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fix some new build warnings from sync #3674

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Merged
merged 9 commits into from
Jul 2, 2023
Merged

fix some new build warnings from sync #3674

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da1edda
fix some new build warnings
SteveMacenski Jun 30, 2023
1de4cd2
fixing last issue
SteveMacenski Jun 30, 2023
07704ea
Update navigate_through_poses_action.hpp
SteveMacenski Jun 30, 2023
402634a
adding unsigned int to tests
SteveMacenski Jun 30, 2023
82355f5
all to unsigned shorts
SteveMacenski Jun 30, 2023
48a0c6d
test new warning resolution
SteveMacenski Jul 1, 2023
e407fa5
Update
SteveMacenski Jul 1, 2023
ccfe71b
convert unsigned shorts to uint16_t for linter
SteveMacenski Jul 2, 2023
2d7d961
fixing conflict
SteveMacenski Jul 2, 2023
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4 changes: 3 additions & 1 deletion ...behavior_tree/include/nav2_behavior_tree/plugins/action/navigate_through_poses_action.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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"
Expand Down Expand Up @@ -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"),
Expand Down
12 changes: 6 additions & 6 deletions ...r_tree/include/nav2_behavior_tree/plugins/condition/are_error_codes_present_condition.hpp
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Expand Up @@ -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;
Expand All @@ -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
Expand Down
6 changes: 3 additions & 3 deletions nav2_behavior_tree/test/plugins/condition/test_are_error_codes_present.cpp
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Expand Up @@ -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);

Expand Down Expand Up @@ -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},
};
Expand Down
4 changes: 2 additions & 2 deletions nav2_behavior_tree/test/plugins/condition/test_would_a_controller_recovery_help.cpp
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Expand Up @@ -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 =
Expand Down Expand Up @@ -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},
Expand Down
4 changes: 2 additions & 2 deletions nav2_behavior_tree/test/plugins/condition/test_would_a_planner_recovery_help.cpp
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Expand Up @@ -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 =
Expand Down Expand Up @@ -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},
Expand Down
4 changes: 2 additions & 2 deletions nav2_behavior_tree/test/plugins/condition/test_would_a_smoother_recovery_help.cpp
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Expand Up @@ -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 =
Expand Down Expand Up @@ -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},
Expand Down
2 changes: 1 addition & 1 deletion nav2_mppi_controller/test/utils_test.cpp
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Expand Up @@ -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);
Expand Down