Fix Wshadow errors and enforce it

nav2_amcl/src/pf/eig3.c

@@ -43,7 +43,7 @@ static void tred2(double V[n][n], double d[n], double e[n])
 // Fortran subroutine in EISPACK.
 
  int i, j, k;
- double f, g, h, hh;
+ double f, g, hh;
  for (j = 0; j < n; j++) {
  d[j] = V[n - 1][j];
  }
@@ -122,7 +122,7 @@ static void tred2(double V[n][n], double d[n], double e[n])
  for (i = 0; i < n - 1; i++) {
  V[n - 1][i] = V[i][i];
  V[i][i] = 1.0;
- h = d[i + 1];
+ const double h = d[i + 1];
  if (h != 0.0) {
  for (k = 0; k <= i; k++) {
  d[k] = V[k][i + 1] / h;

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 -Wshadow)
  add_compile_options("$<$<COMPILE_LANGUAGE:CXX>:-Wnon-virtual-dtor>")
  endif()
 

nav2_constrained_smoother/include/nav2_constrained_smoother/smoother.hpp

@@ -194,8 +194,8 @@ class Smoother
  // update cusp zone costmap weights
  if (is_cusp) {
  double len_to_cusp = current_segment_len;
- for (int i = potential_cusp_funcs.size() - 1; i >= 0; i--) {
- auto & f = potential_cusp_funcs[i];
+ for (int i_cusp = potential_cusp_funcs.size() - 1; i_cusp >= 0; i_cusp--) {
+ auto & f = potential_cusp_funcs[i_cusp];
  double new_weight =
  params.cusp_costmap_weight * (1.0 - len_to_cusp / cusp_half_length) +
  params.costmap_weight * len_to_cusp / cusp_half_length;

nav2_costmap_2d/plugins/denoise_layer.cpp

@@ -171,12 +171,12 @@ DenoiseLayer::removeSinglePixels(Image<uint8_t> & image) const
  return v == NO_INFORMATION ? FREE_SPACE : v;
  };
  auto max = [&](const std::initializer_list<uint8_t> lst) {
- std::array<uint8_t, 3> buf = {
+ std::array<uint8_t, 3> rbuf = {
  replace_to_free(*lst.begin()),
  replace_to_free(*(lst.begin() + 1)),
  replace_to_free(*(lst.begin() + 2))
  };
- return *std::max_element(buf.begin(), buf.end());
+ return *std::max_element(rbuf.begin(), rbuf.end());
  };
  dilate(image, max_neighbors_image, group_connectivity_type_, max);
  } else {

nav2_costmap_2d/test/integration/test_costmap_topic_collision_checker.cpp

@@ -73,8 +73,8 @@ class DummyFootprintSubscriber : public nav2_costmap_2d::FootprintSubscriber
  DummyFootprintSubscriber(
  nav2_util::LifecycleNode::SharedPtr node,
  std::string & topic_name,
- tf2_ros::Buffer & tf_)
- : FootprintSubscriber(node, topic_name, tf_)
+ tf2_ros::Buffer & tf)
+ : FootprintSubscriber(node, topic_name, tf)
  {}
 
  void setFootprint(geometry_msgs::msg::PolygonStamped::SharedPtr msg)

nav2_dwb_controller/dwb_core/src/dwb_local_planner.cpp

@@ -526,8 +526,8 @@ DWBLocalPlanner::transformGlobalPlan(
  // from the robot using integrated distance
  auto transformation_end = std::find_if(
  transformation_begin, global_plan_.poses.end(),
- [&](const auto & pose) {
- return euclidean_distance(pose, robot_pose.pose) > transform_end_threshold;
+ [&](const auto & global_plan_pose) {
+ return euclidean_distance(global_plan_pose, robot_pose.pose) > transform_end_threshold;
  });
 
  // Transform the near part of the global plan into the robot's frame of reference.

nav2_dwb_controller/dwb_critics/test/obstacle_footprint_test.cpp

@@ -105,8 +105,7 @@ TEST(ObstacleFootprint, GetOrientedFootprint)
  pose.theta = theta;
  footprint_after = dwb_critics::getOrientedFootprint(pose, footprint_before);
 
- uint i;
- for (i = 0; i < footprint_before.size(); i++) {
+ for (uint i = 0; i < footprint_before.size(); i++) {
  ASSERT_EQ(rotate_origin(footprint_before[i], theta), footprint_after[i]);
  }
 

nav2_navfn_planner/src/navfn.cpp

@@ -421,11 +421,10 @@ inline void
 NavFn::updateCell(int n)
 {
  // get neighbors
- float u, d, l, r;
- l = potarr[n - 1];
- r = potarr[n + 1];
- u = potarr[n - nx];
- d = potarr[n + nx];
+ const float l = potarr[n - 1];
+ const float r = potarr[n + 1];
+ const float u = potarr[n - nx];
+ const float d = potarr[n + nx];
  // ROS_INFO("[Update] c: %0.1f l: %0.1f r: %0.1f u: %0.1f d: %0.1f\n",
  // potarr[n], l, r, u, d);
  // ROS_INFO("[Update] cost: %d\n", costarr[n]);
@@ -452,8 +451,8 @@ NavFn::updateCell(int n)
  // use quadratic approximation
  // might speed this up through table lookup, but still have to
  // do the divide
- float d = dc / hf;
- float v = -0.2301 * d * d + 0.5307 * d + 0.7040;
+ const float div = dc / hf;
+ const float v = -0.2301 * div * div + 0.5307 * div + 0.7040;
  pot = ta + hf * v;
  }
 
