From b1b51587bcb517f0edefc96e03c4cb362d10d671 Mon Sep 17 00:00:00 2001
From: Christian Rauch <Christian.Rauch@de.bosch.com>
Date: Wed, 30 Oct 2024 14:56:54 +0100
Subject: [PATCH] turn all warnings into errors but ignore type punning for
 franka_hardware

---
 franka_example_controllers/CMakeLists.txt     | 2 +-
 franka_gripper/CMakeLists.txt                 | 2 +-
 franka_hardware/CMakeLists.txt                | 2 +-
 franka_hardware/test/CMakeLists.txt           | 4 +++-
 franka_robot_state_broadcaster/CMakeLists.txt | 2 +-
 franka_semantic_components/CMakeLists.txt     | 2 +-
 integration_launch_testing/CMakeLists.txt     | 2 +-
 7 files changed, 9 insertions(+), 7 deletions(-)

diff --git a/franka_example_controllers/CMakeLists.txt b/franka_example_controllers/CMakeLists.txt
index ea89d8b6..ba0f86c8 100644
--- a/franka_example_controllers/CMakeLists.txt
+++ b/franka_example_controllers/CMakeLists.txt
@@ -8,7 +8,7 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-    add_compile_options(-Wall -Wextra -Wpedantic)
+    add_compile_options(-Werror -Wall -Wextra -Wpedantic)
 endif()
 
 option(CHECK_TIDY "Adds clang-tidy tests" OFF)
diff --git a/franka_gripper/CMakeLists.txt b/franka_gripper/CMakeLists.txt
index b386361c..aab5ffde 100644
--- a/franka_gripper/CMakeLists.txt
+++ b/franka_gripper/CMakeLists.txt
@@ -6,7 +6,7 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-    add_compile_options(-Wall -Wextra -Wpedantic)
+    add_compile_options(-Werror -Wall -Wextra -Wpedantic)
 endif()
 
 find_package(ament_cmake REQUIRED)
diff --git a/franka_hardware/CMakeLists.txt b/franka_hardware/CMakeLists.txt
index c8e8f234..c4277e93 100644
--- a/franka_hardware/CMakeLists.txt
+++ b/franka_hardware/CMakeLists.txt
@@ -7,7 +7,7 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+  add_compile_options(-Werror -Wall -Wextra -Wpedantic)
 endif()
 
 option(CHECK_TIDY "Adds clang-tidy tests" OFF)
diff --git a/franka_hardware/test/CMakeLists.txt b/franka_hardware/test/CMakeLists.txt
index 7a940afc..2cf1ac40 100644
--- a/franka_hardware/test/CMakeLists.txt
+++ b/franka_hardware/test/CMakeLists.txt
@@ -2,5 +2,7 @@ find_package(ament_cmake_gmock REQUIRED)
 
 ament_add_gmock(${PROJECT_NAME}_test franka_hardware_interface_test.cpp)
 target_include_directories(${PROJECT_NAME}_test PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/../include)
-
 target_link_libraries(${PROJECT_NAME}_test  ${PROJECT_NAME})
+
+# ignore type punning via 'reinterpret_cast<double*>(&[...])'
+target_compile_options(${PROJECT_NAME}_test PRIVATE -Wno-error=strict-aliasing)
diff --git a/franka_robot_state_broadcaster/CMakeLists.txt b/franka_robot_state_broadcaster/CMakeLists.txt
index 7f28efc8..f630cfbb 100644
--- a/franka_robot_state_broadcaster/CMakeLists.txt
+++ b/franka_robot_state_broadcaster/CMakeLists.txt
@@ -7,7 +7,7 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-    add_compile_options(-Wall -Wextra -Wpedantic)
+    add_compile_options(-Werror -Wall -Wextra -Wpedantic)
 endif()
 
 option(CHECK_TIDY "Adds clang-tidy tests" OFF)
diff --git a/franka_semantic_components/CMakeLists.txt b/franka_semantic_components/CMakeLists.txt
index 3c72bc85..c56f2b00 100644
--- a/franka_semantic_components/CMakeLists.txt
+++ b/franka_semantic_components/CMakeLists.txt
@@ -7,7 +7,7 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+  add_compile_options(-Werror -Wall -Wextra -Wpedantic)
 endif()
 
 option(CHECK_TIDY "Adds clang-tidy tests" OFF)
diff --git a/integration_launch_testing/CMakeLists.txt b/integration_launch_testing/CMakeLists.txt
index 49c5771d..927e8354 100644
--- a/integration_launch_testing/CMakeLists.txt
+++ b/integration_launch_testing/CMakeLists.txt
@@ -8,7 +8,7 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-    add_compile_options(-Wall -Wextra -Wpedantic)
+    add_compile_options(-Werror -Wall -Wextra -Wpedantic)
 endif()
 
 # find dependencies