Merge branch 'master' into add-mecanum-drive-controller

ros-controls · Nov 18, 2024 · c9e98bd · c9e98bd
2 parents 0454833 + 4f447f4
commit c9e98bd
Show file tree

Hide file tree

Showing 32 changed files with 116 additions and 86 deletions.
diff --git a/ackermann_steering_controller/CMakeLists.txt b/ackermann_steering_controller/CMakeLists.txt
@@ -3,7 +3,8 @@ project(ackermann_steering_controller LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
   add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-                      -Werror=return-type -Werror=shadow -Werror=format)
+                      -Werror=return-type -Werror=shadow -Werror=format  -Werror=range-loop-construct
+                      -Werror=missing-braces)
 endif()
 
 # find dependencies

diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp
@@ -293,9 +293,10 @@ class AckermannSteeringControllerFixture : public ::testing::Test
   double front_wheels_radius_ = 0.45;
   double rear_wheels_radius_ = 0.45;
 
-  std::array<double, 4> joint_state_values_ = {0.5, 0.5, 0.0, 0.0};
-  std::array<double, 4> joint_command_values_ = {1.1, 3.3, 2.2, 4.4};
-  std::array<std::string, 2> joint_reference_interfaces_ = {"linear/velocity", "angular/velocity"};
+  std::array<double, 4> joint_state_values_ = {{0.5, 0.5, 0.0, 0.0}};
+  std::array<double, 4> joint_command_values_ = {{1.1, 3.3, 2.2, 4.4}};
+  std::array<std::string, 2> joint_reference_interfaces_ = {
+    {"linear/velocity", "angular/velocity"}};
   std::string steering_interface_name_ = "position";
   // defined in setup
   std::string traction_interface_name_ = "";

diff --git a/admittance_controller/CMakeLists.txt b/admittance_controller/CMakeLists.txt
@@ -3,7 +3,8 @@ project(admittance_controller LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
   add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-                      -Werror=return-type -Werror=shadow -Werror=format)
+                      -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
+                      -Werror=missing-braces)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/admittance_controller/test/test_admittance_controller.hpp b/admittance_controller/test/test_admittance_controller.hpp
@@ -371,15 +371,15 @@ class AdmittanceControllerTest : public ::testing::Test
   const std::string fixed_world_frame_ = "fixed_world_frame";
   const std::string sensor_frame_ = "link_6";
 
-  std::array<bool, 6> admittance_selected_axes_ = {true, true, true, true, true, true};
-  std::array<double, 6> admittance_mass_ = {5.5, 6.6, 7.7, 8.8, 9.9, 10.10};
-  std::array<double, 6> admittance_damping_ratio_ = {2.828427, 2.828427, 2.828427,
-                                                     2.828427, 2.828427, 2.828427};
-  std::array<double, 6> admittance_stiffness_ = {214.1, 214.2, 214.3, 214.4, 214.5, 214.6};
-
-  std::array<double, 6> joint_command_values_ = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
-  std::array<double, 6> joint_state_values_ = {1.1, 2.2, 3.3, 4.4, 5.5, 6.6};
-  std::array<double, 6> fts_state_values_ = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
+  std::array<bool, 6> admittance_selected_axes_ = {{true, true, true, true, true, true}};
+  std::array<double, 6> admittance_mass_ = {{5.5, 6.6, 7.7, 8.8, 9.9, 10.10}};
+  std::array<double, 6> admittance_damping_ratio_ = {
+    {2.828427, 2.828427, 2.828427, 2.828427, 2.828427, 2.828427}};
+  std::array<double, 6> admittance_stiffness_ = {{214.1, 214.2, 214.3, 214.4, 214.5, 214.6}};
+
+  std::array<double, 6> joint_command_values_ = {{0.0, 0.0, 0.0, 0.0, 0.0, 0.0}};
+  std::array<double, 6> joint_state_values_ = {{1.1, 2.2, 3.3, 4.4, 5.5, 6.6}};
+  std::array<double, 6> fts_state_values_ = {{0.0, 0.0, 0.0, 0.0, 0.0, 0.0}};
   std::vector<std::string> fts_state_names_;
 
   std::vector<hardware_interface::StateInterface> state_itfs_;

diff --git a/bicycle_steering_controller/CMakeLists.txt b/bicycle_steering_controller/CMakeLists.txt
@@ -3,7 +3,8 @@ project(bicycle_steering_controller LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
   add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-                      -Werror=return-type -Werror=shadow -Werror=format)
+                      -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
+                      -Werror=missing-braces)
 endif()
 
 # find dependencies

diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp b/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp
@@ -247,22 +247,24 @@ class BicycleSteeringControllerFixture : public ::testing::Test
   bool open_loop_ = false;
   unsigned int velocity_rolling_window_size_ = 10;
   bool position_feedback_ = false;
-  std::vector<std::string> rear_wheels_names_ = {"rear_wheel_joint"};
-  std::vector<std::string> front_wheels_names_ = {"steering_axis_joint"};
-  std::vector<std::string> joint_names_ = {rear_wheels_names_[0], front_wheels_names_[0]};
+  std::vector<std::string> rear_wheels_names_ = {{"rear_wheel_joint"}};
+  std::vector<std::string> front_wheels_names_ = {{"steering_axis_joint"}};
+  std::vector<std::string> joint_names_ = {{rear_wheels_names_[0], front_wheels_names_[0]}};
 
