Fix all compiler warnings, bugs, and deprecated API usage

src/hardware_interfaces/rmd_ros2_control/src/rmd_hardware_interface.cpp

@@ -227,8 +227,6 @@ void RMDHardwareInterface::on_can_message(const CANLib::CanFrame& frame) {
   std::string result;
 
   std::vector<int> data(8, 0x00);
-  double raw_motor_velocity = 0.0;
-  double raw_motor_position = 0.0;
 
   for(int i = 0; i < num_joints; i++){
     if(can_rx_frame_.id == joint_node_read_ids[i] && 
@@ -333,7 +331,7 @@ hardware_interface::return_type RMDHardwareInterface::read(
 
 
 hardware_interface::return_type rmd_ros2_control::RMDHardwareInterface::write(
-  const rclcpp::Time & time, const rclcpp::Duration & period)
+  const rclcpp::Time & /*time*/, const rclcpp::Duration & period)
 {
   elapsed_update_time+=period.seconds();
   double update_period = 1.0/update_rate;

src/hardware_interfaces/ros_odrive/odrive_base/include/can_simple_messages.hpp

@@ -114,10 +114,10 @@ struct Estop_msg_t final {
     }
 #endif
 
-    void encode_buf(uint8_t* buf) const {
+    void encode_buf(uint8_t* /*buf*/) const {
     }
 
-    void decode_buf(const uint8_t* buf) {
+    void decode_buf(const uint8_t* /*buf*/) {
     }
 
     static const uint8_t cmd_id = 0x002;
@@ -869,10 +869,10 @@ struct Enter_DFU_Mode_msg_t final {
     }
 #endif
 
-    void encode_buf(uint8_t* buf) const {
+    void encode_buf(uint8_t* /*buf*/) const {
     }
 
-    void decode_buf(const uint8_t* buf) {
+    void decode_buf(const uint8_t* /*buf*/) {
     }
 
     static const uint8_t cmd_id = 0x01F;

src/hardware_interfaces/ros_odrive/odrive_node/src/odrive_can_node.cpp

@@ -52,7 +52,7 @@ ODriveCanNode::ODriveCanNode(const std::string& node_name) : rclcpp::Node(node_n
 
 void ODriveCanNode::deinit() {
     if (axis_idle_on_shutdown_) {
-        struct can_frame frame;
+        struct can_frame frame = {};
         frame.can_id = node_id_ << 5 | CmdId::kSetAxisState;
         write_le<uint32_t>(ODriveAxisState::AXIS_STATE_IDLE, frame.data);
         frame.can_dlc = 4;
@@ -199,7 +199,7 @@ void ODriveCanNode::service_callback(const std::shared_ptr<AxisState::Request> r
     response->procedure_result = ctrl_stat_.procedure_result;
 }
 
-void ODriveCanNode::service_clear_errors_callback(const std::shared_ptr<Empty::Request> request, std::shared_ptr<Empty::Response> response) {
+void ODriveCanNode::service_clear_errors_callback(const std::shared_ptr<Empty::Request> /*request*/, std::shared_ptr<Empty::Response> /*response*/) {
     RCLCPP_INFO(rclcpp::Node::get_logger(), "clearing errors");
     srv_clear_errors_evt_.set();
 }
@@ -211,7 +211,7 @@ void ODriveCanNode::request_state_callback() {
         axis_state = axis_state_;
     }
 
-    struct can_frame frame;
+    struct can_frame frame = {};
 
     if (axis_state != 0) {
         // Clear errors if requested state is not IDLE
@@ -229,7 +229,7 @@ void ODriveCanNode::request_state_callback() {
 }
 
 void ODriveCanNode::request_clear_errors_callback() {
-    struct can_frame frame;
+    struct can_frame frame = {};
     frame.can_id = node_id_ << 5 | CmdId::kClearErrors;
     write_le<uint8_t>(0, frame.data);
     frame.can_dlc = 1;

src/hardware_interfaces/smc_ros2_control/src/smc_hardware_interface.cpp

@@ -216,7 +216,7 @@ void SMCHardwareInterface::on_can_message(const CANLib::CanFrame& frame) {
   int data[8] = {0x00};
 
