update golangci-lint

.golangci.yml

@@ -68,4 +68,3 @@ linters-settings:
     disable:
     - fieldalignment
     - reflectvaluecompare
-    - shadow

action_client_test.go

@@ -223,8 +223,8 @@ func TestActionClient(t *testing.T) {
 					},
 					OnTransition: func(gh *ActionClientGoalHandler, res *DoSomethingActionResult) {
 						if gh.CommState() == ActionClientCommStateDone {
-							ts, err := gh.TerminalState()
-							require.NoError(t, err)
+							ts, err2 := gh.TerminalState()
+							require.NoError(t, err2)
 
 							switch ca {
 							case "rejected":

pkg/apimaster/client_test.go

@@ -231,7 +231,7 @@ func TestClientErrors(t *testing.T) {
 
 			case "unregisterSubscriber":
 				var req RequestUnregister
-				err := raw.Decode(&req)
+				err = raw.Decode(&req)
 				require.NoError(t, err)
 				if req.Topic == "mytopic" {
 					return ResponseUnregister{Code: 0, NumUnregistered: 1}
@@ -246,7 +246,7 @@ func TestClientErrors(t *testing.T) {
 
 			case "unregisterService":
 				var req RequestUnregisterService
-				err := raw.Decode(&req)
+				err = raw.Decode(&req)
 				require.NoError(t, err)
 				if req.Service == "myservice" {
 					return ResponseServiceUnregister{Code: 0, NumUnregistered: 1}

pkg/apiparam/client_test.go

@@ -204,7 +204,7 @@ func TestClientError(t *testing.T) {
 
 			case "getParam":
 				var req RequestGetParam
-				err := raw.Decode(&req)
+				err = raw.Decode(&req)
 				require.NoError(t, err)
 
 				switch req.Key {
@@ -223,7 +223,7 @@ func TestClientError(t *testing.T) {
 
 			case "hasParam":
 				var req RequestHasParam
-				err := raw.Decode(&req)
+				err = raw.Decode(&req)
 				require.NoError(t, err)
 
 				if req.Key == "mykey" {

pkg/conversion/message_definition.go

@@ -210,7 +210,9 @@ func parseMessageDefinition(rosPkgName string, name string, content string) (*me
 		if i < 0 {
 			return nil, fmt.Errorf("unable to parse line (%s)", line)
 		}
-		typ, line := line[:i], line[i+1:]
+
+		var typ string
+		typ, line = line[:i], line[i+1:]
 
 		line = strings.TrimLeft(line, " \t")
 

pkg/xmlrpc/request.go

@@ -104,7 +104,7 @@ func requestEncode(w io.Writer, method string, params interface{}) error {
 	for i := 0; i < nf; i++ {
 		field := rv.Field(i)
 
-		_, err := w.Write([]byte(`<param>`))
+		_, err = w.Write([]byte(`<param>`))
 		if err != nil {
 			return err
 		}

pkg/xmlrpc/server_test.go

@@ -28,7 +28,7 @@ func TestServer(t *testing.T) {
 	go s.Serve(func(raw *RequestRaw) interface{} {
 		if raw.Method == "mymethod" {
 			var req myRequest
-			err := raw.Decode(&req)
+			err = raw.Decode(&req)
 			require.NoError(t, err)
 			return myResponse{Param: "myresponse"}
 		}
@@ -40,7 +40,8 @@ func TestServer(t *testing.T) {
 		err = requestEncode(&buf, "mymethod", myRequest{Param: "myrequest"})
 		require.NoError(t, err)
 
-		res, err := http.Post("http://localhost:9904/RPC2", "text/xml", &buf)
+		var res *http.Response
+		res, err = http.Post("http://localhost:9904/RPC2", "text/xml", &buf)
 		require.NoError(t, err)
 		defer res.Body.Close()
 
@@ -51,14 +52,16 @@ func TestServer(t *testing.T) {
 	})
 
 	t.Run("wrong path", func(t *testing.T) {
-		res, err := http.Post("http://localhost:9904/wrong", "text/xml", nil)
+		var res *http.Response
+		res, err = http.Post("http://localhost:9904/wrong", "text/xml", nil)
 		require.NoError(t, err)
 		defer res.Body.Close()
 		require.Equal(t, 404, res.StatusCode)
 	})
 
 	t.Run("wrong method", func(t *testing.T) {
-		res, err := http.Get("http://localhost:9904/RPC2")
+		var res *http.Response
+		res, err = http.Get("http://localhost:9904/RPC2")
 		require.NoError(t, err)
 		defer res.Body.Close()
 		require.Equal(t, 404, res.StatusCode)
@@ -67,7 +70,8 @@ func TestServer(t *testing.T) {
 	t.Run("invalid request", func(t *testing.T) {
 		var buf bytes.Buffer
 		buf.WriteString("wrong")
-		res, err := http.Post("http://localhost:9904/RPC2", "text/xml", &buf)
+		var res *http.Response
+		res, err = http.Post("http://localhost:9904/RPC2", "text/xml", &buf)
 		require.NoError(t, err)
 		defer res.Body.Close()
 		require.Equal(t, 400, res.StatusCode)

