Add compiler flags

CMakeLists.txt

@@ -3,6 +3,8 @@ 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)

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);
 }