From 2d9aaba799201c50f4e23e0f658c3e1c7670a1b7 Mon Sep 17 00:00:00 2001
From: Joshua Wallace <josho.wallace@gmail.com>
Date: Mon, 20 Jun 2022 18:31:01 -0400
Subject: [PATCH 1/2] cleanup warnings

---
 .../include/nav2_behaviors/timed_behavior.hpp |  9 ++++----
 nav2_behaviors/plugins/back_up.cpp            |  2 +-
 nav2_behaviors/plugins/back_up.hpp            |  2 +-
 nav2_behaviors/plugins/drive_on_heading.cpp   |  6 -----
 nav2_behaviors/plugins/drive_on_heading.hpp   | 18 ++++++---------
 nav2_behaviors/plugins/spin.cpp               | 22 +++++++++----------
 nav2_behaviors/plugins/spin.hpp               |  2 +-
 nav2_behaviors/plugins/wait.cpp               |  7 ++----
 nav2_behaviors/plugins/wait.hpp               |  2 +-
 nav2_behaviors/src/main.cpp                   |  1 -
 nav2_behaviors/test/test_behaviors.cpp        |  9 ++++----
 11 files changed, 31 insertions(+), 49 deletions(-)

diff --git a/nav2_behaviors/include/nav2_behaviors/timed_behavior.hpp b/nav2_behaviors/include/nav2_behaviors/timed_behavior.hpp
index 0c41b13f495..386a8e8e364 100644
--- a/nav2_behaviors/include/nav2_behaviors/timed_behavior.hpp
+++ b/nav2_behaviors/include/nav2_behaviors/timed_behavior.hpp
@@ -63,18 +63,17 @@ class TimedBehavior : public nav2_core::Behavior
   TimedBehavior()
   : action_server_(nullptr),
     cycle_frequency_(10.0),
-    enabled_(false)
+    enabled_(false),
+    transform_tolerance_(0.0)
   {
   }
 
-  virtual ~TimedBehavior()
-  {
-  }
+  virtual ~TimedBehavior() = default;
 
   // Derived classes can override this method to catch the command and perform some checks
   // before getting into the main loop. The method will only be called
   // once and should return SUCCEEDED otherwise behavior will return FAILED.
-  virtual Status onRun(const std::shared_ptr<const typename ActionT::Goal> command) = 0;
+  virtual Status onRun(const std::shared_ptr<const typename ActionT::Goal> &command) = 0;
 
 
   // This is the method derived classes should mainly implement
diff --git a/nav2_behaviors/plugins/back_up.cpp b/nav2_behaviors/plugins/back_up.cpp
index 90a69a686ed..c0c68172c33 100644
--- a/nav2_behaviors/plugins/back_up.cpp
+++ b/nav2_behaviors/plugins/back_up.cpp
@@ -17,7 +17,7 @@
 namespace nav2_behaviors
 {
 
-Status BackUp::onRun(const std::shared_ptr<const BackUpAction::Goal> command)
+Status BackUp::onRun(const std::shared_ptr<const BackUpAction::Goal> &command)
 {
   if (command->target.y != 0.0 || command->target.z != 0.0) {
     RCLCPP_INFO(
diff --git a/nav2_behaviors/plugins/back_up.hpp b/nav2_behaviors/plugins/back_up.hpp
index f892c5b0e2d..d81250e5121 100644
--- a/nav2_behaviors/plugins/back_up.hpp
+++ b/nav2_behaviors/plugins/back_up.hpp
@@ -28,7 +28,7 @@ namespace nav2_behaviors
 class BackUp : public DriveOnHeading<nav2_msgs::action::BackUp>
 {
 public:
-  Status onRun(const std::shared_ptr<const BackUpAction::Goal> command) override;
+  Status onRun(const std::shared_ptr<const BackUpAction::Goal> &command) override;
 };
 }
 
diff --git a/nav2_behaviors/plugins/drive_on_heading.cpp b/nav2_behaviors/plugins/drive_on_heading.cpp
index dae6ed83a11..53525b3bb6e 100644
--- a/nav2_behaviors/plugins/drive_on_heading.cpp
+++ b/nav2_behaviors/plugins/drive_on_heading.cpp
@@ -13,14 +13,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <chrono>
-#include <ctime>
 #include <memory>
-#include <utility>
-
 #include "drive_on_heading.hpp"
-#include "nav2_util/node_utils.hpp"
-#include "nav2_msgs/action/back_up.hpp"
 
