fix(map based prediction): suppress warnings (autowarefoundation#296)

* feat: add Werror Signed-off-by: h-ohta <[email protected]> * fix: suppress warnings Signed-off-by: h-ohta <[email protected]> * fix: still use RCLCPP_ERROR Signed-off-by: h-ohta <[email protected]> * fix: add const Signed-off-by: h-ohta <[email protected]>
satoshi-ota · May 20, 2022 · 0b1d612 · 0b1d612
1 parent 6668c0e
commit 0b1d612
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Showing 4 changed files with 7 additions and 7 deletions.
diff --git a/perception/map_based_prediction/CMakeLists.txt b/perception/map_based_prediction/CMakeLists.txt
@@ -7,7 +7,7 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_EXTENSIONS OFF)
 endif()
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
 endif()
 
 find_package(ament_cmake_auto REQUIRED)

diff --git a/perception/map_based_prediction/include/map_based_prediction.hpp b/perception/map_based_prediction/include/map_based_prediction.hpp
@@ -48,11 +48,11 @@ class MapBasedPrediction
     const double height, const double current_d_position, const double current_d_velocity,
     const double current_s_position, const double current_s_velocity,
     const std_msgs::msg::Header & origin_header, Spline2D & spline2d,
-    autoware_auto_perception_msgs::msg::PredictedPath & path);
+    autoware_auto_perception_msgs::msg::PredictedPath & path) const;
 
   void getLinearPredictedPath(
     const geometry_msgs::msg::Pose & object_pose, const geometry_msgs::msg::Twist & object_twist,
-    autoware_auto_perception_msgs::msg::PredictedPath & predicted_path);
+    autoware_auto_perception_msgs::msg::PredictedPath & predicted_path) const;
 
   void normalizeLikelihood(
     autoware_auto_perception_msgs::msg::PredictedObjectKinematics & predicted_object_kinematics);

diff --git a/perception/map_based_prediction/src/map_based_prediction.cpp b/perception/map_based_prediction/src/map_based_prediction.cpp
@@ -192,8 +192,8 @@ void MapBasedPrediction::normalizeLikelihood(
 bool MapBasedPrediction::getPredictedPath(
   const double height, const double current_d_position, const double current_d_velocity,
   const double current_s_position, const double current_s_velocity,
-  const std_msgs::msg::Header & origin_header, Spline2D & spline2d,
-  autoware_auto_perception_msgs::msg::PredictedPath & path)
+  [[maybe_unused]] const std_msgs::msg::Header & origin_header, Spline2D & spline2d,
+  autoware_auto_perception_msgs::msg::PredictedPath & path) const
 {
   // Quintic polynomial for d
   // A = np.array([[T**3, T**4, T**5],
@@ -269,7 +269,7 @@ bool MapBasedPrediction::getPredictedPath(
 
 void MapBasedPrediction::getLinearPredictedPath(
   const geometry_msgs::msg::Pose & object_pose, const geometry_msgs::msg::Twist & object_twist,
-  autoware_auto_perception_msgs::msg::PredictedPath & predicted_path)
+  autoware_auto_perception_msgs::msg::PredictedPath & predicted_path) const
 {
   const double & sampling_delta_time = sampling_delta_time_;
   const double & time_horizon = time_horizon_;

diff --git a/perception/map_based_prediction/src/map_based_prediction_ros.cpp b/perception/map_based_prediction/src/map_based_prediction_ros.cpp
@@ -557,7 +557,7 @@ void MapBasedPredictionROS::objectsCallback(
       "map",        // src
       rclcpp::Time(), rclcpp::Duration::from_seconds(0.1));
   } catch (tf2::TransformException & ex) {
-    RCLCPP_ERROR(get_logger(), ex.what());
+    RCLCPP_ERROR(get_logger(), "%s", ex.what());
     return;
   }