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Add -Wconversion flag to protect future developments #667

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gwalck
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@gwalck gwalck commented Jun 13, 2023

Same reasons as ros-controls/ros2_control#1053

explicitly catching errors of time being zero in forward_command_controller see
I think there might be an ABI breaking in JTC with one argument changed from int to size_t. I did not know what to do there, and went for ABI breaking but I could also make it a static_cast if preferred. see

@@ -244,8 +244,8 @@ controller_interface::return_type TricycleController::update(
auto & realtime_ackermann_command = realtime_ackermann_command_publisher_->msg_;
// speed in AckermannDrive is defined desired forward speed (m/s) but we use it here as wheel
// speed (rad/s)
realtime_ackermann_command.speed = Ws_write;
realtime_ackermann_command.steering_angle = alpha_write;
realtime_ackermann_command.speed = static_cast<float>(Ws_write);
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this is ok but I'm tempted to say we should change the messages to use float64 here: https://github.com/ros-drivers/ackermann_msgs/blob/ros2/msg/AckermannDrive.msg

next time...

@bmagyar bmagyar merged commit 23f0def into ros-controls:master Jun 13, 2023
@destogl destogl deleted the add-conversion-cpp-flag branch June 14, 2023 17:54
henrygerardmoore pushed a commit to henrygerardmoore/ros2_controllers that referenced this pull request Jul 19, 2024
…s-controls#667)

* auto-switching of chained mode in controllers
* interface-matching approach for managing chaining controllers
@christophfroehlich
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@Mergifyio backport humble iron

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mergify bot commented Oct 26, 2024

backport humble iron

✅ Backports have been created

mergify bot pushed a commit that referenced this pull request Oct 26, 2024
mergify bot pushed a commit that referenced this pull request Oct 26, 2024
(cherry picked from commit 23f0def)

# Conflicts:
#	diff_drive_controller/src/diff_drive_controller.cpp
#	joint_trajectory_controller/src/joint_trajectory_controller.cpp
#	tricycle_controller/src/tricycle_controller.cpp
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3 participants