 #include "pluginlib/class_list_macros.hpp"
 PLUGINLIB_EXPORT_CLASS(nav2_behaviors::DriveOnHeading<>, nav2_core::Behavior)
diff --git a/nav2_behaviors/plugins/drive_on_heading.hpp b/nav2_behaviors/plugins/drive_on_heading.hpp
index 65ab8f11579..810be77144a 100644
--- a/nav2_behaviors/plugins/drive_on_heading.hpp
+++ b/nav2_behaviors/plugins/drive_on_heading.hpp
@@ -41,20 +41,21 @@ class DriveOnHeading : public TimedBehavior<ActionT>
    */
   DriveOnHeading()
   : TimedBehavior<ActionT>(),
-    feedback_(std::make_shared<typename ActionT::Feedback>())
+    feedback_(std::make_shared<typename ActionT::Feedback>()),
+    command_x_(0.0),
+    command_speed_(0.0),
+    simulate_ahead_time_(0.0)
   {
   }
 
-
-  ~DriveOnHeading()
-  {}
+  ~DriveOnHeading() = default;
 
   /**
    * @brief Initialization to run behavior
    * @param command Goal to execute
    * @return Status of behavior
    */
-  Status onRun(const std::shared_ptr<const typename ActionT::Goal> command) override
+  Status onRun(const std::shared_ptr<const typename ActionT::Goal> &command) override
   {
     if (command->target.y != 0.0 || command->target.z != 0.0) {
       RCLCPP_INFO(
@@ -122,7 +123,6 @@ class DriveOnHeading : public TimedBehavior<ActionT>
       return Status::SUCCEEDED;
     }
 
-    // TODO(mhpanah): cmd_vel value should be passed as a parameter
     auto cmd_vel = std::make_unique<geometry_msgs::msg::Twist>();
     cmd_vel->linear.y = 0.0;
     cmd_vel->angular.z = 0.0;
@@ -199,9 +199,7 @@ class DriveOnHeading : public TimedBehavior<ActionT>
     node->get_parameter("simulate_ahead_time", simulate_ahead_time_);
   }
 
-  double min_linear_vel_;
-  double max_linear_vel_;
-  double linear_acc_lim_;
+  typename ActionT::Feedback::SharedPtr feedback_;
 
   geometry_msgs::msg::PoseStamped initial_pose_;
   double command_x_;
@@ -209,8 +207,6 @@ class DriveOnHeading : public TimedBehavior<ActionT>
   rclcpp::Duration command_time_allowance_{0, 0};
   rclcpp::Time end_time_;
   double simulate_ahead_time_;
-
-  typename ActionT::Feedback::SharedPtr feedback_;
 };
 
 }  // namespace nav2_behaviors
diff --git a/nav2_behaviors/plugins/spin.cpp b/nav2_behaviors/plugins/spin.cpp
index 641f59064e0..055298d174b 100644
--- a/nav2_behaviors/plugins/spin.cpp
+++ b/nav2_behaviors/plugins/spin.cpp
@@ -13,19 +13,13 @@
 // limitations under the License.
 
 #include <cmath>
-#include <chrono>
-#include <ctime>
 #include <thread>
 #include <algorithm>
 #include <memory>
 #include <utility>
 
 #include "spin.hpp"
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wpedantic"
 #include "tf2/utils.h"
-#pragma GCC diagnostic pop
-#include "tf2/LinearMath/Quaternion.h"
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 #include "nav2_util/node_utils.hpp"
 
@@ -37,13 +31,17 @@ namespace nav2_behaviors
 Spin::Spin()
 : TimedBehavior<SpinAction>(),
   feedback_(std::make_shared<SpinAction::Feedback>()),
-  prev_yaw_(0.0)
+  min_rotational_vel_(0.0),
+  max_rotational_vel_(0.0),
+  rotational_acc_lim_(0.0),
+  cmd_yaw_(0.0),
+  prev_yaw_(0.0),
+  relative_yaw_(0.0),
+  simulate_ahead_time_(0.0)
 {
 }
 
