fix some new build warnings from sync (ros-navigation#3674)

* fix some new build warnings

* fixing last issue

* Update navigate_through_poses_action.hpp

* adding unsigned int to tests

* all to unsigned shorts

* test new warning resolution

* Update

* convert unsigned shorts to uint16_t for linter

Signed-off-by: enricosutera <[email protected]>

Author: SteveMacenski

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/navigate_through_poses_action.hpp

@@ -16,6 +16,7 @@
 #define NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__NAVIGATE_THROUGH_POSES_ACTION_HPP_
 
 #include <string>
+#include <vector>
 
 #include "geometry_msgs/msg/point.hpp"
 #include "geometry_msgs/msg/quaternion.hpp"
@@ -74,7 +75,8 @@ class NavigateThroughPosesAction : public BtActionNode<nav2_msgs::action::Naviga
   {
     return providedBasicPorts(
       {
-        BT::InputPort<geometry_msgs::msg::PoseStamped>("goals", "Destinations to plan through"),
+        BT::InputPort<std::vector<geometry_msgs::msg::PoseStamped>>(
+          "goals", "Destinations to plan through"),
         BT::InputPort<std::string>("behavior_tree", "Behavior tree to run"),
         BT::OutputPort<ActionResult::_error_code_type>(
           "error_code_id", "The navigate through poses error code"),

nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/are_error_codes_present_condition.hpp

@@ -34,14 +34,14 @@ class AreErrorCodesPresent : public BT::ConditionNode
     const BT::NodeConfiguration & conf)
   : BT::ConditionNode(condition_name, conf)
   {
-    getInput<std::set<unsigned short>>("error_codes_to_check", error_codes_to_check_); //NOLINT
+    getInput<std::set<uint16_t>>("error_codes_to_check", error_codes_to_check_); //NOLINT
   }
 
   AreErrorCodesPresent() = delete;
 
   BT::NodeStatus tick()
   {
-    getInput<unsigned short>("error_code", error_code_);  //NOLINT
+    getInput<uint16_t>("error_code", error_code_);  //NOLINT
 
     if (error_codes_to_check_.find(error_code_) != error_codes_to_check_.end()) {
       return BT::NodeStatus::SUCCESS;
@@ -54,14 +54,14 @@ class AreErrorCodesPresent : public BT::ConditionNode
   {
     return
       {
-        BT::InputPort<unsigned short>("error_code", "The active error codes"), //NOLINT
-        BT::InputPort<std::set<unsigned short>>("error_codes_to_check", "Error codes to check")//NOLINT
+        BT::InputPort<uint16_t>("error_code", "The active error codes"), //NOLINT
+        BT::InputPort<std::set<uint16_t>>("error_codes_to_check", "Error codes to check")//NOLINT
       };
   }
 
 protected:
-  unsigned short error_code_; //NOLINT
-  std::set<unsigned short> error_codes_to_check_; //NOLINT
+  uint16_t error_code_; //NOLINT
+  std::set<uint16_t> error_codes_to_check_; //NOLINT
 };
 
 }  // namespace nav2_behavior_tree

nav2_behavior_tree/test/plugins/condition/test_are_error_codes_present.cpp

@@ -27,8 +27,8 @@ class AreErrorCodesPresentFixture : public nav2_behavior_tree::BehaviorTreeTestF
   using ActionGoal = Action::Goal;
   void SetUp()
   {
-    int error_code = ActionGoal::NONE;
-    std::set<unsigned short> error_codes_to_check = {ActionGoal::UNKNOWN}; //NOLINT
+    uint16_t error_code = ActionGoal::NONE;
+    std::set<uint16_t> error_codes_to_check = {ActionGoal::UNKNOWN}; //NOLINT
     config_->blackboard->set("error_code", error_code);
     config_->blackboard->set("error_codes_to_check", error_codes_to_check);
 
@@ -58,7 +58,7 @@ std::shared_ptr<BT::Tree> AreErrorCodesPresentFixture::tree_ = nullptr;
 
 TEST_F(AreErrorCodesPresentFixture, test_condition)
 {
-  std::map<int, BT::NodeStatus> error_to_status_map = {
+  std::map<uint16_t, BT::NodeStatus> error_to_status_map = {
     {ActionGoal::NONE, BT::NodeStatus::FAILURE},
     {ActionGoal::UNKNOWN, BT::NodeStatus::SUCCESS},
   };

nav2_behavior_tree/test/plugins/condition/test_would_a_controller_recovery_help.cpp