   for(int i = 0; i < num_joints; i++){  
-    if(can_rx_frame_.id == joint_node_ids[i] && 
+    if(can_rx_frame_.id == static_cast<uint32_t>(joint_node_ids[i]) && 
       (can_rx_frame_.data[0] == SPEED_CONTROL_CMD  || 
        can_rx_frame_.data[0] == ABSOLUTE_POS_CONTROL_CMD  || 
        can_rx_frame_.data[0] == MOTOR_STATUS_2_CMD) &&
@@ -245,7 +245,7 @@ void SMCHardwareInterface::on_can_message(const CANLib::CanFrame& frame) {
       // TORQUE CURRENT (16-bit signed, 0.01A per LSB)
       motor_torque_current_[i] = static_cast<double>(static_cast<int16_t>((data[3] << 8) | data[2])) * 0.01;
     }
-    else if(can_rx_frame_.id == joint_node_ids[i] && can_rx_frame_.data[0] == 0x92){
+    else if(can_rx_frame_.id == static_cast<uint32_t>(joint_node_ids[i]) && can_rx_frame_.data[0] == 0x92){
       data[0] = 0x92;
       data[1] = can_rx_frame_.data[1]; // Multi-turn low byte
       data[2] = can_rx_frame_.data[2];

src/hardware_interfaces/stepper_ros2_control/src/stepper_hardware_interface.cpp

@@ -429,7 +429,7 @@ hardware_interface::return_type stepper_ros2_control::STEPPERHardwareInterface::
       joint_velocity = joint_orientation[i]*calculate_motor_velocity_from_desired_joint_velocity(joint_command_velocity_[i], joint_gear_ratios[i]);
 
       if(DEBUG_MODE == 1) {
-        RCLCPP_INFO(rclcpp::get_logger("STEPPERHardwareInterface"), "Writing velocities for: %s Joint velocity of motor (0.01 dps): %d Joint command velocity: %f Orientation: %f CAN ID: %d", 
+        RCLCPP_INFO(rclcpp::get_logger("STEPPERHardwareInterface"), "Writing velocities for: %s Joint velocity of motor (0.01 dps): %d Joint command velocity: %f Orientation: %d", 
                                                         info_.joints[i].name.c_str(),
                                                         joint_velocity,
                                                         joint_command_velocity_[i],

src/hardware_interfaces/talon_ros2_control/include/talon_ros2_control/ctre/phoenix/sensors/PigeonIMU_StickyFaults.h

@@ -29,7 +29,7 @@ struct PigeonIMU_StickyFaults {
 	 *
 	 * @param bits bit field of faults to update with
 	 */
-	void Update(uint64_t bits) {
+	void Update(uint64_t /*bits*/) {
 	}
 	/**
 	 * Creates fault list with specified bit field of faults

src/hardware_interfaces/talon_ros2_control/src/talon_hardware_interface.cpp

@@ -285,7 +285,6 @@ hardware_interface::return_type talon_ros2_control::TALONHardwareInterface::writ
 {
   elapsed_update_time+=period.seconds();
   double update_period = 1.0/update_rate;
-
   elapsed_time+=period.seconds();
 
   // Logger update

src/infrastructure/umdloop_can_library/CMakeLists.txt

@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.8)
 project(umdloop_can_library VERSION 1.0.0)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+  add_compile_options(-Wall -Wextra)
 endif()
 
 # find dependencies
@@ -25,9 +25,9 @@ add_custom_target(umdloop_can_library_build_serialcan
         # First generate Version.h and build_no.h
         COMMAND bash ./build_no.sh
         # Then build the libraries with proper CFLAGS
-        COMMAND ${CMAKE_COMMAND} -E env "CFLAGS=-fPIC" "CXXFLAGS=-fPIC" 
+        COMMAND ${CMAKE_COMMAND} -E env "CFLAGS=-fPIC" "CXXFLAGS=-fPIC" "MAKEFLAGS="
                 ${CMAKE_MAKE_PROGRAM} -C Libraries/SerialCAN all
-        COMMAND ${CMAKE_COMMAND} -E env "CFLAGS=-fPIC" "CXXFLAGS=-fPIC"
+        COMMAND ${CMAKE_COMMAND} -E env "CFLAGS=-fPIC" "CXXFLAGS=-fPIC" "MAKEFLAGS="
                 ${CMAKE_MAKE_PROGRAM} -C Libraries/CANAPI all
         WORKING_DIRECTORY ${serialcan_SOURCE_DIR}
         COMMENT "Building SerialCAN libraries with -fPIC"

src/subsystems/arm/arm_controllers/include/athena_arm_controllers/manual_arm_cylindrical_controller.hpp

@@ -26,12 +26,12 @@
 #include <vector>
 
 #include "controller_interface/controller_interface.hpp"
-#include "manual_arm_cylindrical_controller_parameters.hpp"
+#include <arm_controllers/manual_arm_cylindrical_controller_parameters.hpp>
 #include "athena_arm_controllers/visibility_control.h"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "rclcpp_lifecycle/state.hpp"
-#include "realtime_tools/realtime_buffer.h"
-#include "realtime_tools/realtime_publisher.h"
+#include "realtime_tools/realtime_buffer.hpp"
+#include "realtime_tools/realtime_publisher.hpp"
 #include "std_srvs/srv/set_bool.hpp"
 
