roscpp: use boost::condition_variable::wait_for() instead of deprecat…

…ed timed_wait()

This fixes ROS timers in combination with 2c18b9f. The timer
callbacks were not called because the TimerManager's thread function blocked indefinitely on
boost::condition_variable::timed_wait().

Relative timed_wait() uses the system clock (boost::get_system_time()) unconditionally to
calculate the absolute timestamp for do_wait_until(). If the condition variable has been
initialized with BOOST_THREAD_HAS_CONDATTR_SET_CLOCK_MONOTONIC, it compares this timestamp
with the monotonic clock and therefore blocks.

This issue has been reported in https://svn.boost.org/trac10/ticket/12728 and will not be
fixed. The timed_wait interface is apparently deprecated.

clients/roscpp/include/boost_161_condition_variable.h

@@ -16,7 +16,6 @@ namespace boost_161 {
   using condition_variable = boost::condition_variable;
 }
 #elif defined(BOOST_THREAD_PLATFORM_PTHREAD)
-//#include <boost/thread/pthread/condition_variable.hpp>
 #include "boost_161_pthread_condition_variable.h"
 #else
 #error "Boost threads unavailable on this platform"

clients/roscpp/include/ros/timer_manager.h

@@ -566,14 +566,14 @@ void TimerManager<T, D, E>::threadFunc()
       // since simulation time may be running faster than real time.
       if (!T::isSystemTime())
       {
-        timers_cond_.timed_wait(lock, boost::posix_time::milliseconds(1));
+        timers_cond_.wait_for(lock, boost::chrono::milliseconds(1));
       }
       else
       {
         // On system time we can simply sleep for the rest of the wait time, since anything else requiring processing will
         // signal the condition variable
         int64_t remaining_time = std::max<int64_t>((sleep_end - current).toSec() * 1000.0f, 1);
-        timers_cond_.timed_wait(lock, boost::posix_time::milliseconds(remaining_time));
+        timers_cond_.wait_for(lock, boost::chrono::milliseconds(remaining_time));
       }
     }