@@ -27,7 +27,7 @@ class WouldAControllerRecoveryHelpFixture : public nav2_behavior_tree::BehaviorT
   using ActionGoal = Action::Goal;
   void SetUp()
   {
-    int error_code = ActionGoal::NONE;
+    uint16_t error_code = ActionGoal::NONE;
     config_->blackboard->set("error_code", error_code);
 
     std::string xml_txt =
@@ -56,7 +56,7 @@ std::shared_ptr<BT::Tree> WouldAControllerRecoveryHelpFixture::tree_ = nullptr;
 
 TEST_F(WouldAControllerRecoveryHelpFixture, test_condition)
 {
-  std::map<int, BT::NodeStatus> error_to_status_map = {
+  std::map<uint16_t, BT::NodeStatus> error_to_status_map = {
     {ActionGoal::NONE, BT::NodeStatus::FAILURE},
     {ActionGoal::UNKNOWN, BT::NodeStatus::SUCCESS},
     {ActionGoal::INVALID_CONTROLLER, BT::NodeStatus::FAILURE},

nav2_behavior_tree/test/plugins/condition/test_would_a_planner_recovery_help.cpp

@@ -27,7 +27,7 @@ class WouldAPlannerRecoveryHelpFixture : public nav2_behavior_tree::BehaviorTree
   using ActionGoal = Action::Goal;
   void SetUp()
   {
-    int error_code = ActionGoal::NONE;
+    uint16_t error_code = ActionGoal::NONE;
     config_->blackboard->set("error_code", error_code);
 
     std::string xml_txt =
@@ -56,7 +56,7 @@ std::shared_ptr<BT::Tree> WouldAPlannerRecoveryHelpFixture::tree_ = nullptr;
 
 TEST_F(WouldAPlannerRecoveryHelpFixture, test_condition)
 {
-  std::map<int, BT::NodeStatus> error_to_status_map = {
+  std::map<uint16_t, BT::NodeStatus> error_to_status_map = {
     {ActionGoal::NONE, BT::NodeStatus::FAILURE},
     {ActionGoal::UNKNOWN, BT::NodeStatus::SUCCESS},
     {ActionGoal::NO_VALID_PATH, BT::NodeStatus::SUCCESS},

nav2_behavior_tree/test/plugins/condition/test_would_a_smoother_recovery_help.cpp

@@ -27,7 +27,7 @@ class WouldASmootherRecoveryHelpFixture : public nav2_behavior_tree::BehaviorTre
   using ActionGoal = Action::Goal;
   void SetUp()
   {
-    int error_code = ActionGoal::NONE;
+    uint16_t error_code = ActionGoal::NONE;
     config_->blackboard->set("error_code", error_code);
 
     std::string xml_txt =
@@ -56,7 +56,7 @@ std::shared_ptr<BT::Tree> WouldASmootherRecoveryHelpFixture::tree_ = nullptr;
 
 TEST_F(WouldASmootherRecoveryHelpFixture, test_condition)
 {
-  std::map<int, BT::NodeStatus> error_to_status_map = {
+  std::map<uint16_t, BT::NodeStatus> error_to_status_map = {
     {ActionGoal::NONE, BT::NodeStatus::FAILURE},
     {ActionGoal::UNKNOWN, BT::NodeStatus::SUCCESS},
     {ActionGoal::TIMEOUT, BT::NodeStatus::SUCCESS},

nav2_mppi_controller/test/utils_test.cpp

@@ -368,7 +368,7 @@ TEST(UtilsTests, SmootherTest)
 
   // Check that path is smoother
   float smoothed_val, original_val;
-  for (unsigned int i = 0; i != noisey_sequence.vx.shape(0); i++) {
+  for (unsigned int i = 1; i != noisey_sequence.vx.shape(0) - 1; i++) {
     smoothed_val += fabs(noisey_sequence.vx(i) - 0.2);
     smoothed_val += fabs(noisey_sequence.vy(i) - 0.0);
     smoothed_val += fabs(noisey_sequence.wz(i) - 0.3);