Fixes for compiling with clang on macOS (#4051)

amcl: declare void parameter for functions with no args



amcl: remove unused variables



behavior_tree: address clang compilation issues



behaviors: add missing override specifier



bt_navigator: add missing override specifier



collision_monitor: address clang compilation issues



constrained_smoother: address clang compilation issues



controller: address clang compilation issues



costmap_2d: add missing override specifier



costmap_2d: address clang compilation issues



costmap_2d: fix link issue for order_layer



dwb_controller: fix clang compile issue, replace ulong with uint32_t



map_server: replace std::experimental::filesystem



map_server: remove dependency on stdc++fs



waypoint_follower: address clang compilation issues



waypoint_follower: remove dependency on stdc++fs



waypoint_follower: replace std::experimental::filesystem



smoother: address clang compilation issues



smoother: remove unused variables



system_tests: remove dependency on stdc++fs



rotation_shim_controller: update percentage arg in setSpeedLimit to boolean



planner: remove unused variables



costmap_2d: address clang compilation issues



mppi_controller: replace use of auto as function param with templates



mppi_controller: address clang compilation issues



costmap_2d: resolve clang issue with std::pair non-const copy

Signed-off-by: Rhys Mainwaring <[email protected]>

Author: srmainwaring

nav2_amcl/include/nav2_amcl/pf/pf_vector.hpp

@@ -49,7 +49,7 @@ typedef struct
 
 
 // Return a zero vector
-pf_vector_t pf_vector_zero();
+pf_vector_t pf_vector_zero(void);
 
 // Check for NAN or INF in any component
 // int pf_vector_finite(pf_vector_t a);
@@ -71,7 +71,7 @@ pf_vector_t pf_vector_coord_add(pf_vector_t a, pf_vector_t b);
 
 
 // Return a zero matrix
-pf_matrix_t pf_matrix_zero();
+pf_matrix_t pf_matrix_zero(void);
 
 // Check for NAN or INF in any component
 // int pf_matrix_finite(pf_matrix_t a);

nav2_amcl/src/pf/pf.c

@@ -463,7 +463,6 @@ void pf_cluster_stats(pf_t * pf, pf_sample_set_t * set)
 
   // Workspace
   double m[4], c[2][2];
-  size_t count;
   double weight;
 
   // Cluster the samples
@@ -474,7 +473,6 @@ void pf_cluster_stats(pf_t * pf, pf_sample_set_t * set)
 
   for (i = 0; i < set->cluster_max_count; i++) {
     cluster = set->clusters + i;
-    cluster->count = 0;
     cluster->weight = 0;
     cluster->mean = pf_vector_zero();
     cluster->cov = pf_matrix_zero();
@@ -490,7 +488,6 @@ void pf_cluster_stats(pf_t * pf, pf_sample_set_t * set)
   }
 
   // Initialize overall filter stats
-  count = 0;
   weight = 0.0;
   set->mean = pf_vector_zero();
   set->cov = pf_matrix_zero();
@@ -521,10 +518,8 @@ void pf_cluster_stats(pf_t * pf, pf_sample_set_t * set)
 
     cluster = set->clusters + cidx;
 
-    cluster->count += 1;
     cluster->weight += sample->weight;
 
-    count += 1;
     weight += sample->weight;
 
     // Compute mean

nav2_amcl/src/pf/pf_vector.c

@@ -35,7 +35,7 @@
 
 
 // Return a zero vector
-pf_vector_t pf_vector_zero()
+pf_vector_t pf_vector_zero(void)
 {
   pf_vector_t c;
 
@@ -130,7 +130,7 @@ pf_vector_t pf_vector_coord_add(pf_vector_t a, pf_vector_t b)
 
 
 // Return a zero matrix
-pf_matrix_t pf_matrix_zero()
+pf_matrix_t pf_matrix_zero(void)
 {
   int i, j;
   pf_matrix_t c;