-  std::vector<std::string> rear_wheels_preceeding_names_ = {"pid_controller/rear_wheel_joint"};
-  std::vector<std::string> front_wheels_preceeding_names_ = {"pid_controller/steering_axis_joint"};
+  std::vector<std::string> rear_wheels_preceeding_names_ = {{"pid_controller/rear_wheel_joint"}};
+  std::vector<std::string> front_wheels_preceeding_names_ = {
+    {"pid_controller/steering_axis_joint"}};
   std::vector<std::string> preceeding_joint_names_ = {
     rear_wheels_preceeding_names_[0], front_wheels_preceeding_names_[0]};
 
   double wheelbase_ = 3.24644;
   double front_wheels_radius_ = 0.45;
   double rear_wheels_radius_ = 0.45;
 
-  std::array<double, 2> joint_state_values_ = {3.3, 0.5};
-  std::array<double, 2> joint_command_values_ = {1.1, 2.2};
-  std::array<std::string, 2> joint_reference_interfaces_ = {"linear/velocity", "angular/velocity"};
+  std::array<double, 2> joint_state_values_ = {{3.3, 0.5}};
+  std::array<double, 2> joint_command_values_ = {{1.1, 2.2}};
+  std::array<std::string, 2> joint_reference_interfaces_ = {
+    {"linear/velocity", "angular/velocity"}};
   std::string steering_interface_name_ = "position";
 
   // defined in setup

diff --git a/diff_drive_controller/CMakeLists.txt b/diff_drive_controller/CMakeLists.txt
@@ -2,7 +2,9 @@ cmake_minimum_required(VERSION 3.16)
 project(diff_drive_controller LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow -Werror=format)
+  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable
+                      -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
+                      -Werror=missing-braces)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/effort_controllers/CMakeLists.txt b/effort_controllers/CMakeLists.txt
@@ -3,7 +3,8 @@ project(effort_controllers LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
   add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-                      -Werror=return-type -Werror=shadow -Werror=format)
+                      -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
+                      -Werror=missing-braces)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/force_torque_sensor_broadcaster/CMakeLists.txt b/force_torque_sensor_broadcaster/CMakeLists.txt
@@ -3,7 +3,8 @@ project(force_torque_sensor_broadcaster LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
   add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-                      -Werror=return-type -Werror=shadow -Werror=format)
+                      -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
+                      -Werror=missing-braces)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp b/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp
@@ -282,8 +282,8 @@ TEST_F(ForceTorqueSensorBroadcasterTest, SensorName_Publish_Success_with_Offsets
 {
   SetUpFTSBroadcaster();
 
-  std::array<double, 3> force_offsets = {10.0, 30.0, -50.0};
-  std::array<double, 3> torque_offsets = {1.0, -1.2, -5.2};
+  std::array<double, 3> force_offsets = {{10.0, 30.0, -50.0}};
+  std::array<double, 3> torque_offsets = {{1.0, -1.2, -5.2}};
   // set the params 'sensor_name' and 'frame_id'
   fts_broadcaster_->get_node()->set_parameter({"sensor_name", sensor_name_});
   fts_broadcaster_->get_node()->set_parameter({"frame_id", frame_id_});

diff --git a/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.hpp b/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.hpp
@@ -55,7 +55,7 @@ class ForceTorqueSensorBroadcasterTest : public ::testing::Test
 protected:
   const std::string sensor_name_ = "fts_sensor";
   const std::string frame_id_ = "fts_sensor_frame";
-  std::array<double, 6> sensor_values_ = {1.1, 2.2, 3.3, 4.4, 5.5, 6.6};
+  std::array<double, 6> sensor_values_ = {{1.1, 2.2, 3.3, 4.4, 5.5, 6.6}};
 
   hardware_interface::StateInterface fts_force_x_{sensor_name_, "force.x", &sensor_values_[0]};
   hardware_interface::StateInterface fts_force_y_{sensor_name_, "force.y", &sensor_values_[1]};

