diff --git a/controller_interface/CMakeLists.txt b/controller_interface/CMakeLists.txt
index 88a54d5c7a..d02c422451 100644
--- a/controller_interface/CMakeLists.txt
+++ b/controller_interface/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.16)
project(controller_interface LANGUAGES CXX)
if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
- add_compile_options(-Wall -Wextra -Wconversion)
+ add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow)
endif()
set(THIS_PACKAGE_INCLUDE_DEPENDS
diff --git a/controller_manager/CMakeLists.txt b/controller_manager/CMakeLists.txt
index 77ba823e1f..41a6b18306 100644
--- a/controller_manager/CMakeLists.txt
+++ b/controller_manager/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.16)
project(controller_manager LANGUAGES CXX)
if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
- add_compile_options(-Wall -Wextra -Wconversion)
+ add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow)
endif()
set(THIS_PACKAGE_INCLUDE_DEPENDS
diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
index 5ef8062593..4ffaef24aa 100644
--- a/controller_manager/src/controller_manager.cpp
+++ b/controller_manager/src/controller_manager.cpp
@@ -442,8 +442,6 @@ void ControllerManager::init_resource_manager(const std::string & robot_descript
"Parameter 'activate_components_on_start' is deprecated. "
"Components are activated per default. Don't use this parameters in combination with the new "
"'hardware_components_initial_state' parameter structure.");
- rclcpp_lifecycle::State active_state(
- State::PRIMARY_STATE_ACTIVE, hardware_interface::lifecycle_state_names::ACTIVE);
for (const auto & component : activate_components_on_start)
{
resource_manager_->set_component_state(component, active_state);
@@ -455,8 +453,6 @@ void ControllerManager::init_resource_manager(const std::string & robot_descript
// activate all other components
for (const auto & [component, state] : components_to_activate)
{
- rclcpp_lifecycle::State active_state(
- State::PRIMARY_STATE_ACTIVE, hardware_interface::lifecycle_state_names::ACTIVE);
resource_manager_->set_component_state(component, active_state);
}
}
@@ -940,7 +936,7 @@ controller_interface::return_type ControllerManager::switch_controller(
auto controller_it = std::find_if(
controllers.begin(), controllers.end(),
std::bind(controller_name_compare, std::placeholders::_1, *ctrl_it));
- controller_interface::return_type ret = controller_interface::return_type::OK;
+ controller_interface::return_type status = controller_interface::return_type::OK;
// if controller is not inactive then do not do any following-controllers checks
if (!is_controller_inactive(controller_it->c))
@@ -950,14 +946,14 @@ controller_interface::return_type ControllerManager::switch_controller(
"Controller with name '%s' is not inactive so its following"
"controllers do not have to be checked, because it cannot be activated.",
controller_it->info.name.c_str());
- ret = controller_interface::return_type::ERROR;
+ status = controller_interface::return_type::ERROR;
}
else
{
- ret = check_following_controllers_for_activate(controllers, strictness, controller_it);
+ status = check_following_controllers_for_activate(controllers, strictness, controller_it);
}
- if (ret != controller_interface::return_type::OK)
+ if (status != controller_interface::return_type::OK)
{
RCLCPP_WARN(
get_logger(),
@@ -991,7 +987,7 @@ controller_interface::return_type ControllerManager::switch_controller(
auto controller_it = std::find_if(
controllers.begin(), controllers.end(),
std::bind(controller_name_compare, std::placeholders::_1, *ctrl_it));
- controller_interface::return_type ret = controller_interface::return_type::OK;
+ controller_interface::return_type status = controller_interface::return_type::OK;