-Spin::~Spin()
-{
-}
+Spin::~Spin() = default;
 
 void Spin::onConfigure()
 {
@@ -73,7 +71,7 @@ void Spin::onConfigure()
   node->get_parameter("rotational_acc_lim", rotational_acc_lim_);
 }
 
-Status Spin::onRun(const std::shared_ptr<const SpinAction::Goal> command)
+Status Spin::onRun(const std::shared_ptr<const SpinAction::Goal> &command)
 {
   geometry_msgs::msg::PoseStamped current_pose;
   if (!nav2_util::getCurrentPose(
@@ -128,7 +126,7 @@ Status Spin::onCycleUpdate()
   relative_yaw_ += delta_yaw;
   prev_yaw_ = current_yaw;
 
-  feedback_->angular_distance_traveled = relative_yaw_;
+  feedback_->angular_distance_traveled = static_cast<float>(relative_yaw_);
   action_server_->publish_feedback(feedback_);
 
   double remaining_yaw = abs(cmd_yaw_) - abs(relative_yaw_);
diff --git a/nav2_behaviors/plugins/spin.hpp b/nav2_behaviors/plugins/spin.hpp
index 7174c91f467..9fa733ae899 100644
--- a/nav2_behaviors/plugins/spin.hpp
+++ b/nav2_behaviors/plugins/spin.hpp
@@ -45,7 +45,7 @@ class Spin : public TimedBehavior<SpinAction>
    * @param command Goal to execute
    * @return Status of behavior
    */
-  Status onRun(const std::shared_ptr<const SpinAction::Goal> command) override;
+  Status onRun(const std::shared_ptr<const SpinAction::Goal> &command) override;
 
   /**
    * @brief Configuration of behavior action
diff --git a/nav2_behaviors/plugins/wait.cpp b/nav2_behaviors/plugins/wait.cpp
index 7ca00e2abc4..861d490ecd7 100644
--- a/nav2_behaviors/plugins/wait.cpp
+++ b/nav2_behaviors/plugins/wait.cpp
@@ -12,7 +12,6 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <cmath>
 #include <chrono>
 #include <memory>
 
@@ -27,11 +26,9 @@ Wait::Wait()
 {
 }
 
-Wait::~Wait()
-{
-}
+Wait::~Wait() = default;
 
-Status Wait::onRun(const std::shared_ptr<const WaitAction::Goal> command)
+Status Wait::onRun(const std::shared_ptr<const WaitAction::Goal> &command)
 {
   wait_end_ = std::chrono::steady_clock::now() +
     rclcpp::Duration(command->time).to_chrono<std::chrono::nanoseconds>();
diff --git a/nav2_behaviors/plugins/wait.hpp b/nav2_behaviors/plugins/wait.hpp
index 38e85fd14aa..f27e15b8f63 100644
--- a/nav2_behaviors/plugins/wait.hpp
+++ b/nav2_behaviors/plugins/wait.hpp
@@ -44,7 +44,7 @@ class Wait : public TimedBehavior<WaitAction>
    * @param command Goal to execute
    * @return Status of behavior
    */
-  Status onRun(const std::shared_ptr<const WaitAction::Goal> command) override;
+  Status onRun(const std::shared_ptr<const WaitAction::Goal> &command) override;
 
   /**
    * @brief Loop function to run behavior
diff --git a/nav2_behaviors/src/main.cpp b/nav2_behaviors/src/main.cpp
index 0b06ea9f173..4af82831f32 100644
--- a/nav2_behaviors/src/main.cpp
+++ b/nav2_behaviors/src/main.cpp
@@ -13,7 +13,6 @@
 // See the License for the specific language governing permissions and
 // limitations under the License. Reserved.
 