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp

@@ -206,7 +206,7 @@ class BtActionNode : public BT::ActionNodeBase
       // if new goal was sent and action server has not yet responded
       // check the future goal handle
       if (future_goal_handle_) {
-        auto elapsed = (node_->now() - time_goal_sent_).to_chrono<std::chrono::milliseconds>();
+        auto elapsed = (node_->now() - time_goal_sent_).template to_chrono<std::chrono::milliseconds>();
         if (!is_future_goal_handle_complete(elapsed)) {
           // return RUNNING if there is still some time before timeout happens
           if (elapsed < server_timeout_) {
@@ -236,7 +236,7 @@ class BtActionNode : public BT::ActionNodeBase
         {
           goal_updated_ = false;
           send_new_goal();
-          auto elapsed = (node_->now() - time_goal_sent_).to_chrono<std::chrono::milliseconds>();
+          auto elapsed = (node_->now() - time_goal_sent_).template to_chrono<std::chrono::milliseconds>();
           if (!is_future_goal_handle_complete(elapsed)) {
             if (elapsed < server_timeout_) {
               return BT::NodeStatus::RUNNING;

nav2_behavior_tree/include/nav2_behavior_tree/bt_cancel_action_node.hpp

@@ -116,7 +116,7 @@ class BtCancelActionNode : public BT::ActionNodeBase
     return basic;
   }
 
-  void halt()
+  void halt() override
   {
   }
 

nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp

@@ -183,7 +183,7 @@ class BtServiceNode : public BT::ActionNodeBase
    */
   virtual BT::NodeStatus check_future()
   {
-    auto elapsed = (node_->now() - sent_time_).to_chrono<std::chrono::milliseconds>();
+    auto elapsed = (node_->now() - sent_time_).template to_chrono<std::chrono::milliseconds>();
     auto remaining = server_timeout_ - elapsed;
 
     if (remaining > std::chrono::milliseconds(0)) {
@@ -199,7 +199,7 @@ class BtServiceNode : public BT::ActionNodeBase
 
       if (rc == rclcpp::FutureReturnCode::TIMEOUT) {
         on_wait_for_result();
-        elapsed = (node_->now() - sent_time_).to_chrono<std::chrono::milliseconds>();
+        elapsed = (node_->now() - sent_time_).template to_chrono<std::chrono::milliseconds>();
         if (elapsed < server_timeout_) {
           return BT::NodeStatus::RUNNING;
         }

nav2_behavior_tree/plugins/condition/is_stuck_condition.cpp

@@ -95,7 +95,7 @@ void IsStuckCondition::logStuck(const std::string & msg) const
     return;
   }
 
-  RCLCPP_INFO(node_->get_logger(), msg.c_str());
+  RCLCPP_INFO(node_->get_logger(), "%s", msg.c_str());
   prev_msg = msg;
 }
 

nav2_behavior_tree/plugins/decorator/speed_controller.cpp

@@ -43,7 +43,7 @@ SpeedController::SpeedController(
 
   if (min_rate_ <= 0.0 || max_rate_ <= 0.0) {
     std::string err_msg = "SpeedController node cannot have rate <= 0.0";
-    RCLCPP_FATAL(node_->get_logger(), err_msg.c_str());
+    RCLCPP_FATAL(node_->get_logger(), "%s" ,err_msg.c_str());
     throw BT::BehaviorTreeException(err_msg);
   }
 

nav2_behaviors/include/nav2_behaviors/plugins/drive_on_heading.hpp

@@ -91,7 +91,7 @@ class DriveOnHeading : public TimedBehavior<ActionT>
    * @brief Loop function to run behavior
    * @return Status of behavior
    */
-  Status onCycleUpdate()
+  Status onCycleUpdate() override
   {
     rclcpp::Duration time_remaining = end_time_ - this->steady_clock_.now();
     if (time_remaining.seconds() < 0.0 && command_time_allowance_.seconds() > 0.0) {

nav2_bt_navigator/include/nav2_bt_navigator/navigators/navigate_to_pose.hpp

@@ -72,7 +72,7 @@ class NavigateToPoseNavigator
    * @brief Get action name for this navigator
    * @return string Name of action server
    */
-  std::string getName() {return std::string("navigate_to_pose");}
+  std::string getName() override {return std::string("navigate_to_pose");}
 
   /**
    * @brief Get navigator's default BT