[ControllerManager] Fix all warnings from the latets features. (backp…

…ort #1174) (#1308) * [ControllerManager] Fix all warnings from the latets features. (#1174) (cherry picked from commit 7d79464) --------- Co-authored-by: Dr. Denis <[email protected]>
ros-controls · Jan 17, 2024 · d4ea1ce · d4ea1ce
1 parent 39b26db
commit d4ea1ce
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Showing 2 changed files with 10 additions and 7 deletions.
diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -2545,13 +2545,16 @@ bool ControllerManager::controller_sorting(
           std::bind(controller_name_compare, std::placeholders::_1, controllers_list.back()));
         if (it != controllers.end())
         {
-          int dist = std::distance(controllers.begin(), it);
-          return dist;
+          return std::distance(controllers.begin(), it);
         }
+        return 0;
       };
-      const int ctrl_a_chain_first_controller = find_first_element(following_ctrls);
-      const int ctrl_b_chain_first_controller = find_first_element(following_ctrls_b);
-      if (ctrl_a_chain_first_controller < ctrl_b_chain_first_controller) return true;
+      const auto ctrl_a_chain_first_controller = find_first_element(following_ctrls);
+      const auto ctrl_b_chain_first_controller = find_first_element(following_ctrls_b);
+      if (ctrl_a_chain_first_controller < ctrl_b_chain_first_controller)
+      {
+        return true;
+      }
     }
 
     // If the ctrl_a's state interface is the one exported by the ctrl_b then ctrl_b should be

diff --git a/controller_manager/test/test_controller_manager_srvs.cpp b/controller_manager/test/test_controller_manager_srvs.cpp
@@ -770,7 +770,7 @@ TEST_F(TestControllerManagerSrvs, list_sorted_complex_chained_controllers)
   ASSERT_EQ(result->controller[1].name, TEST_CHAINED_CONTROLLER_7);
   ASSERT_EQ(result->controller[2].name, TEST_CHAINED_CONTROLLER_6);
 
-  auto get_ctrl_pos = [result](const std::string & controller_name) -> int
+  auto get_ctrl_pos = [result](const std::string & controller_name) -> int64_t
   {
     auto it = std::find_if(
       result->controller.begin(), result->controller.end(),
@@ -982,7 +982,7 @@ TEST_F(TestControllerManagerSrvs, list_sorted_independent_chained_controllers)
   result = call_service_and_wait(*client, request, srv_executor);
   ASSERT_EQ(10u, result->controller.size());
 
-  auto get_ctrl_pos = [result](const std::string & controller_name) -> int
+  auto get_ctrl_pos = [result](const std::string & controller_name) -> int64_t
   {
     auto it = std::find_if(
       result->controller.begin(), result->controller.end(),