pkg/xmlrpc/value.go

@@ -189,7 +189,8 @@ func valueDecode(dec *xml.Decoder, dest reflect.Value) error {
 	case xml.StartElement:
 		switch ttok.Name.Local {
 		case "boolean":
-			cnt, err := xmlGetContent(dec)
+			var cnt []byte
+			cnt, err = xmlGetContent(dec)
 			if err != nil {
 				return err
 			}
@@ -200,7 +201,8 @@ func valueDecode(dec *xml.Decoder, dest reflect.Value) error {
 			}
 
 		case "int", "i4":
-			cnt, err := xmlGetContent(dec)
+			var cnt []byte
+			cnt, err = xmlGetContent(dec)
 			if err != nil {
 				return err
 			}
@@ -211,7 +213,8 @@ func valueDecode(dec *xml.Decoder, dest reflect.Value) error {
 			}
 
 		case "double":
-			cnt, err := xmlGetContent(dec)
+			var cnt []byte
+			cnt, err = xmlGetContent(dec)
 			if err != nil {
 				return err
 			}
@@ -222,7 +225,8 @@ func valueDecode(dec *xml.Decoder, dest reflect.Value) error {
 			}
 
 		case "string":
-			cnt, err := xmlGetContent(dec)
+			var cnt []byte
+			cnt, err = xmlGetContent(dec)
 			if err != nil {
 				return err
 			}
@@ -233,7 +237,8 @@ func valueDecode(dec *xml.Decoder, dest reflect.Value) error {
 			}
 
 		case "base64":
-			cnt, err := xmlGetContent(dec)
+			var cnt []byte
+			cnt, err = xmlGetContent(dec)
 			if err != nil {
 				return err
 			}
@@ -296,39 +301,39 @@ func valueEncode(w io.Writer, src reflect.Value) error {
 		if tval {
 			v = "1"
 		}
-		_, err := w.Write([]byte(`<boolean>` + v + `</boolean>`))
+		_, err = w.Write([]byte(`<boolean>` + v + `</boolean>`))
 		if err != nil {
 			return err
 		}
 
 	case int:
-		_, err := w.Write([]byte(`<i4>` + strconv.FormatInt(int64(tval), 10) + `</i4>`))
+		_, err = w.Write([]byte(`<i4>` + strconv.FormatInt(int64(tval), 10) + `</i4>`))
 		if err != nil {
 			return err
 		}
 
 	case float64:
-		_, err := w.Write([]byte(`<double>` + strconv.FormatFloat(tval, 'G', -1, 64) + `</double>`))
+		_, err = w.Write([]byte(`<double>` + strconv.FormatFloat(tval, 'G', -1, 64) + `</double>`))
 		if err != nil {
 			return err
 		}
 
 	case string:
-		_, err := w.Write([]byte(tval))
+		_, err = w.Write([]byte(tval))
 		if err != nil {
 			return err
 		}
 
 	case []byte:
-		_, err := w.Write([]byte(`<base64>` + base64.StdEncoding.EncodeToString(tval) + `</base64>`))
+		_, err = w.Write([]byte(`<base64>` + base64.StdEncoding.EncodeToString(tval) + `</base64>`))
 		if err != nil {
 			return err
 		}
 
 	default:
 		switch src.Kind() {
 		case reflect.Struct:
-			_, err := w.Write([]byte(`<array><data>`))
+			_, err = w.Write([]byte(`<array><data>`))
 			if err != nil {
 				return err
 			}
@@ -337,7 +342,7 @@ func valueEncode(w io.Writer, src reflect.Value) error {
 			for i := 0; i < nf; i++ {
 				field := src.Field(i)
 
-				err := valueEncode(w, field)
+				err = valueEncode(w, field)
 				if err != nil {
 					return err
 				}
@@ -349,7 +354,7 @@ func valueEncode(w io.Writer, src reflect.Value) error {
 			}
 
 		case reflect.Slice:
-			_, err := w.Write([]byte(`<array><data>`))
+			_, err = w.Write([]byte(`<array><data>`))
 			if err != nil {
 				return err
 			}
@@ -358,7 +363,7 @@ func valueEncode(w io.Writer, src reflect.Value) error {
 			for i := 0; i < le; i++ {
 				el := src.Index(i)
 