// if controller is not active then skip preceding-controllers checks
if (!is_controller_active(controller_it->c))
@@ -999,14 +995,14 @@ controller_interface::return_type ControllerManager::switch_controller(
RCLCPP_WARN(
get_logger(), "Controller with name '%s' can not be deactivated since it is not active.",
controller_it->info.name.c_str());
- ret = controller_interface::return_type::ERROR;
+ status = controller_interface::return_type::ERROR;
}
else
{
- ret = check_preceeding_controllers_for_deactivate(controllers, strictness, controller_it);
+ status = check_preceeding_controllers_for_deactivate(controllers, strictness, controller_it);
}
- if (ret != controller_interface::return_type::OK)
+ if (status != controller_interface::return_type::OK)
{
RCLCPP_WARN(
get_logger(),
@@ -1087,11 +1083,11 @@ controller_interface::return_type ControllerManager::switch_controller(
// check for double stop
if (!is_active && in_deactivate_list)
{
- auto ret = handle_conflict(
+ auto conflict_status = handle_conflict(
"Could not deactivate controller '" + controller.info.name + "' since it is not active");
- if (ret != controller_interface::return_type::OK)
+ if (conflict_status != controller_interface::return_type::OK)
{
- return ret;
+ return conflict_status;
}
in_deactivate_list = false;
deactivate_request_.erase(deactivate_list_it);
@@ -1100,11 +1096,11 @@ controller_interface::return_type ControllerManager::switch_controller(
// check for doubled activation
if (is_active && !in_deactivate_list && in_activate_list)
{
- auto ret = handle_conflict(
+ auto conflict_status = handle_conflict(
"Could not activate controller '" + controller.info.name + "' since it is already active");
- if (ret != controller_interface::return_type::OK)
+ if (conflict_status != controller_interface::return_type::OK)
{
- return ret;
+ return conflict_status;
}
in_activate_list = false;
activate_request_.erase(activate_list_it);
@@ -1113,21 +1109,21 @@ controller_interface::return_type ControllerManager::switch_controller(
// check for illegal activation of an unconfigured/finalized controller
if (!is_inactive && !in_deactivate_list && in_activate_list)
{
- auto ret = handle_conflict(
+ auto conflict_status = handle_conflict(
"Could not activate controller '" + controller.info.name +
"' since it is not in inactive state");
- if (ret != controller_interface::return_type::OK)
+ if (conflict_status != controller_interface::return_type::OK)
{
- return ret;
+ return conflict_status;
}
in_activate_list = false;
activate_request_.erase(activate_list_it);
}
const auto extract_interfaces_for_controller =
- [this](const ControllerSpec controller, std::vector<std::string> & request_interface_list)
+ [this](const ControllerSpec ctrl, std::vector<std::string> & request_interface_list)
{
- auto command_interface_config = controller.c->command_interface_configuration();
+ auto command_interface_config = ctrl.c->command_interface_configuration();
std::vector<std::string> command_interface_names = {};
if (command_interface_config.type == controller_interface::interface_configuration_type::ALL)
{
@@ -1767,8 +1763,8 @@ void ControllerManager::reload_controller_libraries_service_cb(
loaded_controllers = get_controller_names();
{
// lock controllers
- std::lock_guard<std::recursive_mutex> guard(rt_controllers_wrapper_.controllers_lock_);
- for (const auto & controller : rt_controllers_wrapper_.get_updated_list(guard))
+ std::lock_guard<std::recursive_mutex> ctrl_guard(rt_controllers_wrapper_.controllers_lock_);
+ for (const auto & controller : rt_controllers_wrapper_.get_updated_list(ctrl_guard))
{
if (is_controller_active(*controller.c))
{
diff --git a/hardware_interface/CMakeLists.txt b/hardware_interface/CMakeLists.txt
index 2108bab17c..bcd03a0a16 100644
--- a/hardware_interface/CMakeLists.txt
