+  }
-+
-+#if ROS_POINTER_COMPATIBILITY_IMPLEMENTED
-+  template <class T>
-+  inline boost::shared_ptr<T> ros_ptr(const std::shared_ptr<T> &p)
-+  {
-+      return detail::to_boost_ptr(p);
-+  }
-+
-+// add functions to convert to smart pointer used by PCL, based on PCL's own pointer
-+  template <class T, class = typename std::enable_if<!detail::pcl_uses_boost<T>>::type>
-+  inline std::shared_ptr<T> pcl_ptr(const std::shared_ptr<T> &p)
-+  {
-+      return p;
-+  }
-+
-+  template <class T, class = typename std::enable_if<!detail::pcl_uses_boost<T>>::type>
-+  inline std::shared_ptr<T> pcl_ptr(const boost::shared_ptr<T> &p)
-+  {
-+      return detail::to_std_ptr(p);
-+  }
-+
-+  template <class T, class = typename std::enable_if<detail::pcl_uses_boost<T>>::type>
-+  inline boost::shared_ptr<T> pcl_ptr(const std::shared_ptr<T> &p)
-+  {
-+      return detail::to_boost_ptr(p);
-+  }
-+
-+  template <class T, class = typename std::enable_if<detail::pcl_uses_boost<T>>::type>
-+  inline boost::shared_ptr<T> pcl_ptr(const boost::shared_ptr<T> &p)
-+  {
-+      return p;
-+  }
-+#else
-+  template <class T>
-+  inline boost::shared_ptr<T> pcl_ptr(const boost::shared_ptr<T> &p)
-+  {
-+      return p;
-+  }
-+#endif
-+} // namespace pcl
-+
- #endif
-diff --git a/pcl_ros/include/pcl_ros/segmentation/extract_polygonal_prism_data.h b/pcl_ros/include/pcl_ros/segmentation/extract_polygonal_prism_data.h
-index 7134f905..13b85316 100644
---- a/include/pcl_ros/segmentation/extract_polygonal_prism_data.h
-+++ b/include/pcl_ros/segmentation/extract_polygonal_prism_data.h
-@@ -64,8 +64,8 @@ namespace pcl_ros
-   class ExtractPolygonalPrismData : public PCLNodelet
-   {
-     typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
--    typedef PointCloud::Ptr PointCloudPtr;
--    typedef PointCloud::ConstPtr PointCloudConstPtr;
-+    typedef boost::shared_ptr<PointCloud> PointCloudPtr;
-+    typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr;
- 
-     protected:
-        /** \brief The output PointIndices publisher. */
-diff --git a/pcl_ros/include/pcl_ros/segmentation/sac_segmentation.h b/pcl_ros/include/pcl_ros/segmentation/sac_segmentation.h
-index af2c9126..9243e363 100644
---- a/include/pcl_ros/segmentation/sac_segmentation.h
-+++ b/include/pcl_ros/segmentation/sac_segmentation.h
-@@ -61,8 +61,8 @@ namespace pcl_ros
-   class SACSegmentation : public PCLNodelet
-   {
-     typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
--    typedef PointCloud::Ptr PointCloudPtr;
--    typedef PointCloud::ConstPtr PointCloudConstPtr;
-+    typedef boost::shared_ptr<PointCloud> PointCloudPtr;
-+    typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr;
- 
-     public:
-       /** \brief Constructor. */
-@@ -181,12 +181,12 @@ namespace pcl_ros
-   class SACSegmentationFromNormals: public SACSegmentation
-   {
-     typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
--    typedef PointCloud::Ptr PointCloudPtr;
--    typedef PointCloud::ConstPtr PointCloudConstPtr;
-+    typedef boost::shared_ptr<PointCloud> PointCloudPtr;
-+    typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr;
- 
-     typedef pcl::PointCloud<pcl::Normal> PointCloudN;
--    typedef PointCloudN::Ptr PointCloudNPtr;
--    typedef PointCloudN::ConstPtr PointCloudNConstPtr;
-+    typedef boost::shared_ptr<PointCloudN> PointCloudNPtr;
-+    typedef boost::shared_ptr<const PointCloudN> PointCloudNConstPtr;
- 
-     public:
-       /** \brief Set the input TF frame the data should be transformed into before processing, if input.header.frame_id is different.
