From 131b9c52bc953acba06ef825d2f44dc06ea70476 Mon Sep 17 00:00:00 2001
From: gwalck <guillaume.walck@stoglrobotics.de>
Date: Tue, 13 Jun 2023 20:46:31 +0200
Subject: [PATCH] Added -Wconversion flag and fix warnings (#667)

(cherry picked from commit 23f0defd94a5a80f07c339b0babc736d2d0dcd25)

# Conflicts:
#	diff_drive_controller/src/diff_drive_controller.cpp
#	joint_trajectory_controller/src/joint_trajectory_controller.cpp
#	tricycle_controller/src/tricycle_controller.cpp
---
 .../src/diff_drive_controller.cpp             |  5 +++
 .../src/joint_trajectory_controller.cpp       |  8 ++++
 .../src/tricycle_controller.cpp               | 38 +++++++++++++++++++
 3 files changed, 51 insertions(+)

diff --git a/diff_drive_controller/src/diff_drive_controller.cpp b/diff_drive_controller/src/diff_drive_controller.cpp
index f277fb7aa2..4603910da5 100644
--- a/diff_drive_controller/src/diff_drive_controller.cpp
+++ b/diff_drive_controller/src/diff_drive_controller.cpp
@@ -167,8 +167,13 @@ controller_interface::return_type DiffDriveController::update(
       left_feedback_mean += left_feedback;
       right_feedback_mean += right_feedback;
     }
+<<<<<<< HEAD
     left_feedback_mean /= static_cast<double>(wheels_per_side_);
     right_feedback_mean /= static_cast<double>(wheels_per_side_);
+=======
+    left_feedback_mean /= static_cast<double>(params_.wheels_per_side);
+    right_feedback_mean /= static_cast<double>(params_.wheels_per_side);
+>>>>>>> 23f0def (Added -Wconversion flag and fix warnings (#667))
 
     if (params_.position_feedback)
     {
diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
index 19524664cc..41d1f34a32 100644
--- a/joint_trajectory_controller/src/joint_trajectory_controller.cpp
+++ b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -118,9 +118,17 @@ controller_interface::return_type JointTrajectoryController::update(
   {
     return controller_interface::return_type::OK;
   }
+<<<<<<< HEAD
   auto logger = this->get_node()->get_logger();
   // update dynamic parameters
   if (param_listener_->is_old(params_))
+=======
+
+  auto compute_error_for_joint = [&](
+                                   JointTrajectoryPoint & error, size_t index,
+                                   const JointTrajectoryPoint & current,
+                                   const JointTrajectoryPoint & desired)
+>>>>>>> 23f0def (Added -Wconversion flag and fix warnings (#667))
   {
     params_ = param_listener_->get_params();
     default_tolerances_ = get_segment_tolerances(logger, params_);
diff --git a/tricycle_controller/src/tricycle_controller.cpp b/tricycle_controller/src/tricycle_controller.cpp
index 66c6ed1b0f..761866f4ca 100644
--- a/tricycle_controller/src/tricycle_controller.cpp
+++ b/tricycle_controller/src/tricycle_controller.cpp
@@ -52,9 +52,47 @@ CallbackReturn TricycleController::on_init()
 {
   try
   {
+<<<<<<< HEAD
     // Create the parameter listener and get the parameters
     param_listener_ = std::make_shared<ParamListener>(get_node());
     params_ = param_listener_->get_params();
+=======
+    // with the lifecycle node being initialized, we can declare parameters
+    auto_declare<std::string>("traction_joint_name", std::string());
+    auto_declare<std::string>("steering_joint_name", std::string());
+
+    auto_declare<double>("wheelbase", wheel_params_.wheelbase);
+    auto_declare<double>("wheel_radius", wheel_params_.radius);
+
+    auto_declare<std::string>("odom_frame_id", odom_params_.odom_frame_id);
+    auto_declare<std::string>("base_frame_id", odom_params_.base_frame_id);
+    auto_declare<std::vector<double>>("pose_covariance_diagonal", std::vector<double>());
+    auto_declare<std::vector<double>>("twist_covariance_diagonal", std::vector<double>());
+    auto_declare<bool>("open_loop", odom_params_.open_loop);
+    auto_declare<bool>("enable_odom_tf", odom_params_.enable_odom_tf);
+    auto_declare<bool>("odom_only_twist", odom_params_.odom_only_twist);
+
+    auto_declare<int>("cmd_vel_timeout", static_cast<int>(cmd_vel_timeout_.count()));
+    auto_declare<bool>("publish_ackermann_command", publish_ackermann_command_);
+    auto_declare<int>("velocity_rolling_window_size", 10);
+    auto_declare<bool>("use_stamped_vel", use_stamped_vel_);
+
+    auto_declare<double>("traction.max_velocity", NAN);
+    auto_declare<double>("traction.min_velocity", NAN);
+    auto_declare<double>("traction.max_acceleration", NAN);
+    auto_declare<double>("traction.min_acceleration", NAN);
+    auto_declare<double>("traction.max_deceleration", NAN);
+    auto_declare<double>("traction.min_deceleration", NAN);
+    auto_declare<double>("traction.max_jerk", NAN);
+    auto_declare<double>("traction.min_jerk", NAN);
+
+    auto_declare<double>("steering.max_position", NAN);
+    auto_declare<double>("steering.min_position", NAN);
+    auto_declare<double>("steering.max_velocity", NAN);
+    auto_declare<double>("steering.min_velocity", NAN);
+    auto_declare<double>("steering.max_acceleration", NAN);
+    auto_declare<double>("steering.min_acceleration", NAN);
+>>>>>>> 23f0def (Added -Wconversion flag and fix warnings (#667))
   }
   catch (const std::exception & e)
   {