@@ -496,11 +495,10 @@ inline void
 NavFn::updateCellAstar(int n)
 {
  // get neighbors
- float u, d, l, r;
- l = potarr[n - 1];
- r = potarr[n + 1];
- u = potarr[n - nx];
- d = potarr[n + nx];
+ float l = potarr[n - 1];
+ float r = potarr[n + 1];
+ float u = potarr[n - nx];
+ float d = potarr[n + nx];
  // ROS_INFO("[Update] c: %0.1f l: %0.1f r: %0.1f u: %0.1f d: %0.1f\n",
  // potarr[n], l, r, u, d);
  // ROS_INFO("[Update] cost of %d: %d\n", n, costarr[n]);
@@ -527,8 +525,8 @@ NavFn::updateCellAstar(int n)
  // use quadratic approximation
  // might speed this up through table lookup, but still have to
  // do the divide
- float d = dc / hf;
- float v = -0.2301 * d * d + 0.5307 * d + 0.7040;
+ const float div = dc / hf;
+ const float v = -0.2301 * div * div + 0.5307 * div + 0.7040;
  pot = ta + hf * v;
  }
 
@@ -834,22 +832,22 @@ NavFn::calcPath(int n, int * st)
  // check eight neighbors to find the lowest
  int minc = stc;
  int minp = potarr[stc];
- int st = stcpx - 1;
- if (potarr[st] < minp) {minp = potarr[st]; minc = st;}
- st++;
- if (potarr[st] < minp) {minp = potarr[st]; minc = st;}
- st++;
- if (potarr[st] < minp) {minp = potarr[st]; minc = st;}
- st = stc - 1;
- if (potarr[st] < minp) {minp = potarr[st]; minc = st;}
- st = stc + 1;
- if (potarr[st] < minp) {minp = potarr[st]; minc = st;}
- st = stcnx - 1;
- if (potarr[st] < minp) {minp = potarr[st]; minc = st;}
- st++;
- if (potarr[st] < minp) {minp = potarr[st]; minc = st;}
- st++;
- if (potarr[st] < minp) {minp = potarr[st]; minc = st;}
+ int sti = stcpx - 1;
+ if (potarr[sti] < minp) {minp = potarr[sti]; minc = sti;}
+ sti++;
+ if (potarr[sti] < minp) {minp = potarr[sti]; minc = sti;}
+ sti++;
+ if (potarr[sti] < minp) {minp = potarr[sti]; minc = sti;}
+ sti = stc - 1;
+ if (potarr[sti] < minp) {minp = potarr[sti]; minc = sti;}
+ sti = stc + 1;
+ if (potarr[sti] < minp) {minp = potarr[sti]; minc = sti;}
+ sti = stcnx - 1;
+ if (potarr[sti] < minp) {minp = potarr[sti]; minc = sti;}
+ sti++;
+ if (potarr[sti] < minp) {minp = potarr[sti]; minc = sti;}
+ sti++;
+ if (potarr[sti] < minp) {minp = potarr[sti]; minc = sti;}
  stc = minc;
  dx = 0;
  dy = 0;

nav2_regulated_pure_pursuit_controller/src/path_handler.cpp

@@ -77,8 +77,8 @@ nav_msgs::msg::Path PathHandler::transformGlobalPlan(
  const double max_costmap_extent = getCostmapMaxExtent();
  auto transformation_end = std::find_if(
  transformation_begin, global_plan_.poses.end(),
- [&](const auto & pose) {
- return euclidean_distance(pose, robot_pose) > max_costmap_extent;
+ [&](const auto & global_plan_pose) {
+ return euclidean_distance(global_plan_pose, robot_pose) > max_costmap_extent;
  });
 
  // Lambda to transform a PoseStamped from global frame to local

nav2_smoother/test/test_smoother_server.cpp

@@ -158,8 +158,8 @@ class DummyFootprintSubscriber : public nav2_costmap_2d::FootprintSubscriber
  DummyFootprintSubscriber(
  nav2_util::LifecycleNode::SharedPtr node,
  const std::string & topic_name,
- tf2_ros::Buffer & tf_)
- : FootprintSubscriber(node, topic_name, tf_)
+ tf2_ros::Buffer & tf)
+ : FootprintSubscriber(node, topic_name, tf)
  {
  auto footprint = std::make_shared<geometry_msgs::msg::PolygonStamped>();
  footprint->header.frame_id = "base_link"; // global frame = robot frame to avoid tf lookup

nav2_system_tests/CMakeLists.txt

@@ -23,6 +23,7 @@ find_package(nav2_planner REQUIRED)
 find_package(navigation2)
 find_package(angles REQUIRED)
 find_package(behaviortree_cpp_v3 REQUIRED)
+find_package(pluginlib REQUIRED)
 
 nav2_package()
 
@@ -45,6 +46,7 @@ set(dependencies
  nav2_navfn_planner
  angles
  behaviortree_cpp_v3
+ pluginlib
 )
 
 set(local_controller_plugin_lib local_controller)