-diff --git a/pcl_ros/include/pcl_ros/segmentation/segment_differences.h b/pcl_ros/include/pcl_ros/segmentation/segment_differences.h
-index 4914bc86..da767ab3 100644
---- a/include/pcl_ros/segmentation/segment_differences.h
-+++ b/include/pcl_ros/segmentation/segment_differences.h
-@@ -60,8 +60,8 @@ namespace pcl_ros
-   class SegmentDifferences : public PCLNodelet
-   {
-     typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
--    typedef PointCloud::Ptr PointCloudPtr;
--    typedef PointCloud::ConstPtr PointCloudConstPtr;
-+    typedef boost::shared_ptr<PointCloud> PointCloudPtr;
-+    typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr;
- 
-     public:
-       /** \brief Empty constructor. */
-diff --git a/pcl_ros/include/pcl_ros/surface/convex_hull.h b/pcl_ros/include/pcl_ros/surface/convex_hull.h
-index e419c0f8..54a1f367 100644
---- a/include/pcl_ros/surface/convex_hull.h
-+++ b/include/pcl_ros/surface/convex_hull.h
-@@ -53,8 +53,8 @@ namespace pcl_ros
-   class ConvexHull2D : public PCLNodelet
-   {
-     typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
--    typedef PointCloud::Ptr PointCloudPtr;
--    typedef PointCloud::ConstPtr PointCloudConstPtr;
-+    typedef boost::shared_ptr<PointCloud> PointCloudPtr;
-+    typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr;
- 
-     private:
-       /** \brief Nodelet initialization routine. */
-diff --git a/pcl_ros/include/pcl_ros/surface/moving_least_squares.h b/pcl_ros/include/pcl_ros/surface/moving_least_squares.h
-index b909edf8..e90f562a 100644
---- a/include/pcl_ros/surface/moving_least_squares.h
-+++ b/include/pcl_ros/surface/moving_least_squares.h
-@@ -62,8 +62,8 @@ namespace pcl_ros
-     typedef pcl::PointNormal NormalOut;
- 
-     typedef pcl::PointCloud<PointIn> PointCloudIn;
--    typedef PointCloudIn::Ptr PointCloudInPtr;
--    typedef PointCloudIn::ConstPtr PointCloudInConstPtr;
-+    typedef boost::shared_ptr<PointCloudIn> PointCloudInPtr;
-+    typedef boost::shared_ptr<const PointCloudIn> PointCloudInConstPtr;
-     typedef pcl::PointCloud<NormalOut> NormalCloudOut;
- 
-     typedef pcl::KdTree<PointIn> KdTree;
-diff --git a/pcl_ros/src/pcl_ros/features/boundary.cpp b/pcl_ros/src/pcl_ros/features/boundary.cpp
-index 9334641a..26ee07c1 100644
---- a/src/pcl_ros/features/boundary.cpp
-+++ b/src/pcl_ros/features/boundary.cpp
-@@ -43,7 +43,7 @@ pcl_ros::BoundaryEstimation::emptyPublish (const PointCloudInConstPtr &cloud)
- {
-   PointCloudOut output;
-   output.header = cloud->header;
--  pub_output_.publish (output.makeShared ());
-+  pub_output_.publish (ros_ptr(output.makeShared ()));
- }
- 
- void
-@@ -57,17 +57,17 @@ pcl_ros::BoundaryEstimation::computePublish (const PointCloudInConstPtr &cloud,
-   impl_.setRadiusSearch (search_radius_);
- 
-   // Set the inputs
--  impl_.setInputCloud (cloud);
-+  impl_.setInputCloud (pcl_ptr(cloud));
-   impl_.setIndices (indices);
--  impl_.setSearchSurface (surface);
--  impl_.setInputNormals (normals);
-+  impl_.setSearchSurface (pcl_ptr(surface));
-+  impl_.setInputNormals (pcl_ptr(normals));
-   // Estimate the feature
-   PointCloudOut output;
-   impl_.compute (output);
- 
-   // Enforce that the TF frame and the timestamp are copied
-   output.header = cloud->header;
--  pub_output_.publish (output.makeShared ());
-+  pub_output_.publish (ros_ptr(output.makeShared ()));
- }
- 
- typedef pcl_ros::BoundaryEstimation BoundaryEstimation;
-diff --git a/pcl_ros/src/pcl_ros/features/fpfh.cpp b/pcl_ros/src/pcl_ros/features/fpfh.cpp
-index 3f698aad..53be549c 100644
---- a/src/pcl_ros/features/fpfh.cpp
-+++ b/src/pcl_ros/features/fpfh.cpp
-@@ -43,7 +43,7 @@ pcl_ros::FPFHEstimation::emptyPublish (const PointCloudInConstPtr &cloud)
- {
-   PointCloudOut output;
-   output.header = cloud->header;
--  pub_output_.publish (output.makeShared ());
-+  pub_output_.publish (ros_ptr(output.makeShared ()));
- }
- 
- void 