-				err := valueEncode(w, el)
+				err = valueEncode(w, el)
 				if err != nil {
 					return err
 				}

service_client_test.go

@@ -92,8 +92,8 @@ func TestServiceClientRequestAfterProvider(t *testing.T) {
 						B: "456",
 					}
 					var res TestServiceRes
-					err := sc.Call(&req, &res)
-					require.NoError(t, err)
+					err2 := sc.Call(&req, &res)
+					require.NoError(t, err2)
 
 					expected := TestServiceRes{C: 123}
 					require.Equal(t, expected, res)

service_provider_test.go

@@ -119,7 +119,8 @@ func TestServiceProviderResponse(t *testing.T) {
 
 			switch client {
 			case "cpp", "go":
-				sp, err := NewServiceProvider(ServiceProviderConf{
+				var sp *ServiceProvider
+				sp, err = NewServiceProvider(ServiceProviderConf{
 					Node: nsp,
 					Name: "test_srv",
 					Srv:  &TestService{},
@@ -136,7 +137,8 @@ func TestServiceProviderResponse(t *testing.T) {
 				defer sp.Close()
 
 			case "rosservice call":
-				sp, err := NewServiceProvider(ServiceProviderConf{
+				var sp *ServiceProvider
+				sp, err = NewServiceProvider(ServiceProviderConf{
 					Node: nsp,
 					Name: "test_srv",
 					Srv:  &std_srvs.SetBool{},

subscriber_pub.go

@@ -144,7 +144,7 @@ func (sp *subscriberPublisher) runInner() error {
 				requestedProtos = [][]interface{}{{"TCPROS"}}
 			} else {
 				var buf bytes.Buffer
-				err := protocommon.HeaderEncode(&buf, &protoudp.HeaderSubscriber{
+				err = protocommon.HeaderEncode(&buf, &protoudp.HeaderSubscriber{
 					Callerid:          sp.sub.conf.Node.absoluteName(),
 					Md5sum:            sp.sub.msgMd5,
 					Topic:             sp.sub.conf.Node.absoluteTopicName(sp.sub.conf.Topic),
@@ -230,7 +230,7 @@ func (sp *subscriberPublisher) runInnerTCP(proto []interface{}) error {
 	}
 
 	if sp.sub.conf.DisableNoDelay {
-		err := nconn.(*net.TCPConn).SetNoDelay(false)
+		err = nconn.(*net.TCPConn).SetNoDelay(false)
 		if err != nil {
 			return err
 		}

subscriber_test.go

@@ -57,17 +57,17 @@ func newTestPublisher(t *testing.T, masterIP string,
 	require.NoError(t, err)
 
 	go func() {
-		nconn, err := tcprosListener.Accept()
-		require.NoError(t, err)
+		nconn, err2 := tcprosListener.Accept()
+		require.NoError(t, err2)
 		defer nconn.Close()
 		tconn := prototcp.NewConn(nconn)
 
-		rawHeader, err := tconn.ReadHeaderRaw()
-		require.NoError(t, err)
+		rawHeader, err2 := tconn.ReadHeaderRaw()
+		require.NoError(t, err2)
 
 		var header prototcp.HeaderSubscriber
-		err = protocommon.HeaderDecode(rawHeader, &header)
-		require.NoError(t, err)
+		err2 = protocommon.HeaderDecode(rawHeader, &header)
+		require.NoError(t, err2)
 
 		cb(header, tconn)
 	}()
@@ -448,30 +448,30 @@ func TestSubscriberReadUDP(t *testing.T) {
 						protoHost := req2.Protocols[0][2].(string)
 						protoPort := req2.Protocols[0][3].(int)
 
-						msgMd5, err := msgproc.MD5(std_msgs.Int64MultiArray{})
+						var msgMd5 string
+						msgMd5, err = msgproc.MD5(std_msgs.Int64MultiArray{})
 						require.NoError(t, err)
 
-						udpAddr, err := net.ResolveUDPAddr("udp",
+						var udpAddr *net.UDPAddr
+						udpAddr, err = net.ResolveUDPAddr("udp",
 							net.JoinHostPort(protoHost, strconv.FormatInt(int64(protoPort), 10)))
 						require.NoError(t, err)
 
 						go func() {
 							time.Sleep(1 * time.Second)
-							err := uconn.WriteMessage(1, 1, &expected, udpAddr)
-							require.NoError(t, err)
+							err2 := uconn.WriteMessage(1, 1, &expected, udpAddr)
+							require.NoError(t, err2)
 						}()
 
-						udpHeader := func() []byte {
-							var buf bytes.Buffer
-							err := protocommon.HeaderEncode(&buf, &protoudp.HeaderPublisher{
-								Callerid: "/myns/goroslib_pub",
-								Md5sum:   msgMd5,
-								Topic:    "/myns/test_topic",
-								Type:     "std_msgs/Int64MultiArray",
-							})
-							require.NoError(t, err)
-							return buf.Bytes()[4:]
-						}()
+						var buf bytes.Buffer
+						err = protocommon.HeaderEncode(&buf, &protoudp.HeaderPublisher{
+							Callerid: "/myns/goroslib_pub",
+							Md5sum:   msgMd5,
+							Topic:    "/myns/test_topic",
+							Type:     "std_msgs/Int64MultiArray",
+						})
+						require.NoError(t, err)
+						udpHeader := buf.Bytes()[4:]
 
 						return apislave.ResponseRequestTopic{
 							Code: 1,