Reduce boost dependency scope

[stwirth]

<depend>boost</depend> resolves to libboost-all-dev on Ubuntu which is far too much for what is really needed. The -dev packages should never be needed at runtime. Instead, the corresponding libboost* (without -dev) libraries should be used as run_depend/exec_depend. Many boost libraries are also header only and don't need a runtime dependency either.

This PR should reduce the scope of boost dependencies quite a bit.

[stwirth]

debian buster build has a failing unit test:

16:25:13   /tmp/ws/devel_isolated/test_nodelet/lib/test_nodelet/test_callback_queue_manager --gtest_output=xml:/tmp/ws/test_results/test_nodelet/gtest-test_callback_queue_manager.xml
16:25:13 [==========] Running 3 tests from 1 test case.
16:25:13 [----------] Global test environment set-up.
16:25:13 [----------] 3 tests from CallbackQueueManager
16:25:13 [ RUN      ] CallbackQueueManager.singleThreaded
16:25:14 [       OK ] CallbackQueueManager.singleThreaded (1007 ms)
16:25:14 [ RUN      ] CallbackQueueManager.multipleSingleThreaded
16:25:15 [       OK ] CallbackQueueManager.multipleSingleThreaded (1007 ms)
16:25:15 [ RUN      ] CallbackQueueManager.multiThreaded
16:25:15 terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >'
16:25:15   what():  boost: mutex lock failed in pthread_mutex_lock: Invalid argument
16:25:15 Aborted (core dumped)

[stwirth]

Trying another build...
@ros-pull-request-builder retest this please

[stwirth]

... and the next build went through.

[stwirth]

@mjcarroll I'd appreciate your review/merge. Thanks!

[gbiggs]

Compiles here and LGTM; merging!

[mikaelarguedas]

@mjcarroll @gbiggs is it possible to release a new version with this change in ROS Noetic ?

This package is the last of the robot stack that's still pulling all of boost:

$ docker run -it --rm ros:noetic-robot
root@95c364007210:/# cd /opt/ros/noetic/share/
root@95c364007210:/opt/ros/noetic/share# grep -r "depend>boost"
nodelet_topic_tools/package.xml:  <depend>boost</depend>
nodelet/package.xml:  <depend>boost</depend>

[ros-discourse]

This pull request has been mentioned on ROS Discourse. There might be relevant details there:

https://discourse.ros.org/t/package-separation-for-building-and-running-ros-applications/35527/3

[mjcarroll]

ros/rosdistro#39492

[mikaelarguedas]

Great thanks!