-@@ -57,10 +57,10 @@ pcl_ros::FPFHEstimation::computePublish (const PointCloudInConstPtr &cloud,
-   impl_.setRadiusSearch (search_radius_);
- 
-   // Set the inputs
--  impl_.setInputCloud (cloud);
-+  impl_.setInputCloud (pcl_ptr(cloud));
-   impl_.setIndices (indices);
--  impl_.setSearchSurface (surface);
--  impl_.setInputNormals (normals);
-+  impl_.setSearchSurface (pcl_ptr(surface));
-+  impl_.setInputNormals (pcl_ptr(normals));
-   // Estimate the feature
-   PointCloudOut output;
-   impl_.compute (output);
-@@ -68,7 +68,7 @@ pcl_ros::FPFHEstimation::computePublish (const PointCloudInConstPtr &cloud,
-   // Publish a Boost shared ptr const data
-   // Enforce that the TF frame and the timestamp are copied
-   output.header = cloud->header;
--  pub_output_.publish (output.makeShared ());
-+  pub_output_.publish (ros_ptr(output.makeShared ()));
- }
- 
- typedef pcl_ros::FPFHEstimation FPFHEstimation;
-diff --git a/pcl_ros/src/pcl_ros/features/fpfh_omp.cpp b/pcl_ros/src/pcl_ros/features/fpfh_omp.cpp
-index 58dd911f..e4adcabb 100644
---- a/src/pcl_ros/features/fpfh_omp.cpp
-+++ b/src/pcl_ros/features/fpfh_omp.cpp
-@@ -43,7 +43,7 @@ pcl_ros::FPFHEstimationOMP::emptyPublish (const PointCloudInConstPtr &cloud)
- {
-   PointCloudOut output;
-   output.header = cloud->header;
--  pub_output_.publish (output.makeShared ());
-+  pub_output_.publish (ros_ptr(output.makeShared ()));
- }
- 
- void 
-@@ -57,10 +57,10 @@ pcl_ros::FPFHEstimationOMP::computePublish (const PointCloudInConstPtr &cloud,
-   impl_.setRadiusSearch (search_radius_);
- 
-   // Set the inputs
--  impl_.setInputCloud (cloud);
-+  impl_.setInputCloud (pcl_ptr(cloud));
-   impl_.setIndices (indices);
--  impl_.setSearchSurface (surface);
--  impl_.setInputNormals (normals);
-+  impl_.setSearchSurface (pcl_ptr(surface));
-+  impl_.setInputNormals (pcl_ptr(normals));
-   // Estimate the feature
-   PointCloudOut output;
-   impl_.compute (output);
-@@ -68,7 +68,7 @@ pcl_ros::FPFHEstimationOMP::computePublish (const PointCloudInConstPtr &cloud,
-   // Publish a Boost shared ptr const data
-   // Enforce that the TF frame and the timestamp are copied
-   output.header = cloud->header;
--  pub_output_.publish (output.makeShared ());
-+  pub_output_.publish (ros_ptr(output.makeShared ()));
- }
- 
- typedef pcl_ros::FPFHEstimationOMP FPFHEstimationOMP;
-diff --git a/pcl_ros/src/pcl_ros/features/moment_invariants.cpp b/pcl_ros/src/pcl_ros/features/moment_invariants.cpp
-index d0ec3441..a6e2249a 100644
---- a/src/pcl_ros/features/moment_invariants.cpp
-+++ b/src/pcl_ros/features/moment_invariants.cpp
-@@ -43,7 +43,7 @@ pcl_ros::MomentInvariantsEstimation::emptyPublish (const PointCloudInConstPtr &c
- {
-   PointCloudOut output;
-   output.header = cloud->header;
--  pub_output_.publish (output.makeShared ());
-+  pub_output_.publish (ros_ptr(output.makeShared ()));
- }
- 
- void 
-@@ -56,9 +56,9 @@ pcl_ros::MomentInvariantsEstimation::computePublish (const PointCloudInConstPtr
-   impl_.setRadiusSearch (search_radius_);
- 
-   // Set the inputs
--  impl_.setInputCloud (cloud);
-+  impl_.setInputCloud (pcl_ptr(cloud));
-   impl_.setIndices (indices);
--  impl_.setSearchSurface (surface);
-+  impl_.setSearchSurface (pcl_ptr(surface));
-   // Estimate the feature
-   PointCloudOut output;
-   impl_.compute (output);
-@@ -66,7 +66,7 @@ pcl_ros::MomentInvariantsEstimation::computePublish (const PointCloudInConstPtr
-   // Publish a Boost shared ptr const data
-   // Enforce that the TF frame and the timestamp are copied
-   output.header = cloud->header;
--  pub_output_.publish (output.makeShared ());
-+  pub_output_.publish (ros_ptr(output.makeShared ()));
- }
- 
- typedef pcl_ros::MomentInvariantsEstimation MomentInvariantsEstimation;
-diff --git a/pcl_ros/src/pcl_ros/features/normal_3d.cpp b/pcl_ros/src/pcl_ros/features/normal_3d.cpp
-index 9e700f78..042186a9 100644
---- a/src/pcl_ros/features/normal_3d.cpp
-+++ b/src/pcl_ros/features/normal_3d.cpp
-@@ -43,7 +43,7 @@ pcl_ros::NormalEstimation::emptyPublish (const PointCloudInConstPtr &cloud)
- {
-   PointCloudOut output;
-   output.header = cloud->header;
--  pub_output_.publish (output.makeShared ());
-+  pub_output_.publish (ros_ptr(output.makeShared ()));
- }
- 
- void 
-@@ -56,9 +56,9 @@ pcl_ros::NormalEstimation::computePublish (const PointCloudInConstPtr &cloud,
-   impl_.setRadiusSearch (search_radius_);
- 
-   // Set the inputs
--  impl_.setInputCloud (cloud);
-+  impl_.setInputCloud (pcl_ptr(cloud));
-   impl_.setIndices (indices);
--  impl_.setSearchSurface (surface);
-+  impl_.setSearchSurface (pcl_ptr(surface));
-   // Estimate the feature
-   PointCloudOut output;
-   impl_.compute (output);
-@@ -66,7 +66,7 @@ pcl_ros::NormalEstimation::computePublish (const PointCloudInConstPtr &cloud,
-   // Publish a Boost shared ptr const data
-   // Enforce that the TF frame and the timestamp are copied
-   output.header = cloud->header;
--  pub_output_.publish (output.makeShared ());
-+  pub_output_.publish (ros_ptr(output.makeShared ()));
- }
- 
- typedef pcl_ros::NormalEstimation NormalEstimation;
-diff --git a/pcl_ros/src/pcl_ros/features/normal_3d_omp.cpp b/pcl_ros/src/pcl_ros/features/normal_3d_omp.cpp
-index a741c052..3e92d2f2 100644
---- a/src/pcl_ros/features/normal_3d_omp.cpp
-+++ b/src/pcl_ros/features/normal_3d_omp.cpp
-@@ -43,7 +43,7 @@ pcl_ros::NormalEstimationOMP::emptyPublish (const PointCloudInConstPtr &cloud)
- {
-   PointCloudOut output;
-   output.header = cloud->header;
--  pub_output_.publish (output.makeShared ());
-+  pub_output_.publish (ros_ptr(output.makeShared ()));
- }
- 
- void 
-@@ -56,9 +56,9 @@ pcl_ros::NormalEstimationOMP::computePublish (const PointCloudInConstPtr &cloud,
-   impl_.setRadiusSearch (search_radius_);
- 
-   // Set the inputs
--  impl_.setInputCloud (cloud);
-+  impl_.setInputCloud (pcl_ptr(cloud));
-   impl_.setIndices (indices);
--  impl_.setSearchSurface (surface);
-+  impl_.setSearchSurface (pcl_ptr(surface));
-   // Estimate the feature
-   PointCloudOut output;
-   impl_.compute (output);
-@@ -66,7 +66,7 @@ pcl_ros::NormalEstimationOMP::computePublish (const PointCloudInConstPtr &cloud,
-   // Publish a Boost shared ptr const data
-   // Enforce that the TF frame and the timestamp are copied
-   output.header = cloud->header;
--  pub_output_.publish (output.makeShared ());
-+  pub_output_.publish (ros_ptr(output.makeShared ()));
- }
- 
- typedef pcl_ros::NormalEstimationOMP NormalEstimationOMP;
-diff --git a/pcl_ros/src/pcl_ros/features/normal_3d_tbb.cpp b/pcl_ros/src/pcl_ros/features/normal_3d_tbb.cpp
-index a4a8581e..680a4a02 100644
---- a/src/pcl_ros/features/normal_3d_tbb.cpp
-+++ b/src/pcl_ros/features/normal_3d_tbb.cpp
-@@ -45,7 +45,7 @@ pcl_ros::NormalEstimationTBB::emptyPublish (const PointCloudInConstPtr &cloud)
- {
-   PointCloud output;
-   output.header = cloud->header;
--  pub_output_.publish (output.makeShared ());
-+  pub_output_.publish (ros_ptr(output.makeShared ()));
- }
- 
- void 
-@@ -71,7 +71,7 @@ pcl_ros::NormalEstimationTBB::computePublish (const PointCloudInConstPtr &cloud,
-   // Publish a Boost shared ptr const data
-   // Enforce that the TF frame and the timestamp are copied
-   output.header = cloud->header;
--  pub_output_.publish (output.makeShared ());
-+  pub_output_.publish (ros_ptr(output.makeShared ()));
- }
- 
- typedef pcl_ros::NormalEstimationTBB NormalEstimationTBB;
-diff --git a/pcl_ros/src/pcl_ros/features/pfh.cpp b/pcl_ros/src/pcl_ros/features/pfh.cpp
-index 38b4d19c..dd8409e2 100644
---- a/src/pcl_ros/features/pfh.cpp
-+++ b/src/pcl_ros/features/pfh.cpp
-@@ -43,7 +43,7 @@ pcl_ros::PFHEstimation::emptyPublish (const PointCloudInConstPtr &cloud)
- {
-   PointCloudOut output;
-   output.header = cloud->header;
--  pub_output_.publish (output.makeShared ());
-+  pub_output_.publish (ros_ptr(output.makeShared ()));
- }
- 
- void 
-@@ -57,10 +57,10 @@ pcl_ros::PFHEstimation::computePublish (const PointCloudInConstPtr &cloud,
-   impl_.setRadiusSearch (search_radius_);
- 
-   // Set the inputs
--  impl_.setInputCloud (cloud);
-+  impl_.setInputCloud (pcl_ptr(cloud));
-   impl_.setIndices (indices);
--  impl_.setSearchSurface (surface);
--  impl_.setInputNormals (normals);
-+  impl_.setSearchSurface (pcl_ptr(surface));
-+  impl_.setInputNormals (pcl_ptr(normals));
-   // Estimate the feature
-   PointCloudOut output;
-   impl_.compute (output);
-@@ -68,7 +68,7 @@ pcl_ros::PFHEstimation::computePublish (const PointCloudInConstPtr &cloud,
-   // Publish a Boost shared ptr const data
-   // Enforce that the TF frame and the timestamp are copied
-   output.header = cloud->header;
--  pub_output_.publish (output.makeShared ());
-+  pub_output_.publish (ros_ptr(output.makeShared ()));
- }
- 
- typedef pcl_ros::PFHEstimation PFHEstimation;
-diff --git a/pcl_ros/src/pcl_ros/features/principal_curvatures.cpp b/pcl_ros/src/pcl_ros/features/principal_curvatures.cpp
-index 113124dc..501d686e 100644
---- a/src/pcl_ros/features/principal_curvatures.cpp
-+++ b/src/pcl_ros/features/principal_curvatures.cpp
-@@ -43,7 +43,7 @@ pcl_ros::PrincipalCurvaturesEstimation::emptyPublish (const PointCloudInConstPtr
- {
-   PointCloudOut output;
-   output.header = cloud->header;
--  pub_output_.publish (output.makeShared ());
-+  pub_output_.publish (ros_ptr(output.makeShared ()));
- }
- 
- void 
-@@ -57,10 +57,10 @@ pcl_ros::PrincipalCurvaturesEstimation::computePublish (const PointCloudInConstP
-   impl_.setRadiusSearch (search_radius_);
- 
-   // Set the inputs
--  impl_.setInputCloud (cloud);
-+  impl_.setInputCloud (pcl_ptr(cloud));
-   impl_.setIndices (indices);
--  impl_.setSearchSurface (surface);
--  impl_.setInputNormals (normals);
-+  impl_.setSearchSurface (pcl_ptr(surface));
-+  impl_.setInputNormals (pcl_ptr(normals));
-   // Estimate the feature
-   PointCloudOut output;
-   impl_.compute (output);
-@@ -68,7 +68,7 @@ pcl_ros::PrincipalCurvaturesEstimation::computePublish (const PointCloudInConstP
-   // Publish a Boost shared ptr const data
-   // Enforce that the TF frame and the timestamp are copied
-   output.header = cloud->header;
--  pub_output_.publish (output.makeShared ());
-+  pub_output_.publish (ros_ptr(output.makeShared ()));
- }
- 
- typedef pcl_ros::PrincipalCurvaturesEstimation PrincipalCurvaturesEstimation;
-diff --git a/pcl_ros/src/pcl_ros/features/shot.cpp b/pcl_ros/src/pcl_ros/features/shot.cpp
-index d051ab0f..ed6ba44b 100644
---- a/src/pcl_ros/features/shot.cpp
-+++ b/src/pcl_ros/features/shot.cpp
-@@ -42,7 +42,7 @@ pcl_ros::SHOTEstimation::emptyPublish (const PointCloudInConstPtr &cloud)
- {
-   PointCloudOut output;
-   output.header = cloud->header;
--  pub_output_.publish (output.makeShared ());
-+  pub_output_.publish (ros_ptr(output.makeShared ()));
- }
- 
- void 
-@@ -56,10 +56,10 @@ pcl_ros::SHOTEstimation::computePublish (const PointCloudInConstPtr &cloud,
-   impl_.setRadiusSearch (search_radius_);
- 
-   // Set the inputs
--  impl_.setInputCloud (cloud);
-+  impl_.setInputCloud (pcl_ptr(cloud));
-   impl_.setIndices (indices);
--  impl_.setSearchSurface (surface);
--  impl_.setInputNormals (normals);
-+  impl_.setSearchSurface (pcl_ptr(surface));
-+  impl_.setInputNormals (pcl_ptr(normals));
-   // Estimate the feature
-   PointCloudOut output;
-   impl_.compute (output);
-@@ -67,7 +67,7 @@ pcl_ros::SHOTEstimation::computePublish (const PointCloudInConstPtr &cloud,
-   // Publish a Boost shared ptr const data
-   // Enforce that the TF frame and the timestamp are copied
-   output.header = cloud->header;
--  pub_output_.publish (output.makeShared ());
-+  pub_output_.publish (ros_ptr(output.makeShared ()));
- }
- 
- typedef pcl_ros::SHOTEstimation SHOTEstimation;
-diff --git a/pcl_ros/src/pcl_ros/features/shot_omp.cpp b/pcl_ros/src/pcl_ros/features/shot_omp.cpp
-index 1ac1b065..4563f123 100644
---- a/src/pcl_ros/features/shot_omp.cpp
-+++ b/src/pcl_ros/features/shot_omp.cpp
-@@ -42,7 +42,7 @@ pcl_ros::SHOTEstimationOMP::emptyPublish (const PointCloudInConstPtr &cloud)
- {
-   PointCloudOut output;
-   output.header = cloud->header;
--  pub_output_.publish (output.makeShared ());
-+  pub_output_.publish (ros_ptr(output.makeShared ()));
- }
- 
- void 
-@@ -56,10 +56,10 @@ pcl_ros::SHOTEstimationOMP::computePublish (const PointCloudInConstPtr &cloud,
-   impl_.setRadiusSearch (search_radius_);
- 
-   // Set the inputs
--  impl_.setInputCloud (cloud);
-+  impl_.setInputCloud (pcl_ptr(cloud));
-   impl_.setIndices (indices);
--  impl_.setSearchSurface (surface);
--  impl_.setInputNormals (normals);
-+  impl_.setSearchSurface (pcl_ptr(surface));
-+  impl_.setInputNormals (pcl_ptr(normals));
-   // Estimate the feature
-   PointCloudOut output;
-   impl_.compute (output);
-@@ -67,7 +67,7 @@ pcl_ros::SHOTEstimationOMP::computePublish (const PointCloudInConstPtr &cloud,
-   // Publish a Boost shared ptr const data
-   // Enforce that the TF frame and the timestamp are copied
-   output.header = cloud->header;
--  pub_output_.publish (output.makeShared ());
-+  pub_output_.publish (ros_ptr(output.makeShared ()));
- }
- 
- typedef pcl_ros::SHOTEstimationOMP SHOTEstimationOMP;
-diff --git a/pcl_ros/src/pcl_ros/features/vfh.cpp b/pcl_ros/src/pcl_ros/features/vfh.cpp
-index 9d0fe361..ece448fd 100644
---- a/src/pcl_ros/features/vfh.cpp
-+++ b/src/pcl_ros/features/vfh.cpp
-@@ -43,7 +43,7 @@ pcl_ros::VFHEstimation::emptyPublish (const PointCloudInConstPtr &cloud)
- {
-   PointCloudOut output;
-   output.header = cloud->header;
--  pub_output_.publish (output.makeShared ());
-+  pub_output_.publish (ros_ptr(output.makeShared ()));
- }
- 
- void 
-@@ -57,10 +57,10 @@ pcl_ros::VFHEstimation::computePublish (const PointCloudInConstPtr &cloud,
-   impl_.setRadiusSearch (search_radius_);
- 
-   // Set the inputs
--  impl_.setInputCloud (cloud);
-+  impl_.setInputCloud (pcl_ptr(cloud));
-   impl_.setIndices (indices);
--  impl_.setSearchSurface (surface);
--  impl_.setInputNormals (normals);
-+  impl_.setSearchSurface (pcl_ptr(surface));
-+  impl_.setInputNormals (pcl_ptr(normals));
-   // Estimate the feature
-   PointCloudOut output;
-   impl_.compute (output);
-@@ -68,7 +68,7 @@ pcl_ros::VFHEstimation::computePublish (const PointCloudInConstPtr &cloud,
-   // Publish a Boost shared ptr const data
-   // Enforce that the TF frame and the timestamp are copied
-   output.header = cloud->header;
--  pub_output_.publish (output.makeShared ());
-+  pub_output_.publish (ros_ptr(output.makeShared ()));
- }
- 
- typedef pcl_ros::VFHEstimation VFHEstimation;
-diff --git a/pcl_ros/src/pcl_ros/segmentation/extract_clusters.cpp b/pcl_ros/src/pcl_ros/segmentation/extract_clusters.cpp
-index 17adec46..5599b408 100644
---- a/src/pcl_ros/segmentation/extract_clusters.cpp
-+++ b/src/pcl_ros/segmentation/extract_clusters.cpp
-@@ -202,7 +202,7 @@ pcl_ros::EuclideanClusterExtraction::input_indices_callback (
-   if (indices)
-     indices_ptr.reset (new std::vector<int> (indices->indices));
- 
--  impl_.setInputCloud (cloud);
-+  impl_.setInputCloud (pcl_ptr(cloud));
-   impl_.setIndices (indices_ptr);
- 
-   std::vector<pcl::PointIndices> clusters;
-@@ -239,7 +239,7 @@ pcl_ros::EuclideanClusterExtraction::input_indices_callback (
-       header.stamp += ros::Duration (i * 0.001);
-       toPCL(header, output.header);
-       // Publish a Boost shared ptr const data
--      pub_output_.publish (output.makeShared ());
-+      pub_output_.publish (ros_ptr(output.makeShared ()));
-       NODELET_DEBUG ("[segmentAndPublish] Published cluster %zu (with %zu values and stamp %f) on topic %s",
-                      i, clusters[i].indices.size (), header.stamp.toSec (), pnh_->resolveName ("output").c_str ());
-     }
-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 0185bfbe..ff823b19 100644
