Compile flags non-virtual-destructor

nav2_common/cmake/nav2_package.cmake

@@ -37,7 +37,7 @@ macro(nav2_package)
   endif()
 
   if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-    add_compile_options(-Wall -Wextra -Wpedantic -Werror -Wdeprecated -fPIC)
+    add_compile_options(-Wall -Wextra -Wpedantic -Werror -Wdeprecated -fPIC -Wnon-virtual-dtor)
   endif()
 
   option(COVERAGE_ENABLED "Enable code coverage" FALSE)

nav2_core/include/nav2_core/behavior_tree_navigator.hpp

@@ -117,7 +117,7 @@ class NavigatorBase
 {
 public:
   NavigatorBase() = default;
-  ~NavigatorBase() = default;
+  virtual ~NavigatorBase() = default;
 
   /**
    * @brief Configuration of the navigator's backend BT and actions

nav2_dwb_controller/costmap_queue/include/costmap_queue/map_based_queue.hpp

@@ -70,6 +70,11 @@ class MapBasedQueue
     reset();
   }
 
+  /**
+   * @brief Default virtual Destructor
+   */
+  virtual ~MapBasedQueue() = default;
+
   /**
    * @brief Clear the queue
    */

nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp

@@ -47,6 +47,12 @@ class CriticManager
     */
   CriticManager() = default;
 
+
+  /**
+    * @brief Virtual Destructor for mppi::CriticManager
+    */
+  virtual ~CriticManager() = default;
+
   /**
     * @brief Configure critic manager on bringup and load plugins
     * @param parent WeakPtr to node

nav2_mppi_controller/test/critic_manager_test.cpp

@@ -46,6 +46,8 @@ class CriticManagerWrapper : public CriticManager
   CriticManagerWrapper()
   : CriticManager() {}
 
+  virtual ~CriticManagerWrapper() = default;
+
   virtual void loadCritics()
   {
     critics_.clear();
@@ -78,6 +80,8 @@ class CriticManagerWrapperEnum : public CriticManager
   CriticManagerWrapperEnum()
   : CriticManager() {}
 
+  virtual ~CriticManagerWrapperEnum() = default;
+
   unsigned int getCriticNum()
   {
     return critics_.size();

nav2_system_tests/src/behavior_tree/dummy_action_server.hpp

@@ -55,6 +55,7 @@ class DummyActionServer
       std::bind(&DummyActionServer::handle_accepted, this, _1));
   }
 
+  virtual ~DummyActionServer() = default;
   void setFailureRanges(const Ranges & failureRanges)
   {
     failure_ranges_ = failureRanges;

nav2_system_tests/src/behavior_tree/dummy_service.hpp

@@ -44,6 +44,8 @@ class DummyService
       std::bind(&DummyService::handle_service, this, _1, _2, _3));
   }
 
+  virtual ~DummyService() = default;
+
   void disable()
   {
     service_.reset();