Fixed clang issues

Signed-off-by: Alejandro Hernández Cordero <[email protected]>
ros-perception · Feb 14, 2024 · 8b87df6 · 8b87df6
1 parent 995df56
commit 8b87df6
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Showing 8 changed files with 38 additions and 15 deletions.
diff --git a/point_cloud_transport/include/point_cloud_transport/point_cloud_transport.hpp b/point_cloud_transport/include/point_cloud_transport/point_cloud_transport.hpp
@@ -264,25 +264,25 @@ class PointCloudTransport : public PointCloudTransportLoader
     const std::string & base_topic, rmw_qos_profile_t custom_qos,
     void (T::* fp)(const sensor_msgs::msg::PointCloud2::ConstSharedPtr &) const, T * obj,
     const point_cloud_transport::TransportHints * transport_hints = nullptr,
-    bool allow_concurrent_callbacks = false)
+    bool /*allow_concurrent_callbacks*/ = false)
   {
     return subscribe(
       base_topic, custom_qos, std::bind(
         fp,
-        obj.get(), std::placeholders::_1), VoidPtr(), transport_hints);
+        obj, std::placeholders::_1), VoidPtr(), transport_hints);
   }
 
   template<class T>
   point_cloud_transport::Subscriber subscribe(
     const std::string & base_topic, uint32_t queue_size,
     void (T::* fp)(const sensor_msgs::msg::PointCloud2::ConstSharedPtr &) const, T * obj,
     const point_cloud_transport::TransportHints * transport_hints = nullptr,
-    bool allow_concurrent_callbacks = false)
+    bool /*allow_concurrent_callbacks*/ = false)
   {
     return subscribe(
       base_topic, queue_size, std::bind(
         fp,
-        obj.get(), std::placeholders::_1), VoidPtr(), transport_hints);
+        obj, std::placeholders::_1), VoidPtr(), transport_hints);
   }
 
   //! Subscribe to a point cloud topic, version for class member function with shared_ptr.

diff --git a/point_cloud_transport/include/point_cloud_transport/publisher_plugin.hpp b/point_cloud_transport/include/point_cloud_transport/publisher_plugin.hpp
@@ -59,6 +59,8 @@ class PublisherPlugin
   PublisherPlugin(const PublisherPlugin &) = delete;
   PublisherPlugin & operator=(const PublisherPlugin &) = delete;
 
+  virtual ~PublisherPlugin() {}
+
   //! Get a string identifier for the transport provided by this plugin
   virtual std::string getTransportName() const = 0;
 
@@ -92,7 +94,7 @@ class PublisherPlugin
 
   //! Publish a point cloud using the transport associated with this PublisherPlugin.
   POINT_CLOUD_TRANSPORT_PUBLIC
-  virtual void publish(const sensor_msgs::msg::PointCloud2::ConstSharedPtr & message) const;
+  virtual void publishPtr(const sensor_msgs::msg::PointCloud2::ConstSharedPtr & message) const;
 
   //! Shutdown any advertisements associated with this PublisherPlugin.
   virtual void shutdown() = 0;

diff --git a/point_cloud_transport/include/point_cloud_transport/raw_publisher.hpp b/point_cloud_transport/include/point_cloud_transport/raw_publisher.hpp
@@ -51,7 +51,7 @@ class RawPublisher
 public:
   virtual ~RawPublisher() {}
 
-  virtual std::string getTransportName() const
+  virtual std::string getTransportName() const override
   {
     return "raw";
   }
@@ -65,27 +65,27 @@ class RawPublisher
   {
   }
 
-  RawPublisher::TypedEncodeResult encodeTyped(const sensor_msgs::msg::PointCloud2 & raw) const
+  RawPublisher::TypedEncodeResult encodeTyped(const sensor_msgs::msg::PointCloud2 & raw) const override
   {
     return raw;
   }
 
 protected:
   virtual void publish(
     const sensor_msgs::msg::PointCloud2 & message,
-    const PublishFn & publish_fn) const
+    const PublishFn & publish_fn) const override
   {
     publish_fn(message);
   }
 
   virtual void publish(
     const sensor_msgs::msg::PointCloud2::ConstSharedPtr & message_ptr,
-    const PublishFn & publish_fn) const
+    const PublishFn & publish_fn) const override
   {
     publish_fn(*message_ptr);
   }
 
-  virtual std::string getTopicToAdvertise(const std::string & base_topic) const
+  virtual std::string getTopicToAdvertise(const std::string & base_topic) const override
   {
     return base_topic;
   }

diff --git a/point_cloud_transport/include/point_cloud_transport/raw_subscriber.hpp b/point_cloud_transport/include/point_cloud_transport/raw_subscriber.hpp
@@ -62,7 +62,7 @@ class RawSubscriber
 
   POINT_CLOUD_TRANSPORT_PUBLIC
   SubscriberPlugin::DecodeResult decodeTyped(
-    const sensor_msgs::msg::PointCloud2 & compressed) const;
+    const sensor_msgs::msg::PointCloud2 & compressed) const override;
 
   POINT_CLOUD_TRANSPORT_PUBLIC
   std::string getDataType() const override;

diff --git a/point_cloud_transport/include/point_cloud_transport/simple_publisher_plugin.hpp b/point_cloud_transport/include/point_cloud_transport/simple_publisher_plugin.hpp
@@ -199,7 +199,7 @@ class SimplePublisherPlugin : public point_cloud_transport::PublisherPlugin
   virtual void advertiseImpl(
     std::shared_ptr<rclcpp::Node> node, const std::string & base_topic,
     rmw_qos_profile_t custom_qos,
-    const rclcpp::PublisherOptions & options)
+    const rclcpp::PublisherOptions & options) override
   {
     std::string transport_topic = getTopicToAdvertise(base_topic);
     simple_impl_ = std::make_unique<SimplePublisherPluginImpl>(node);
@@ -237,6 +237,27 @@ class SimplePublisherPlugin : public point_cloud_transport::PublisherPlugin
     }
   }
 
+  ///
+  /// \brief Publish a point cloud using the specified publish function.
+  ///
+  /// The PublishFn publishes the transport-specific message type. This indirection allows
+  /// SimplePublisherPlugin to use this function for both normal broadcast publishing and
+  /// single subscriber publishing (in subscription callbacks).
+  ///
+  virtual void publish(
+    const sensor_msgs::msg::PointCloud2::ConstSharedPtr & message,
+    const PublishFn & publish_fn) const
+  {
+    const auto res = this->encodeTyped(*message.get());
+    if (!res) {
+      RCLCPP_ERROR(
+        this->getLogger(), "Error encoding message by transport %s: %s.",
+        this->getTransportName().c_str(), res.error().c_str());
+    } else if (res.value()) {
+      publish_fn(res.value().value());
+    }
+  }
+
   ///
   /// \brief Return the communication topic name for a given base topic.
   ///

diff --git a/point_cloud_transport/src/publisher.cpp b/point_cloud_transport/src/publisher.cpp
@@ -209,7 +209,7 @@ void Publisher::publish(const sensor_msgs::msg::PointCloud2::ConstSharedPtr & me
 
   for (const auto & pub : impl_->publishers_) {
     if (pub->getNumSubscribers() > 0) {
-      pub->publish(message);
+      pub->publishPtr(message);
     }
   }
 }

diff --git a/point_cloud_transport/src/publisher_plugin.cpp b/point_cloud_transport/src/publisher_plugin.cpp
@@ -53,7 +53,7 @@ void PublisherPlugin::advertise(
   advertiseImpl(node, base_topic, custom_qos, options);
 }
 
-void PublisherPlugin::publish(const sensor_msgs::msg::PointCloud2::ConstSharedPtr & message) const
+void PublisherPlugin::publishPtr(const sensor_msgs::msg::PointCloud2::ConstSharedPtr & message) const
 {
   publish(*message);
 }

diff --git a/point_cloud_transport/src/republish.cpp b/point_cloud_transport/src/republish.cpp
@@ -147,7 +147,7 @@ void Republisher::initialize()
     typedef void (point_cloud_transport::PublisherPlugin::* PublishMemFn)(
       const sensor_msgs::msg::
       PointCloud2::ConstSharedPtr &) const;
-    PublishMemFn pub_mem_fn = &point_cloud_transport::PublisherPlugin::publish;
+    PublishMemFn pub_mem_fn = &point_cloud_transport::PublisherPlugin::publishPtr;
 
     RCLCPP_INFO(this->get_logger(), "Loading %s subscriber", in_topic.c_str());