-#include <string>
 #include <memory>
 
 #include "nav2_behaviors/behavior_server.hpp"
diff --git a/nav2_behaviors/test/test_behaviors.cpp b/nav2_behaviors/test/test_behaviors.cpp
index de1253cdc95..31f6581dc03 100644
--- a/nav2_behaviors/test/test_behaviors.cpp
+++ b/nav2_behaviors/test/test_behaviors.cpp
@@ -16,7 +16,6 @@
 #include <memory>
 #include <chrono>
 #include <iostream>
-#include <future>
 #include <thread>
 
 #include "gtest/gtest.h"
@@ -42,9 +41,9 @@ class DummyBehavior : public TimedBehavior<BehaviorAction>
   : TimedBehavior<BehaviorAction>(),
     initialized_(false) {}
 
-  ~DummyBehavior() {}
+  ~DummyBehavior() = default;
 
-  Status onRun(const std::shared_ptr<const BehaviorAction::Goal> goal) override
+  Status onRun(const std::shared_ptr<const BehaviorAction::Goal> &goal) override
   {
     // A normal behavior would catch the command and initialize
     initialized_ = false;
@@ -96,9 +95,9 @@ class BehaviorTest : public ::testing::Test
 {
 protected:
   BehaviorTest() {SetUp();}
-  ~BehaviorTest() {}
+  ~BehaviorTest() = default;
 
-  void SetUp()
+  void SetUp() override
   {
     node_lifecycle_ =
       std::make_shared<rclcpp_lifecycle::LifecycleNode>(

From 821751d8f548bcc61c0738d71d64f359d5416c61 Mon Sep 17 00:00:00 2001
From: Joshua Wallace <josho.wallace@gmail.com>
Date: Tue, 21 Jun 2022 18:10:02 -0400
Subject: [PATCH 2/2] removed referenc

---
 nav2_behaviors/include/nav2_behaviors/timed_behavior.hpp | 2 +-
 nav2_behaviors/plugins/back_up.cpp                       | 2 +-
 nav2_behaviors/plugins/back_up.hpp                       | 2 +-
 nav2_behaviors/plugins/drive_on_heading.hpp              | 2 +-
 nav2_behaviors/plugins/spin.cpp                          | 2 +-
 nav2_behaviors/plugins/spin.hpp                          | 2 +-
 nav2_behaviors/plugins/wait.cpp                          | 2 +-
 nav2_behaviors/plugins/wait.hpp                          | 2 +-
 nav2_behaviors/test/test_behaviors.cpp                   | 2 +-
 9 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/nav2_behaviors/include/nav2_behaviors/timed_behavior.hpp b/nav2_behaviors/include/nav2_behaviors/timed_behavior.hpp
index 386a8e8e364..06528be8872 100644
--- a/nav2_behaviors/include/nav2_behaviors/timed_behavior.hpp
+++ b/nav2_behaviors/include/nav2_behaviors/timed_behavior.hpp
@@ -73,7 +73,7 @@ class TimedBehavior : public nav2_core::Behavior
   // Derived classes can override this method to catch the command and perform some checks
   // before getting into the main loop. The method will only be called
   // once and should return SUCCEEDED otherwise behavior will return FAILED.
-  virtual Status onRun(const std::shared_ptr<const typename ActionT::Goal> &command) = 0;
+  virtual Status onRun(const std::shared_ptr<const typename ActionT::Goal> command) = 0;
 
 
   // This is the method derived classes should mainly implement
diff --git a/nav2_behaviors/plugins/back_up.cpp b/nav2_behaviors/plugins/back_up.cpp
index c0c68172c33..90a69a686ed 100644
--- a/nav2_behaviors/plugins/back_up.cpp
+++ b/nav2_behaviors/plugins/back_up.cpp
@@ -17,7 +17,7 @@
 namespace nav2_behaviors
 {
 
-Status BackUp::onRun(const std::shared_ptr<const BackUpAction::Goal> &command)
+Status BackUp::onRun(const std::shared_ptr<const BackUpAction::Goal> command)
 {
   if (command->target.y != 0.0 || command->target.z != 0.0) {
     RCLCPP_INFO(
diff --git a/nav2_behaviors/plugins/back_up.hpp b/nav2_behaviors/plugins/back_up.hpp
index d81250e5121..f892c5b0e2d 100644
--- a/nav2_behaviors/plugins/back_up.hpp
+++ b/nav2_behaviors/plugins/back_up.hpp
@@ -28,7 +28,7 @@ namespace nav2_behaviors
 class BackUp : public DriveOnHeading<nav2_msgs::action::BackUp>
 {
 public:
-  Status onRun(const std::shared_ptr<const BackUpAction::Goal> &command) override;
+  Status onRun(const std::shared_ptr<const BackUpAction::Goal> command) override;
 };
 }
 