---- a/src/pcl_ros/segmentation/extract_polygonal_prism_data.cpp
-+++ b/src/pcl_ros/segmentation/extract_polygonal_prism_data.cpp
-@@ -189,16 +189,16 @@ pcl_ros::ExtractPolygonalPrismData::input_hull_indices_callback (
-       pub_output_.publish (inliers);
-       return;
-     }
--    impl_.setInputPlanarHull (planar_hull.makeShared ());
-+    impl_.setInputPlanarHull (pcl_ptr(planar_hull.makeShared ()));
-   }
-   else
--    impl_.setInputPlanarHull (hull);
-+    impl_.setInputPlanarHull (pcl_ptr(hull));
- 
-   IndicesPtr indices_ptr;
-   if (indices && !indices->header.frame_id.empty ())
-     indices_ptr.reset (new std::vector<int> (indices->indices));
- 
--  impl_.setInputCloud (cloud);
-+  impl_.setInputCloud (pcl_ptr(cloud));
-   impl_.setIndices (indices_ptr);
- 
-   // Final check if the data is empty (remember that indices are set to the size of the data -- if indices* = NULL)
-diff --git a/pcl_ros/src/pcl_ros/segmentation/sac_segmentation.cpp b/pcl_ros/src/pcl_ros/segmentation/sac_segmentation.cpp
-index b73dd3fd..bc7b97e7 100644
---- a/src/pcl_ros/segmentation/sac_segmentation.cpp
-+++ b/src/pcl_ros/segmentation/sac_segmentation.cpp
-@@ -324,7 +324,7 @@ pcl_ros::SACSegmentation::input_indices_callback (const PointCloudConstPtr &clou
-   if (indices && !indices->header.frame_id.empty ())
-     indices_ptr.reset (new std::vector<int> (indices->indices));
- 
--  impl_.setInputCloud (cloud_tf);
-+  impl_.setInputCloud (pcl_ptr(cloud_tf));
-   impl_.setIndices (indices_ptr);
- 
-   // Final check if the data is empty (remember that indices are set to the size of the data -- if indices* = NULL)
-@@ -651,8 +651,8 @@ pcl_ros::SACSegmentationFromNormals::input_normals_indices_callback (
-     return;
-   }
- 
--  impl_.setInputCloud (cloud);
--  impl_.setInputNormals (cloud_normals);
-+  impl_.setInputCloud (pcl_ptr(cloud));
-+  impl_.setInputNormals (pcl_ptr(cloud_normals));
- 
-   IndicesPtr indices_ptr;
-   if (indices && !indices->header.frame_id.empty ())
-diff --git a/pcl_ros/src/pcl_ros/segmentation/segment_differences.cpp b/pcl_ros/src/pcl_ros/segmentation/segment_differences.cpp
-index 4c934152..e3979549 100644
---- a/src/pcl_ros/segmentation/segment_differences.cpp
-+++ b/src/pcl_ros/segmentation/segment_differences.cpp
-@@ -115,7 +115,7 @@ pcl_ros::SegmentDifferences::input_target_callback (const PointCloudConstPtr &cl
-     NODELET_ERROR ("[%s::input_indices_callback] Invalid input!", getName ().c_str ());
-     PointCloud output;
-     output.header = cloud->header;
--    pub_output_.publish (output.makeShared ());
-+    pub_output_.publish (ros_ptr(output.makeShared ()));
-     return;
-   }
- 
-@@ -126,13 +126,13 @@ pcl_ros::SegmentDifferences::input_target_callback (const PointCloudConstPtr &cl
-                  cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), fromPCL(cloud->header).stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
-                  cloud_target->width * cloud_target->height, pcl::getFieldsList (*cloud_target).c_str (), fromPCL(cloud_target->header).stamp.toSec (), cloud_target->header.frame_id.c_str (), pnh_->resolveName ("target").c_str ());
- 
--  impl_.setInputCloud (cloud);
--  impl_.setTargetCloud (cloud_target);
-+  impl_.setInputCloud (pcl_ptr(cloud));
-+  impl_.setTargetCloud (pcl_ptr(cloud_target));
- 
-   PointCloud output;
-   impl_.segment (output);
- 
--  pub_output_.publish (output.makeShared ());
-+  pub_output_.publish (ros_ptr(output.makeShared ()));
-   NODELET_DEBUG ("[%s::segmentAndPublish] Published PointCloud2 with %zu points and stamp %f on topic %s", getName ().c_str (),
-                      output.points.size (), fromPCL(output.header).stamp.toSec (), pnh_->resolveName ("output").c_str ());
- }
-diff --git a/pcl_ros/src/pcl_ros/surface/convex_hull.cpp b/pcl_ros/src/pcl_ros/surface/convex_hull.cpp
-index 4b7eeaf5..75903889 100644
---- a/src/pcl_ros/surface/convex_hull.cpp
-+++ b/src/pcl_ros/surface/convex_hull.cpp
-@@ -121,7 +121,7 @@ void
-     NODELET_ERROR ("[%s::input_indices_callback] Invalid input!", getName ().c_str ());
-     // Publish an empty message
-     output.header = cloud->header;
--    pub_output_.publish (output.makeShared ());
-+    pub_output_.publish (ros_ptr(output.makeShared ()));
-     return;
-   }
-   // If indices are given, check if they are valid
-@@ -130,7 +130,7 @@ void
-     NODELET_ERROR ("[%s::input_indices_callback] Invalid indices!", getName ().c_str ());
-     // Publish an empty message
-     output.header = cloud->header;
--    pub_output_.publish (output.makeShared ());
-+    pub_output_.publish (ros_ptr(output.makeShared ()));
-     return;
-   }
- 
-@@ -150,7 +150,7 @@ void
-   if (indices)
-     indices_ptr.reset (new std::vector<int> (indices->indices));
- 
--  impl_.setInputCloud (cloud);
-+  impl_.setInputCloud (pcl_ptr(cloud));
-   impl_.setIndices (indices_ptr);
- 
-   // Estimate the feature
-@@ -194,7 +194,7 @@ void
-   }
-   // Publish a Boost shared ptr const data
-   output.header = cloud->header;
--  pub_output_.publish (output.makeShared ());
-+  pub_output_.publish (ros_ptr(output.makeShared ()));
- }
- 
- typedef pcl_ros::ConvexHull2D ConvexHull2D;
-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 b9a01e64..99e5d481 100644
---- a/src/pcl_ros/surface/moving_least_squares.cpp
-+++ b/src/pcl_ros/surface/moving_least_squares.cpp
-@@ -141,7 +141,7 @@ pcl_ros::MovingLeastSquares::input_indices_callback (const PointCloudInConstPtr
-   {
-     NODELET_ERROR ("[%s::input_indices_callback] Invalid input!", getName ().c_str ());
-     output.header = cloud->header;
--    pub_output_.publish (output.makeShared ());
-+    pub_output_.publish (ros_ptr(output.makeShared ()));
-     return;
-   }
-   // If indices are given, check if they are valid
-@@ -149,7 +149,7 @@ pcl_ros::MovingLeastSquares::input_indices_callback (const PointCloudInConstPtr
-   {
-     NODELET_ERROR ("[%s::input_indices_callback] Invalid indices!", getName ().c_str ());
-     output.header = cloud->header;
--    pub_output_.publish (output.makeShared ());
-+    pub_output_.publish (ros_ptr(output.makeShared ()));
-     return;
-   }
- 
-@@ -166,7 +166,7 @@ pcl_ros::MovingLeastSquares::input_indices_callback (const PointCloudInConstPtr
-   ///
- 
-   // Reset the indices and surface pointers
--  impl_.setInputCloud (cloud);
-+  impl_.setInputCloud (pcl_ptr(cloud));
- 
-   IndicesPtr indices_ptr;
-   if (indices)
-@@ -182,9 +182,9 @@ pcl_ros::MovingLeastSquares::input_indices_callback (const PointCloudInConstPtr
-   // Publish a Boost shared ptr const data
-   // Enforce that the TF frame and the timestamp are copied
-   output.header = cloud->header;
--  pub_output_.publish (output.makeShared ());
-+  pub_output_.publish (ros_ptr(output.makeShared ()));
-   normals->header = cloud->header;
--  pub_normals_.publish (normals);
-+  pub_normals_.publish (ros_ptr(normals));
- }
- 
- //////////////////////////////////////////////////////////////////////////////////////////////
-diff --git a/pcl_ros/tools/pointcloud_to_pcd.cpp b/pcl_ros/tools/pointcloud_to_pcd.cpp
-index 484113da..fb149b46 100644
---- a/tools/pointcloud_to_pcd.cpp
-+++ b/tools/pointcloud_to_pcd.cpp
-@@ -78,7 +78,7 @@ class PointCloudToPCD
-     ////////////////////////////////////////////////////////////////////////////////
-     // Callback
-     void
--      cloud_cb (const pcl::PCLPointCloud2::ConstPtr& cloud)
-+      cloud_cb (const boost::shared_ptr<const pcl::PCLPointCloud2>& cloud)
-     {
-       if ((cloud->width * cloud->height) == 0)
-         return;
diff --git a/dev-ros/pcl_ros/pcl_ros-1.7.1.ebuild b/dev-ros/pcl_ros/pcl_ros-1.7.2.ebuild
index a656236b0bc0..95393ac0ab86 100644
--- a/dev-ros/pcl_ros/pcl_ros-1.7.1.ebuild
+++ b/dev-ros/pcl_ros/pcl_ros-1.7.2.ebuild
@@ -42,4 +42,3 @@ DEPEND="${RDEPEND}
 		dev-cpp/gtest
 	)
 "
-PATCHES=( "${FILESDIR}/pcl111.patch" "${FILESDIR}/kdtree.patch" )