Address peer review comments

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Author: ivanpauno

rcl/include/rcl/security.h

@@ -47,9 +47,9 @@ extern "C"
 # define ROS_SECURITY_ENABLE_VAR_NAME "ROS_SECURITY_ENABLE"
 #endif
 
-/// Init the security options from the values of the environment variables and passed names.
+/// Initialize security options from values in the environment variables and given names.
 /**
- * Inits the passed security options based on the environment.
+ * Initialize the given security options based on the environment.
  * For more details:
  *  \sa rcl_security_enabled
  *  \sa rcl_get_enforcement_policy

rcl/src/rcl/domain_id.c

@@ -26,8 +26,8 @@ const char * const RCL_DOMAIN_ID_ENV_VAR = "ROS_DOMAIN_ID";
 rcl_ret_t
 rcl_get_default_domain_id(size_t * domain_id)
 {
-  const char * ros_domain_id;
-  const char * get_env_error_str;
+  const char * ros_domain_id = NULL;
+  const char * get_env_error_str = NULL;
 
   if (!domain_id) {
     return RCL_RET_INVALID_ARGUMENT;

rcl/src/rcl/init.c

@@ -193,6 +193,7 @@ rcl_init(
   }
 
   TRACEPOINT(rcl_init, (const void *)context);
+
   return RCL_RET_OK;
 fail:
   __cleanup_context(context);

rcl/src/rcl/security.c

@@ -49,14 +49,14 @@ rcl_get_security_options_from_environment(
     return ret;
   }
 
+  RCUTILS_LOG_DEBUG_NAMED(
+    ROS_PACKAGE_NAME, "Using security: %s", use_security ? "true" : "false");
+
   if (!use_security) {
     security_options->enforce_security = RMW_SECURITY_ENFORCEMENT_PERMISSIVE;
     return RMW_RET_OK;
   }
 
-  RCUTILS_LOG_DEBUG_NAMED(
-    ROS_PACKAGE_NAME, "Using security: %s", use_security ? "true" : "false");
-
   ret = rcl_get_enforcement_policy(&security_options->enforce_security);
   if (RCL_RET_OK != ret) {
     return ret;
@@ -201,7 +201,7 @@ static bool get_best_matching_directory(
         matched_name_length > max_match_length)
       {
         max_match_length = matched_name_length;
-        memcpy(matched_name, file.name, max_match_length);
+        strncpy(matched_name, file.name, max_match_length + 1);
       }
     }
     if (-1 == tinydir_next(&dir)) {