diff --git a/nav2_behaviors/plugins/drive_on_heading.hpp b/nav2_behaviors/plugins/drive_on_heading.hpp
index 810be77144a..79c8d81c719 100644
--- a/nav2_behaviors/plugins/drive_on_heading.hpp
+++ b/nav2_behaviors/plugins/drive_on_heading.hpp
@@ -55,7 +55,7 @@ class DriveOnHeading : public TimedBehavior<ActionT>
    * @param command Goal to execute
    * @return Status of behavior
    */
-  Status onRun(const std::shared_ptr<const typename ActionT::Goal> &command) override
+  Status onRun(const std::shared_ptr<const typename ActionT::Goal> command) override
   {
     if (command->target.y != 0.0 || command->target.z != 0.0) {
       RCLCPP_INFO(
diff --git a/nav2_behaviors/plugins/spin.cpp b/nav2_behaviors/plugins/spin.cpp
index 055298d174b..a76fe38f525 100644
--- a/nav2_behaviors/plugins/spin.cpp
+++ b/nav2_behaviors/plugins/spin.cpp
@@ -71,7 +71,7 @@ void Spin::onConfigure()
   node->get_parameter("rotational_acc_lim", rotational_acc_lim_);
 }
 
-Status Spin::onRun(const std::shared_ptr<const SpinAction::Goal> &command)
+Status Spin::onRun(const std::shared_ptr<const SpinAction::Goal> command)
 {
   geometry_msgs::msg::PoseStamped current_pose;
   if (!nav2_util::getCurrentPose(
diff --git a/nav2_behaviors/plugins/spin.hpp b/nav2_behaviors/plugins/spin.hpp
index 9fa733ae899..7174c91f467 100644
--- a/nav2_behaviors/plugins/spin.hpp
+++ b/nav2_behaviors/plugins/spin.hpp
@@ -45,7 +45,7 @@ class Spin : public TimedBehavior<SpinAction>
    * @param command Goal to execute
    * @return Status of behavior
    */
-  Status onRun(const std::shared_ptr<const SpinAction::Goal> &command) override;
+  Status onRun(const std::shared_ptr<const SpinAction::Goal> command) override;
 
   /**
    * @brief Configuration of behavior action
diff --git a/nav2_behaviors/plugins/wait.cpp b/nav2_behaviors/plugins/wait.cpp
index 861d490ecd7..236f7122018 100644
--- a/nav2_behaviors/plugins/wait.cpp
+++ b/nav2_behaviors/plugins/wait.cpp
@@ -28,7 +28,7 @@ Wait::Wait()
 
 Wait::~Wait() = default;
 
-Status Wait::onRun(const std::shared_ptr<const WaitAction::Goal> &command)
+Status Wait::onRun(const std::shared_ptr<const WaitAction::Goal> command)
 {
   wait_end_ = std::chrono::steady_clock::now() +
     rclcpp::Duration(command->time).to_chrono<std::chrono::nanoseconds>();
diff --git a/nav2_behaviors/plugins/wait.hpp b/nav2_behaviors/plugins/wait.hpp
index f27e15b8f63..38e85fd14aa 100644
--- a/nav2_behaviors/plugins/wait.hpp
+++ b/nav2_behaviors/plugins/wait.hpp
@@ -44,7 +44,7 @@ class Wait : public TimedBehavior<WaitAction>
    * @param command Goal to execute
    * @return Status of behavior
    */
-  Status onRun(const std::shared_ptr<const WaitAction::Goal> &command) override;
+  Status onRun(const std::shared_ptr<const WaitAction::Goal> command) override;
 
   /**
    * @brief Loop function to run behavior
diff --git a/nav2_behaviors/test/test_behaviors.cpp b/nav2_behaviors/test/test_behaviors.cpp
index 31f6581dc03..4cd7527fbcf 100644
--- a/nav2_behaviors/test/test_behaviors.cpp
+++ b/nav2_behaviors/test/test_behaviors.cpp
@@ -43,7 +43,7 @@ class DummyBehavior : public TimedBehavior<BehaviorAction>
 
   ~DummyBehavior() = default;
 
-  Status onRun(const std::shared_ptr<const BehaviorAction::Goal> &goal) override
+  Status onRun(const std::shared_ptr<const BehaviorAction::Goal> goal) override
   {
     // A normal behavior would catch the command and initialize
     initialized_ = false;