Add few warning compiler options to error (#1181)

* add conversion, unused-but-set-variable, and return-type warnings to error
* add shadow variables to error and their fixes for code compilation
* apply the same flags to controller interface package
* apply the same flags and their fixes to hardware_interface package
* apply the same compiler options to the rest of the packages

(cherry picked from commit 65353ff)

# Conflicts:
#	controller_manager/src/controller_manager.cpp
#	hardware_interface_testing/test/test_resource_manager.cpp

controller_interface/CMakeLists.txt

@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.16)
 project(controller_interface 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)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

controller_manager/CMakeLists.txt

@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.16)
 project(controller_manager 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)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

controller_manager/src/controller_manager.cpp

@@ -457,8 +457,6 @@ void ControllerManager::init_resource_manager(const std::string & robot_descript
       "Parameter 'activate_components_on_start' is deprecated. "
       "Components are activated per default. Don't use this parameters in combination with the new "
       "'hardware_components_initial_state' parameter structure.");
-    rclcpp_lifecycle::State active_state(
-      State::PRIMARY_STATE_ACTIVE, hardware_interface::lifecycle_state_names::ACTIVE);
     for (const auto & component : activate_components_on_start)
     {
       resource_manager_->set_component_state(component, active_state);
@@ -470,6 +468,7 @@ void ControllerManager::init_resource_manager(const std::string & robot_descript
     // activate all other components
     for (const auto & [component, state] : components_to_activate)
     {
+<<<<<<< HEAD
       rclcpp_lifecycle::State active_state(
         State::PRIMARY_STATE_ACTIVE, hardware_interface::lifecycle_state_names::ACTIVE);
       if (
@@ -480,6 +479,9 @@ void ControllerManager::init_resource_manager(const std::string & robot_descript
           "Failed to set the initial state of the component : " + component + " to " +
           active_state.label());
       }
+=======
+      resource_manager_->set_component_state(component, active_state);
+>>>>>>> 65353ff (Add few warning compiler options to error (#1181))
     }
   }
 }
@@ -1008,7 +1010,7 @@ controller_interface::return_type ControllerManager::switch_controller(
     auto controller_it = std::find_if(
       controllers.begin(), controllers.end(),
       std::bind(controller_name_compare, std::placeholders::_1, *ctrl_it));
-    controller_interface::return_type ret = controller_interface::return_type::OK;
+    controller_interface::return_type status = controller_interface::return_type::OK;
 
     // if controller is not inactive then do not do any following-controllers checks
     if (!is_controller_inactive(controller_it->c))
@@ -1018,14 +1020,14 @@ controller_interface::return_type ControllerManager::switch_controller(
         "Controller with name '%s' is not inactive so its following "
         "controllers do not have to be checked, because it cannot be activated.",
         controller_it->info.name.c_str());
-      ret = controller_interface::return_type::ERROR;
+      status = controller_interface::return_type::ERROR;
     }
     else
     {
-      ret = check_following_controllers_for_activate(controllers, strictness, controller_it);
+      status = check_following_controllers_for_activate(controllers, strictness, controller_it);
     }
 
-    if (ret != controller_interface::return_type::OK)
+    if (status != controller_interface::return_type::OK)
     {
       RCLCPP_WARN(
         get_logger(),
@@ -1059,22 +1061,22 @@ controller_interface::return_type ControllerManager::switch_controller(
     auto controller_it = std::find_if(
       controllers.begin(), controllers.end(),
       std::bind(controller_name_compare, std::placeholders::_1, *ctrl_it));
-    controller_interface::return_type ret = controller_interface::return_type::OK;
+    controller_interface::return_type status = controller_interface::return_type::OK;
 
     // if controller is not active then skip preceding-controllers checks
     if (!is_controller_active(controller_it->c))
     {
       RCLCPP_WARN(
         get_logger(), "Controller with name '%s' can not be deactivated since it is not active.",
         controller_it->info.name.c_str());
-      ret = controller_interface::return_type::ERROR;
+      status = controller_interface::return_type::ERROR;
     }
     else
     {
-      ret = check_preceeding_controllers_for_deactivate(controllers, strictness, controller_it);
+      status = check_preceeding_controllers_for_deactivate(controllers, strictness, controller_it);
     }
 
-    if (ret != controller_interface::return_type::OK)
+    if (status != controller_interface::return_type::OK)
     {
       RCLCPP_WARN(
         get_logger(),
@@ -1155,11 +1157,11 @@ controller_interface::return_type ControllerManager::switch_controller(
     // check for double stop
     if (!is_active && in_deactivate_list)
     {
-      auto ret = handle_conflict(
+      auto conflict_status = handle_conflict(
         "Could not deactivate controller '" + controller.info.name + "' since it is not active");
-      if (ret != controller_interface::return_type::OK)
+      if (conflict_status != controller_interface::return_type::OK)
       {
-        return ret;
+        return conflict_status;
       }
       in_deactivate_list = false;
       deactivate_request_.erase(deactivate_list_it);
@@ -1168,11 +1170,11 @@ controller_interface::return_type ControllerManager::switch_controller(
     // check for doubled activation
     if (is_active && !in_deactivate_list && in_activate_list)
     {
-      auto ret = handle_conflict(
+      auto conflict_status = handle_conflict(
         "Could not activate controller '" + controller.info.name + "' since it is already active");
-      if (ret != controller_interface::return_type::OK)
+      if (conflict_status != controller_interface::return_type::OK)
       {
-        return ret;
+        return conflict_status;
       }
       in_activate_list = false;
       activate_request_.erase(activate_list_it);
@@ -1181,21 +1183,21 @@ controller_interface::return_type ControllerManager::switch_controller(
     // check for illegal activation of an unconfigured/finalized controller
     if (!is_inactive && !in_deactivate_list && in_activate_list)
     {
-      auto ret = handle_conflict(
+      auto conflict_status = handle_conflict(
         "Could not activate controller '" + controller.info.name +
         "' since it is not in inactive state");
-      if (ret != controller_interface::return_type::OK)
+      if (conflict_status != controller_interface::return_type::OK)
       {
-        return ret;
+        return conflict_status;
       }
       in_activate_list = false;
       activate_request_.erase(activate_list_it);
     }
 
