Merge branch 'iron' into build/cmake_version

.github/workflows/humble.yml

@@ -14,16 +14,16 @@ jobs:
 
     steps:
     - name: Update
-      run: apt update
+      run: apt-get update
 
     - name: Install PIP
-      run: apt install -y python3-pip lcov
+      run: apt-get install -y python3-pip lcov
 
     - name: Install colcon tools
       run: python3 -m pip install colcon-lcov-result colcon-coveragepy-result
 
     - name: Run Tests
-      uses: ros-tooling/action-ros-ci@0.3.5
+      uses: ros-tooling/action-ros-ci@0.3.6
       with:
         ref: humble
         target-ros2-distro: humble
@@ -34,4 +34,4 @@ jobs:
       with:
         name: colcon-logs
         path: ros_ws/log
-      if: always()
+      if: failure()

.github/workflows/iron.yml

@@ -14,19 +14,19 @@ jobs:
 
     steps:
     - name: Update
-      run: apt update
+      run: apt-get update
 
     - name: Install PIP
-      run: apt install -y python3-pip lcov
+      run: apt-get install -y python3-pip lcov
 
     - name: Install colcon tools
       run: python3 -m pip install colcon-lcov-result colcon-coveragepy-result
 
     - name: Checkout
-      uses: actions/checkout@v2
+      uses: actions/checkout@v4
 
     - name: Run Tests
-      uses: ros-tooling/action-ros-ci@0.3.5
+      uses: ros-tooling/action-ros-ci@0.3.6
       with:
         target-ros2-distro: iron
         import-token: ${{ secrets.GITHUB_TOKEN }}
@@ -37,4 +37,4 @@ jobs:
       with:
         name: colcon-logs
         path: ros_ws/log
-      if: always()
+      if: failure()

.github/workflows/rolling.yml

@@ -1,4 +1,4 @@
-name: Ubuntu 22.04 Rolling Build
+name: Ubuntu 24.04 Rolling Build
 
 on:
   pull_request:
@@ -10,23 +10,20 @@ jobs:
   Build:
     runs-on: self-hosted
     container:
-      image: osrf/ros:rolling-desktop-full-jammy
+      image: osrf/ros:rolling-desktop-full
 
     steps:
     - name: Update
-      run: apt update
+      run: apt-get update
 
     - name: Install PIP
-      run: apt install -y python3-pip lcov
-
-    - name: Install colcon tools
-      run: python3 -m pip install colcon-lcov-result colcon-coveragepy-result
+      run: apt-get install -y python3-pip lcov python3-colcon-lcov-result python3-colcon-coveragepy-result
 
     - name: Checkout
-      uses: actions/checkout@v2
+      uses: actions/checkout@v4
 
     - name: Run Tests
-      uses: ros-tooling/action-ros-ci@0.3.5
+      uses: ros-tooling/action-ros-ci@0.3.13
       with:
         target-ros2-distro: rolling
         import-token: ${{ secrets.GITHUB_TOKEN }}
@@ -37,4 +34,4 @@ jobs:
       with:
         name: colcon-logs
         path: ros_ws/log
-      if: always()
+      if: failure()

CMakeLists.txt

@@ -3,12 +3,14 @@ project(native_adapters)
 
 set(CMAKE_CXX_STANDARD 17)
 
+add_compile_options(-Wall -Wextra -Wpedantic -Wconversion -Wdouble-promotion -Wfloat-equal -Wshadow)
+
 find_package(std_msgs REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(nav_msgs REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_components REQUIRED)
-find_package(OpenCV REQUIRED)
+find_package(OpenCV REQUIRED COMPONENTS core)
 find_package(PCL 1.12 REQUIRED COMPONENTS common)
 find_package(pcl_conversions REQUIRED)
 find_package(cv_bridge REQUIRED)
@@ -42,7 +44,7 @@ target_link_libraries(pcl_adapters
   rclcpp::rclcpp
   ${std_msgs_TARGETS}
   ${sensor_msgs_TARGETS}
-  ${PCL_LIBRARIES}
+  pcl_common
 )
 
 add_library(cv_adapters SHARED
@@ -67,7 +69,7 @@ target_link_libraries(cv_adapters
   ${nav_msgs_TARGETS}
   ${dem_msgs_TARGETS}
   ${cv_bridge_TARGETS}
-  ${OpenCV_LIBS}
+  opencv_core
 )
 
 install(

package.xml

@@ -17,7 +17,7 @@
   <depend>nav_msgs</depend>
   <depend>dem_msgs</depend>
   <depend>libopencv-dev</depend>
-  <depend>libpcl-common</depend>
+  <depend>libpcl-all-dev</depend>
   <depend>pcl_conversions</depend>
   <depend>cv_bridge</depend>
 

src/NavMsgOccupancyGrid_CvMat.cpp

@@ -50,7 +50,8 @@ void rclcpp::TypeAdapter<StampedOccupancyGrid_CV,
   destination.data.resize(source.mat.rows * source.mat.cols);
   for (int y = 0; y < source.mat.rows; ++y) {
     for (int x = 0; x < source.mat.cols; ++x) {
-      destination.data[y * source.mat.cols + x] = source.mat.at<uint8_t>(y, x) - 1;
+      destination.data[y * source.mat.cols + x] =
+        static_cast<int8_t>(source.mat.at<uint8_t>(y, x) - 1);
     }
   }
   destination.header = source.header;
@@ -67,7 +68,8 @@ void rclcpp::TypeAdapter<StampedOccupancyGrid_CV, nav_msgs::msg::OccupancyGrid>:
     cv::Mat(source.info.height, source.info.width, CV_MAKETYPE(cv::DataType<uint8_t>::type, 1));
   for (unsigned int y = 0; y < source.info.height; ++y) {
     for (unsigned int x = 0; x < source.info.width; ++x) {
-      destination.mat.at<uint8_t>(y, x) = source.data[y * source.info.width + x] + 1;
+      destination.mat.at<uint8_t>(y, x) =
+        static_cast<uint8_t>(source.data[y * source.info.width + x] + 1);
     }
   }
   destination.header = source.header;

src/SensorMsgPointCloud2_PCLPointCloud.cpp

@@ -35,20 +35,20 @@ StampedPointCloud_PCL & StampedPointCloud_PCL::operator=(const StampedPointCloud
 
 uint32_t StampedPointCloud_PCL::width() const
 {
-  return std::visit([](auto && cloud) {return cloud.width;}, cloud);
+  return std::visit([](auto && _cloud) {return _cloud.width;}, cloud);
 }
 
 
 uint32_t StampedPointCloud_PCL::height() const
 {
-  return std::visit([](auto && cloud) {return cloud.height;}, cloud);
+  return std::visit([](auto && _cloud) {return _cloud.height;}, cloud);
 }
 
 bool StampedPointCloud_PCL::has_colors() const
 {
   return std::visit(
-    [](auto && cloud) {
-      using T = typename std::decay_t<decltype(cloud)>::PointType;
+    [](auto && _cloud) {
+      using T = typename std::decay_t<decltype(_cloud)>::PointType;
       return pcl::traits::has_color_v<T>;
     }, cloud);
 }