diff --git a/forward_command_controller/CMakeLists.txt b/forward_command_controller/CMakeLists.txt
@@ -3,7 +3,8 @@ project(forward_command_controller LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
   add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-                      -Werror=return-type -Werror=shadow -Werror=format)
+                      -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
+                      -Werror=missing-braces)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/gripper_controllers/CMakeLists.txt b/gripper_controllers/CMakeLists.txt
@@ -7,7 +7,9 @@ if(APPLE OR WIN32)
 endif()
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow -Werror=format)
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
+                      -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
+                      -Werror=missing-braces)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/imu_sensor_broadcaster/CMakeLists.txt b/imu_sensor_broadcaster/CMakeLists.txt
@@ -3,7 +3,8 @@ project(imu_sensor_broadcaster LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
   add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-                      -Werror=return-type -Werror=shadow -Werror=format)
+                      -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
+                      -Werror=missing-braces)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.hpp b/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.hpp
@@ -54,7 +54,7 @@ class IMUSensorBroadcasterTest : public ::testing::Test
 protected:
   const std::string sensor_name_ = "imu_sensor";
   const std::string frame_id_ = "imu_sensor_frame";
-  std::array<double, 10> sensor_values_ = {1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7, 8.8, 9.9, 10.10};
+  std::array<double, 10> sensor_values_ = {{1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7, 8.8, 9.9, 10.10}};
   hardware_interface::StateInterface imu_orientation_x_{
     sensor_name_, "orientation.x", &sensor_values_[0]};
   hardware_interface::StateInterface imu_orientation_y_{

diff --git a/joint_state_broadcaster/CMakeLists.txt b/joint_state_broadcaster/CMakeLists.txt
@@ -3,7 +3,8 @@ project(joint_state_broadcaster LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
   add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-                      -Werror=return-type -Werror=shadow -Werror=format)
+                      -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
+                      -Werror=missing-braces)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/joint_trajectory_controller/CMakeLists.txt b/joint_trajectory_controller/CMakeLists.txt
@@ -2,7 +2,9 @@ cmake_minimum_required(VERSION 3.16)
 project(joint_trajectory_controller LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow -Werror=format)
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
+                      -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
+                      -Werror=missing-braces)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/parallel_gripper_controller/CMakeLists.txt b/parallel_gripper_controller/CMakeLists.txt
@@ -3,7 +3,8 @@ project(parallel_gripper_controller LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
   add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-          -Werror=return-type -Werror=shadow -Werror=format)
+          -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
+          -Werror=missing-braces)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/pid_controller/CMakeLists.txt b/pid_controller/CMakeLists.txt
@@ -2,7 +2,9 @@ cmake_minimum_required(VERSION 3.16)
 project(pid_controller LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow -Werror=format)
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
+                      -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
+                      -Werror=missing-braces)
 endif()
 
 if(WIN32)

diff --git a/pose_broadcaster/CMakeLists.txt b/pose_broadcaster/CMakeLists.txt
@@ -6,7 +6,8 @@ project(pose_broadcaster
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
   add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-                      -Werror=return-type -Werror=shadow -Werror=format)
+                      -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
+                      -Werror=missing-braces)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/pose_broadcaster/test/test_pose_broadcaster.hpp b/pose_broadcaster/test/test_pose_broadcaster.hpp
@@ -39,7 +39,7 @@ class PoseBroadcasterTest : public ::testing::Test
   const std::string frame_id_ = "pose_base_frame";
   const std::string tf_child_frame_id_ = "pose_frame";
 
-  std::array<double, 7> pose_values_ = {1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7};
+  std::array<double, 7> pose_values_ = {{1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7}};
 
   hardware_interface::StateInterface pose_position_x_{pose_name_, "position.x", &pose_values_[0]};
   hardware_interface::StateInterface pose_position_y_{pose_name_, "position.x", &pose_values_[1]};

diff --git a/position_controllers/CMakeLists.txt b/position_controllers/CMakeLists.txt
@@ -3,7 +3,8 @@ project(position_controllers LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
   add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-                      -Werror=return-type -Werror=shadow -Werror=format)
+                      -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
+                      -Werror=missing-braces)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/range_sensor_broadcaster/CMakeLists.txt b/range_sensor_broadcaster/CMakeLists.txt
@@ -8,7 +8,9 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow -Werror=format)
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
+                      -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
+                      -Werror=missing-braces)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/range_sensor_broadcaster/src/range_sensor_broadcaster.cpp b/range_sensor_broadcaster/src/range_sensor_broadcaster.cpp
@@ -75,10 +75,10 @@ controller_interface::CallbackReturn RangeSensorBroadcaster::on_configure(
 
   realtime_publisher_->lock();
   realtime_publisher_->msg_.header.frame_id = params_.frame_id;
-  realtime_publisher_->msg_.radiation_type = params_.radiation_type;
-  realtime_publisher_->msg_.field_of_view = params_.field_of_view;
-  realtime_publisher_->msg_.min_range = params_.min_range;
-  realtime_publisher_->msg_.max_range = params_.max_range;
+  realtime_publisher_->msg_.radiation_type = static_cast<uint8_t>(params_.radiation_type);
+  realtime_publisher_->msg_.field_of_view = static_cast<float>(params_.field_of_view);
+  realtime_publisher_->msg_.min_range = static_cast<float>(params_.min_range);
+  realtime_publisher_->msg_.max_range = static_cast<float>(params_.max_range);
 // \note The versions conditioning is added here to support the source-compatibility with Humble
 #if SENSOR_MSGS_VERSION_MAJOR >= 5
   realtime_publisher_->msg_.variance = params_.variance;