Fix some warnings on GCC13/Ubuntu 24.04 (ros-navigation#4265)

* nav_2d_utils: use get_parameter without default value

the original prototype construct a Parameter from the &parameter
references. Our value is unassigned, which caused a warning.
fix ‘value’ may be used uninitialized warning on gcc13.

Signed-off-by: Chuanhong Guo <gch981213@gmail.com>

* nav2_behaviors: use get_parameter without default value

the two-parameter version of get_parameter constructs a
Parameter from the &parameter references. Our value is
unassigned, which caused a warning.
fix 'may be used uninitialized' warning on gcc13.

Signed-off-by: Chuanhong Guo <gch981213@gmail.com>

* waypoint_follower: use get_parameter without default value

the two-parameter version of get_parameter constructs a
Parameter from the &parameter references. Our value is
unassigned, which caused a warning.
fix 'may be used uninitialized' warning on gcc13.

Signed-off-by: Chuanhong Guo <gch981213@gmail.com>

* nav2_behavior_tree: use get_parameter without default value

the two-parameter version of get_parameter constructs a
Parameter from the &parameter references. Our value is
unassigned, which caused a warning.
fix 'may be used uninitialized' warning on gcc13.

Signed-off-by: Chuanhong Guo <gch981213@gmail.com>

* constrained_smoother: initialize prelast_dir in upsampleAndPopulate

It's technically not needed but GCC can't figure this out and
complains.

Signed-off-by: Chuanhong Guo <gch981213@gmail.com>

* waypoint_follower: fix warns about null pointer dereferencing

gcc13 warns that get_current_goal() may be nullptr and doesn't
allow the assignment of it to poses:
error: potential null pointer dereference [-Werror=null-dereference]

Check the pointer before using it.

Signed-off-by: Chuanhong Guo <gch981213@gmail.com>

* Update nav2_waypoint_follower/src/waypoint_follower.cpp

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

---------

Signed-off-by: Chuanhong Guo <gch981213@gmail.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp

@@ -144,8 +144,8 @@ bool BtActionServer<ActionT>::on_configure()
   rclcpp::copy_all_parameter_values(node, client_node_);
 
   // set the timeout in seconds for the action server to discard goal handles if not finished
-  double action_server_result_timeout;
-  node->get_parameter("action_server_result_timeout", action_server_result_timeout);
+  double action_server_result_timeout =
+    node->get_parameter("action_server_result_timeout").as_double();
   rcl_action_server_options_t server_options = rcl_action_server_get_default_options();
   server_options.result_timeout.nanoseconds = RCL_S_TO_NS(action_server_result_timeout);
 

nav2_behaviors/src/behavior_server.cpp

@@ -147,8 +147,8 @@ void BehaviorServer::setupResourcesForBehaviorPlugins()
   get_parameter("global_costmap_topic", global_costmap_topic);
   get_parameter("local_footprint_topic", local_footprint_topic);
   get_parameter("global_footprint_topic", global_footprint_topic);
-  get_parameter("transform_tolerance", transform_tolerance);
   get_parameter("robot_base_frame", robot_base_frame);
+  transform_tolerance = get_parameter("transform_tolerance").as_double();
 
   bool need_local_costmap = false;
   bool need_global_costmap = false;

nav2_constrained_smoother/include/nav2_constrained_smoother/smoother.hpp

@@ -293,7 +293,7 @@ class Smoother
     }
     int last_i = 0;
     int prelast_i = -1;
-    Eigen::Vector2d prelast_dir;
+    Eigen::Vector2d prelast_dir = {0, 0};
     for (int i = 1; i <= static_cast<int>(path_optim.size()); i++) {
       if (i == static_cast<int>(path_optim.size()) || optimized[i]) {
         if (prelast_i != -1) {

nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/parameters.hpp

@@ -64,12 +64,10 @@ param_t searchAndGetParam(
   const nav2_util::LifecycleNode::SharedPtr & nh, const std::string & param_name,
   const param_t & default_value)
 {
-  param_t value;
   nav2_util::declare_parameter_if_not_declared(
     nh, param_name,
     rclcpp::ParameterValue(default_value));
-  nh->get_parameter(param_name, value);
-  return value;
+  return nh->get_parameter(param_name).get_value<param_t>();
 }
 
 }  // namespace nav_2d_utils

nav2_waypoint_follower/plugins/input_at_waypoint.cpp

@@ -60,7 +60,7 @@ void InputAtWaypoint::initialize(
   nav2_util::declare_parameter_if_not_declared(
     node, plugin_name + ".input_topic",
     rclcpp::ParameterValue("input_at_waypoint/input"));
-  node->get_parameter(plugin_name + ".timeout", timeout);
+  timeout = node->get_parameter(plugin_name + ".timeout").as_double();
   node->get_parameter(plugin_name + ".enabled", is_enabled_);
   node->get_parameter(plugin_name + ".input_topic", input_topic);
 

nav2_waypoint_follower/src/waypoint_follower.cpp

@@ -78,8 +78,7 @@ WaypointFollower::on_configure(const rclcpp_lifecycle::State & /*state*/)
     get_node_waitables_interface(),
     "navigate_to_pose", callback_group_);
 
-  double action_server_result_timeout;
-  get_parameter("action_server_result_timeout", action_server_result_timeout);
+  double action_server_result_timeout = get_parameter("action_server_result_timeout").as_double();
   rcl_action_server_options_t server_options = rcl_action_server_get_default_options();
   server_options.result_timeout.nanoseconds = RCL_S_TO_NS(action_server_result_timeout);
 
@@ -187,15 +186,21 @@ std::vector<geometry_msgs::msg::PoseStamped> WaypointFollower::getLatestGoalPose
   const T & action_server)
 {
   std::vector<geometry_msgs::msg::PoseStamped> poses;
+  const auto current_goal = action_server->get_current_goal();
+
+  if (!current_goal) {
+    RCLCPP_ERROR(get_logger(), "No current action goal found!");
+    return poses;
+  }
 
   // compile time static check to decide which block of code to be built
   if constexpr (std::is_same<T, std::unique_ptr<ActionServer>>::value) {
     // If normal waypoint following callback was called, we build here
-    poses = action_server->get_current_goal()->poses;
+    poses = current_goal->poses;
   } else {
     // If GPS waypoint following callback was called, we build here
     poses = convertGPSPosesToMapPoses(
-      action_server->get_current_goal()->gps_poses);
+      current_goal->gps_poses);
   }
   return poses;
 }