 // TODO(anyone): Replace with controller specific messages

src/subsystems/arm/arm_controllers/include/athena_arm_controllers/manual_arm_joint_by_joint_controller.hpp

@@ -6,12 +6,12 @@
 #include <vector>
 
 #include "controller_interface/controller_interface.hpp"
-#include "manual_arm_joint_by_joint_controller_parameters.hpp"
+#include <arm_controllers/manual_arm_joint_by_joint_controller_parameters.hpp>
 #include "athena_arm_controllers/visibility_control.h"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "rclcpp_lifecycle/state.hpp"
-#include "realtime_tools/realtime_buffer.h"
-#include "realtime_tools/realtime_publisher.h"
+#include "realtime_tools/realtime_buffer.hpp"
+#include "realtime_tools/realtime_publisher.hpp"
 #include "std_srvs/srv/set_bool.hpp"
 
 // TODO(anyone): Replace with controller specific messages

src/subsystems/arm/arm_controllers/include/athena_arm_controllers/validate_athena_arm_controller_parameters.hpp

@@ -24,19 +24,20 @@
 #include <string>
 
 #include "parameter_traits/parameter_traits.hpp"
+#include "tl_expected/expected.hpp"
 
 namespace parameter_traits
 {
-inline Result forbidden_interface_name_prefix(rclcpp::Parameter const & parameter)
+inline tl::expected<void, std::string> forbidden_interface_name_prefix(rclcpp::Parameter const & parameter)
 {
   auto const & interface_name = parameter.as_string();
 
   if (interface_name.rfind("blup_", 0) == 0)
   {
-    return ERROR("'interface_name' parameter can not start with 'blup_'");
+    return tl::unexpected(std::string("'interface_name' parameter can not start with 'blup_'"));
   }
 
-  return OK;
+  return {};
 }
 
 }  // namespace parameter_traits

src/subsystems/arm/arm_controllers/src/manual_arm_joint_by_joint_controller.cpp

@@ -231,7 +231,7 @@ controller_interface::return_type ManualArmJointByJointController::update(
     }
 
     // Once actuator reaches original position, stop movement
-    if (actuator_active_ = true && joint_velocities_[6] == 0.0 && actuator_iterator < 0){
+    if (actuator_active_ == true && joint_velocities_[6] == 0.0 && actuator_iterator < 0){
       actuator_active_ = false;
     }
 

src/subsystems/drive/drive_controllers/include/athena_drive_controllers/crab_steering_controller.hpp

@@ -26,12 +26,12 @@
 #include <vector>
 
 #include "controller_interface/controller_interface.hpp"
-#include "crab_steering_controller_parameters.hpp"
+#include <drive_controllers/crab_steering_controller_parameters.hpp>
 #include "athena_drive_controllers/visibility_control.h"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "rclcpp_lifecycle/state.hpp"
-#include "realtime_tools/realtime_buffer.h"
-#include "realtime_tools/realtime_publisher.h"
+#include "realtime_tools/realtime_buffer.hpp"
+#include "realtime_tools/realtime_publisher.hpp"
 #include "std_srvs/srv/set_bool.hpp"
 
 // TODO(anyone): Replace with controller specific messages

src/subsystems/drive/drive_controllers/include/athena_drive_controllers/double_ackermann_controller.hpp

@@ -26,12 +26,12 @@
 #include <vector>
 
 #include "controller_interface/controller_interface.hpp"
-#include "double_ackermann_controller_parameters.hpp"
+#include <drive_controllers/double_ackermann_controller_parameters.hpp>
 #include "athena_drive_controllers/visibility_control.h"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "rclcpp_lifecycle/state.hpp"
-#include "realtime_tools/realtime_buffer.h"
-#include "realtime_tools/realtime_publisher.h"
+#include "realtime_tools/realtime_buffer.hpp"
+#include "realtime_tools/realtime_publisher.hpp"
 #include "std_srvs/srv/set_bool.hpp"
 
 // TODO(anyone): Replace with controller specific messages

src/subsystems/drive/drive_controllers/include/athena_drive_controllers/single_ackermann_controller.hpp

@@ -21,11 +21,11 @@
 #include <deque>
 
 #include "controller_interface/controller_interface.hpp"
-#include "single_ackermann_controller_parameters.hpp"
+#include <drive_controllers/single_ackermann_controller_parameters.hpp>
 #include "athena_drive_controllers/visibility_control.h"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "rclcpp_lifecycle/state.hpp"
-#include "realtime_tools/realtime_buffer.h"
+#include "realtime_tools/realtime_buffer.hpp"
 #include "geometry_msgs/msg/twist.hpp"
 #include "geometry_msgs/msg/twist_stamped.hpp"
 #include "geometry_msgs/msg/transform_stamped.hpp"

src/subsystems/drive/drive_controllers/include/athena_drive_controllers/swerve_drive_controller.hpp

@@ -26,12 +26,12 @@
 #include <vector>
 
 #include "controller_interface/controller_interface.hpp"
-#include "swerve_drive_controller_parameters.hpp"
+#include <drive_controllers/swerve_drive_controller_parameters.hpp>
 #include "athena_drive_controllers/visibility_control.h"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "rclcpp_lifecycle/state.hpp"
-#include "realtime_tools/realtime_buffer.h"
-#include "realtime_tools/realtime_publisher.h"
+#include "realtime_tools/realtime_buffer.hpp"
+#include "realtime_tools/realtime_publisher.hpp"
 #include "std_srvs/srv/set_bool.hpp"
 
 // TODO(anyone): Replace with controller specific messages

src/subsystems/drive/drive_controllers/include/athena_drive_controllers/validate_drive_controller_parameters.hpp

@@ -24,19 +24,20 @@
 #include <string>
 
 #include "parameter_traits/parameter_traits.hpp"
+#include "tl_expected/expected.hpp"
 
 namespace parameter_traits
 {
-inline Result forbidden_interface_name_prefix(rclcpp::Parameter const & parameter)
+inline tl::expected<void, std::string> forbidden_interface_name_prefix(rclcpp::Parameter const & parameter)
 {
   auto const & interface_name = parameter.as_string();
 
   if (interface_name.rfind("blup_", 0) == 0)
   {
-    return ERROR("'interface_name' parameter can not start with 'blup_'");
+    return tl::unexpected(std::string("'interface_name' parameter can not start with 'blup_'"));
   }
 
-  return OK;
+  return {};
 }
 
 }  // namespace parameter_traits

src/subsystems/drive/drive_controllers/src/double_ackermann_controller.cpp

@@ -172,7 +172,7 @@ controller_interface::CallbackReturn DoubleAckermannController::on_configure(
   return controller_interface::CallbackReturn::SUCCESS;
 }
 
-void DoubleAckermannController::reference_callback(const std::shared_ptr<ControllerReferenceMsg> msg)
+void DoubleAckermannController::reference_callback(const std::shared_ptr<ControllerReferenceMsg> /*msg*/)
 {
   // if (msg->joint_names.size() == joints.size())
   // {

src/subsystems/drive/drive_controllers/src/swerve_drive_controller.cpp

@@ -259,7 +259,6 @@ controller_interface::return_type SwerveDriveController::update(
   double linear_y = (*current_ref)->linear.y;
   double angular_z = (*current_ref)->angular.z;
   double track_width = params_.track_width;
-  double wheelbase = params_.wheelbase;
   double wheel_radius = params_.wheel_radius;
 
   // Calculations credit: https://github.com/RoboEagles4828/ros2-swerve-controller/tree/main

src/subsystems/general/general_controllers/include/general_controllers/motor_status_broadcaster.hpp

@@ -23,7 +23,7 @@
 #include "controller_interface/controller_interface.hpp"
 #include "diagnostic_msgs/msg/diagnostic_array.hpp"
 #include "general_controllers/visibility_control.h"
-#include "motor_status_broadcaster_parameters.hpp"
+#include <general_controllers/motor_status_broadcaster_parameters.hpp>
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "rclcpp_lifecycle/state.hpp"
 

src/subsystems/navigation/obstacle_detection/CMakeLists.txt

@@ -1,6 +1,8 @@
 cmake_minimum_required(VERSION 3.8)
 project(obstacle_detection)
 
+cmake_policy(SET CMP0074 NEW)
+
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()

src/subsystems/science/science_controllers/include/science_controllers/validate_science_controller_parameters.hpp

@@ -16,21 +16,22 @@
 
 #include <string>
 #include "parameter_traits/parameter_traits.hpp"
+#include "tl_expected/expected.hpp"
 
 #include "rclcpp/rclcpp.hpp" 
 
 namespace parameter_traits 
 {
-inline parameter_traits::Result forbidden_interface_name_prefix(rclcpp::Parameter const & parameter)
+inline tl::expected<void, std::string> forbidden_interface_name_prefix(rclcpp::Parameter const & parameter)
 {
   auto const & interface_name = parameter.as_string();
 
   if (interface_name.rfind("blup_", 0) == 0)
   {
-    return parameter_traits::ERROR("'interface_name' parameter can not start with 'blup_'");
+    return tl::unexpected(std::string("'interface_name' parameter can not start with 'blup_'"));
   }
 
-  return parameter_traits::OK;
+  return {};
 }
 
 }  // namespace parameter_traits