+++ b/hardware_interface/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.16)
project(hardware_interface LANGUAGES CXX)
if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
- add_compile_options(-Wall -Wextra -Wconversion)
+ add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow)
endif()
set(THIS_PACKAGE_INCLUDE_DEPENDS
diff --git a/hardware_interface/src/mock_components/generic_system.cpp b/hardware_interface/src/mock_components/generic_system.cpp
index 7b62af105b..f4aee6c8a6 100644
--- a/hardware_interface/src/mock_components/generic_system.cpp
+++ b/hardware_interface/src/mock_components/generic_system.cpp
@@ -580,12 +580,12 @@ return_type GenericSystem::read(const rclcpp::Time & /*time*/, const rclcpp::Dur
}
else
{
- for (size_t j = 0; j < joint_states_[POSITION_INTERFACE_INDEX].size(); ++j)
+ for (size_t k = 0; k < joint_states_[POSITION_INTERFACE_INDEX].size(); ++k)
{
- if (!std::isnan(joint_commands_[POSITION_INTERFACE_INDEX][j]))
+ if (!std::isnan(joint_commands_[POSITION_INTERFACE_INDEX][k]))
{
- joint_states_[POSITION_INTERFACE_INDEX][j] = // apply offset to positions only
- joint_commands_[POSITION_INTERFACE_INDEX][j] +
+ joint_states_[POSITION_INTERFACE_INDEX][k] = // apply offset to positions only
+ joint_commands_[POSITION_INTERFACE_INDEX][k] +
(custom_interface_with_following_offset_.empty() ? position_state_following_offset_
: 0.0);
}
diff --git a/hardware_interface/test/test_resource_manager.cpp b/hardware_interface/test/test_resource_manager.cpp
index c80cdbb5bf..8246cc207d 100644
--- a/hardware_interface/test/test_resource_manager.cpp
+++ b/hardware_interface/test/test_resource_manager.cpp
@@ -247,21 +247,23 @@ TEST_F(ResourceManagerTest, resource_claiming)
// Activate components to get all interfaces available
activate_components(rm);
- const auto key = "joint1/position";
- EXPECT_TRUE(rm.command_interface_is_available(key));
- EXPECT_FALSE(rm.command_interface_is_claimed(key));
-
{
- auto position_command_interface = rm.claim_command_interface(key);
+ const auto key = "joint1/position";
EXPECT_TRUE(rm.command_interface_is_available(key));
- EXPECT_TRUE(rm.command_interface_is_claimed(key));
+ EXPECT_FALSE(rm.command_interface_is_claimed(key));
+
{
- EXPECT_ANY_THROW(rm.claim_command_interface(key));
+ auto position_command_interface = rm.claim_command_interface(key);
EXPECT_TRUE(rm.command_interface_is_available(key));
+ EXPECT_TRUE(rm.command_interface_is_claimed(key));
+ {
+ EXPECT_ANY_THROW(rm.claim_command_interface(key));
+ EXPECT_TRUE(rm.command_interface_is_available(key));
+ }
}
+ EXPECT_TRUE(rm.command_interface_is_available(key));
+ EXPECT_FALSE(rm.command_interface_is_claimed(key));
}
- EXPECT_TRUE(rm.command_interface_is_available(key));
- EXPECT_FALSE(rm.command_interface_is_claimed(key));
// command interfaces can only be claimed once
for (const auto & key :
diff --git a/joint_limits/CMakeLists.txt b/joint_limits/CMakeLists.txt
index 82467514a3..a788b6de4f 100644
--- a/joint_limits/CMakeLists.txt
+++ b/joint_limits/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.16)
project(joint_limits LANGUAGES CXX)
if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
- add_compile_options(-Wall -Wextra -Wconversion)
+ add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow)
endif()
set(THIS_PACKAGE_INCLUDE_DEPENDS
diff --git a/transmission_interface/CMakeLists.txt b/transmission_interface/CMakeLists.txt
index d4674366e9..efd8db1652 100644
--- a/transmission_interface/CMakeLists.txt
+++ b/transmission_interface/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.16)
project(transmission_interface LANGUAGES CXX)
if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
- add_compile_options(-Wall -Wextra -Wpedantic -Wconversion)
+ add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow)
endif()
set(THIS_PACKAGE_INCLUDE_DEPENDS