     const auto extract_interfaces_for_controller =
-      [this](const ControllerSpec controller, std::vector<std::string> & request_interface_list)
+      [this](const ControllerSpec ctrl, std::vector<std::string> & request_interface_list)
     {
-      auto command_interface_config = controller.c->command_interface_configuration();
+      auto command_interface_config = ctrl.c->command_interface_configuration();
       std::vector<std::string> command_interface_names = {};
       if (command_interface_config.type == controller_interface::interface_configuration_type::ALL)
       {
@@ -1847,8 +1849,8 @@ void ControllerManager::reload_controller_libraries_service_cb(
   loaded_controllers = get_controller_names();
   {
     // lock controllers
-    std::lock_guard<std::recursive_mutex> guard(rt_controllers_wrapper_.controllers_lock_);
-    for (const auto & controller : rt_controllers_wrapper_.get_updated_list(guard))
+    std::lock_guard<std::recursive_mutex> ctrl_guard(rt_controllers_wrapper_.controllers_lock_);
+    for (const auto & controller : rt_controllers_wrapper_.get_updated_list(ctrl_guard))
     {
       if (is_controller_active(*controller.c))
       {

hardware_interface/CMakeLists.txt

@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.16)
 project(hardware_interface 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)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

hardware_interface/src/mock_components/generic_system.cpp

@@ -596,12 +596,12 @@ return_type GenericSystem::read(const rclcpp::Time & /*time*/, const rclcpp::Dur
     }
     else
     {
-      for (size_t j = 0; j < joint_states_[POSITION_INTERFACE_INDEX].size(); ++j)
+      for (size_t k = 0; k < joint_states_[POSITION_INTERFACE_INDEX].size(); ++k)
       {
-        if (!std::isnan(joint_commands_[POSITION_INTERFACE_INDEX][j]))
+        if (!std::isnan(joint_commands_[POSITION_INTERFACE_INDEX][k]))
         {
-          joint_states_[POSITION_INTERFACE_INDEX][j] =  // apply offset to positions only
-            joint_commands_[POSITION_INTERFACE_INDEX][j] +
+          joint_states_[POSITION_INTERFACE_INDEX][k] =  // apply offset to positions only
+            joint_commands_[POSITION_INTERFACE_INDEX][k] +
             (custom_interface_with_following_offset_.empty() ? position_state_following_offset_
                                                              : 0.0);
         }

hardware_interface_testing/test/test_resource_manager.cpp

@@ -233,6 +233,7 @@ TEST_F(ResourceManagerTest, resource_claiming)
   // Activate components to get all interfaces available
   activate_components(rm);
 
+<<<<<<< HEAD:hardware_interface_testing/test/test_resource_manager.cpp
   const auto command_interface = "joint1/position";
   EXPECT_TRUE(rm.command_interface_is_available(command_interface));
   EXPECT_FALSE(rm.command_interface_is_claimed(command_interface));
@@ -244,10 +245,30 @@ TEST_F(ResourceManagerTest, resource_claiming)
     {
       EXPECT_ANY_THROW(rm.claim_command_interface(command_interface));
       EXPECT_TRUE(rm.command_interface_is_available(command_interface));
+=======
+  {
+    const auto key = "joint1/position";
+    EXPECT_TRUE(rm.command_interface_is_available(key));
+    EXPECT_FALSE(rm.command_interface_is_claimed(key));
+
+    {
+      auto position_command_interface = rm.claim_command_interface(key);
+      EXPECT_TRUE(rm.command_interface_is_available(key));
+      EXPECT_TRUE(rm.command_interface_is_claimed(key));
+      {
+        EXPECT_ANY_THROW(rm.claim_command_interface(key));
+        EXPECT_TRUE(rm.command_interface_is_available(key));
+      }
+>>>>>>> 65353ff (Add few warning compiler options to error (#1181)):hardware_interface/test/test_resource_manager.cpp
     }
+    EXPECT_TRUE(rm.command_interface_is_available(key));
+    EXPECT_FALSE(rm.command_interface_is_claimed(key));
   }
+<<<<<<< HEAD:hardware_interface_testing/test/test_resource_manager.cpp
   EXPECT_TRUE(rm.command_interface_is_available(command_interface));
   EXPECT_FALSE(rm.command_interface_is_claimed(command_interface));
+=======
+>>>>>>> 65353ff (Add few warning compiler options to error (#1181)):hardware_interface/test/test_resource_manager.cpp
 
   // command interfaces can only be claimed once
   for (const auto & interface_key :

joint_limits/CMakeLists.txt

@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.16)
 project(joint_limits 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)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

transmission_interface/CMakeLists.txt

@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.16)
 project(transmission_interface LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Wconversion)
+  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS