Add few warning flags to error (#961)

* add conversion, unused-but-set-variable, format, and return-type warnings to error * Add fixes to the added flags * fix linters
ros-controls · Jan 4, 2024 · 2b52f0b · 2b52f0b
1 parent f14396c
commit 2b52f0b
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Showing 20 changed files with 34 additions and 21 deletions.
diff --git a/ackermann_steering_controller/CMakeLists.txt b/ackermann_steering_controller/CMakeLists.txt
@@ -2,7 +2,8 @@ cmake_minimum_required(VERSION 3.16)
 project(ackermann_steering_controller LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Wconversion)
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
+                      -Werror=return-type -Werror=shadow -Werror=format)
 endif()
 
 # find dependencies

diff --git a/admittance_controller/CMakeLists.txt b/admittance_controller/CMakeLists.txt
@@ -2,7 +2,8 @@ cmake_minimum_required(VERSION 3.16)
 project(admittance_controller LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Wconversion)
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
+                      -Werror=return-type -Werror=shadow -Werror=format)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/bicycle_steering_controller/CMakeLists.txt b/bicycle_steering_controller/CMakeLists.txt
@@ -2,7 +2,8 @@ cmake_minimum_required(VERSION 3.16)
 project(bicycle_steering_controller LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Wconversion)
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
+                      -Werror=return-type -Werror=shadow -Werror=format)
 endif()
 
 # find dependencies

diff --git a/diff_drive_controller/CMakeLists.txt b/diff_drive_controller/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.16)
 project(diff_drive_controller LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wconversion)
+  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow -Werror=format)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/effort_controllers/CMakeLists.txt b/effort_controllers/CMakeLists.txt
@@ -2,7 +2,8 @@ cmake_minimum_required(VERSION 3.16)
 project(effort_controllers LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Wconversion)
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
+                      -Werror=return-type -Werror=shadow -Werror=format)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/force_torque_sensor_broadcaster/CMakeLists.txt b/force_torque_sensor_broadcaster/CMakeLists.txt
@@ -2,7 +2,8 @@ cmake_minimum_required(VERSION 3.16)
 project(force_torque_sensor_broadcaster LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Wconversion)
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
+                      -Werror=return-type -Werror=shadow -Werror=format)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/forward_command_controller/CMakeLists.txt b/forward_command_controller/CMakeLists.txt
@@ -2,7 +2,8 @@ cmake_minimum_required(VERSION 3.16)
 project(forward_command_controller LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Wconversion)
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
+                      -Werror=return-type -Werror=shadow -Werror=format)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/gripper_controllers/CMakeLists.txt b/gripper_controllers/CMakeLists.txt
@@ -7,7 +7,7 @@ if(APPLE OR WIN32)
 endif()
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wconversion)
+  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow -Werror=format)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/imu_sensor_broadcaster/CMakeLists.txt b/imu_sensor_broadcaster/CMakeLists.txt
@@ -2,7 +2,8 @@ cmake_minimum_required(VERSION 3.16)
 project(imu_sensor_broadcaster LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Wconversion)
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
+                      -Werror=return-type -Werror=shadow -Werror=format)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/joint_state_broadcaster/CMakeLists.txt b/joint_state_broadcaster/CMakeLists.txt
@@ -2,7 +2,8 @@ cmake_minimum_required(VERSION 3.16)
 project(joint_state_broadcaster LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wconversion)
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
+                      -Werror=return-type -Werror=shadow -Werror=format)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/joint_trajectory_controller/CMakeLists.txt b/joint_trajectory_controller/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.16)
 project(joint_trajectory_controller LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wconversion)
+  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow -Werror=format)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp
@@ -147,7 +147,7 @@ inline bool check_state_tolerance_per_joint(
   if (show_errors)
   {
     const auto logger = rclcpp::get_logger("tolerances");
-    RCLCPP_ERROR(logger, "State tolerances failed for joint %d:", joint_idx);
+    RCLCPP_ERROR(logger, "State tolerances failed for joint %ld:", joint_idx);
 
     if (state_tolerance.position > 0.0 && abs(error_position) > state_tolerance.position)
     {

diff --git a/pid_controller/CMakeLists.txt b/pid_controller/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.16)
 project(pid_controller LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra)
+  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow -Werror=format)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/pid_controller/src/pid_controller.cpp b/pid_controller/src/pid_controller.cpp
@@ -171,10 +171,10 @@ controller_interface::CallbackReturn PidController::on_configure(
   if (params_.use_external_measured_states)
   {
     auto measured_state_callback =
-      [&](const std::shared_ptr<ControllerMeasuredStateMsg> msg) -> void
+      [&](const std::shared_ptr<ControllerMeasuredStateMsg> state_msg) -> void
     {
       // TODO(destogl): Sort the input values based on joint and interface names
-      measured_state_.writeFromNonRT(msg);
+      measured_state_.writeFromNonRT(state_msg);
     };
     measured_state_subscriber_ = get_node()->create_subscription<ControllerMeasuredStateMsg>(
       "~/measured_state", subscribers_qos, measured_state_callback);

diff --git a/position_controllers/CMakeLists.txt b/position_controllers/CMakeLists.txt
@@ -2,7 +2,8 @@ cmake_minimum_required(VERSION 3.16)
 project(position_controllers LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Wconversion)
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
+                      -Werror=return-type -Werror=shadow -Werror=format)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/range_sensor_broadcaster/CMakeLists.txt b/range_sensor_broadcaster/CMakeLists.txt
@@ -8,7 +8,7 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow -Werror=format)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/steering_controllers_library/CMakeLists.txt b/steering_controllers_library/CMakeLists.txt
@@ -2,7 +2,8 @@ cmake_minimum_required(VERSION 3.16)
 project(steering_controllers_library LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Wconversion)
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
+                      -Werror=return-type -Werror=shadow -Werror=format)
 endif()
 
 # find dependencies

diff --git a/tricycle_controller/CMakeLists.txt b/tricycle_controller/CMakeLists.txt
@@ -2,7 +2,8 @@ cmake_minimum_required(VERSION 3.16)
 project(tricycle_controller LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Wconversion)
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
+                      -Werror=return-type -Werror=shadow -Werror=format)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/tricycle_steering_controller/CMakeLists.txt b/tricycle_steering_controller/CMakeLists.txt
@@ -2,7 +2,8 @@ cmake_minimum_required(VERSION 3.16)
 project(tricycle_steering_controller LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Wconversion)
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
+                      -Werror=return-type -Werror=shadow -Werror=format)
 endif()
 
 # find dependencies

diff --git a/velocity_controllers/CMakeLists.txt b/velocity_controllers/CMakeLists.txt
@@ -2,7 +2,8 @@ cmake_minimum_required(VERSION 3.16)
 project(velocity_controllers LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Wconversion)
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
+                      -Werror=return-type -Werror=shadow -Werror=format)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS