add static_analysis.yaml to project and fix some code to pass cppchec…

…k run

.github/workflows/static_analysis.yaml

@@ -0,0 +1,60 @@
+name: static_analysis
+
+on:
+  push:
+    branches: ['**']
+  pull_request:
+    branches: ['**']
+
+jobs:
+  cppcheck:
+    name: cppcheck
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v3
+
+      - name: Install 
+        shell: bash
+        run: |
+          sudo apt-get update;
+          sudo apt-get install -qq cppcheck;
+        
+      - name: Cppcheck Run
+        shell: bash
+        #Selected run options:
+        #  ./xxx            :   Folders to scan
+        #  --quiet          :   Don't show current checked configuration in log
+        #  --std=c++11      :   Use C++11 standard (default but worth mentioning)
+        #  --xml            :   Output in XML format
+        #  -j4              :   Run parallel jobs for a faster scan. current HW is 2 core (https://docs.github.com/en/actions/using-github-hosted-runners/about-github-hosted-runners) using 4 to future proof
+        #  --enable         :   Additional check to run. options are [all, warning, style, performance, protability, information, unusedFunction, missingInclude]
+        #  -I               :   Include directories
+        #  -i               :   Ignore directories. Ignore third-party libs that we don't want to check
+        #  --suppress       :   Don't issue errors about files matching the expression (when -i for folders is not enough)
+        #  --force          :   Check all configurations, takes a very long time (~2 hours) and did not find additional errors. Removed.
+        #  --max-configs=6  :   Using less configuration permutations (default is 12) to reduce run time. Detects less errors. Removed.
+        #  -Dxxx            :   preprocessor configuration to use. Relevant flags taken from build on Ubuntu.
+        run: > 
+          cppcheck ./realsense2_camera/src ./realsense2_camera/include ./realsense2_camera/tools
+          --quiet --std=c++11 --xml -j4 --enable=warning
+          -I./realsense2_camera/include -I./realsense2_camera/tools
+          &> cppcheck_run.log
+
+      - name: Cppcheck Result
+        shell: bash
+        run: |
+          ERROR_COUNT=$(grep cppcheck_run.log -e "severity=\"error\"" -c) || ERROR_COUNT=0
+          EXPECTED_ERROR_COUNT=0
+          if [ $ERROR_COUNT -eq $EXPECTED_ERROR_COUNT ]
+          then
+            echo "cppcheck_run succeeded, found" $ERROR_COUNT "errors, as expected"
+            exit 0
+          elif [ $ERROR_COUNT -lt $EXPECTED_ERROR_COUNT ]
+          then
+            echo "cppcheck_run ---> SUCCEEDED <--- but found" $ERROR_COUNT "errors when expecting" $EXPECTED_ERROR_COUNT
+            echo "Please update EXPECTED_ERROR_COUNT var in .github/workflows/static_analysis.yaml to the new lower value"
+          else
+            echo "cppcheck_run ---> FAILED <--- with" $ERROR_COUNT "errors; expecting" $EXPECTED_ERROR_COUNT
+          fi
+          cat cppcheck_run.log
+          exit 1

realsense2_camera/include/base_realsense_node.h

@@ -77,7 +77,6 @@ namespace realsense2_camera
     class SyncedImuPublisher
     {
         public:
-            SyncedImuPublisher() {_is_enabled=false;};
             SyncedImuPublisher(rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr imu_publisher, 
                                std::size_t waiting_list_size=1000);
             ~SyncedImuPublisher();
@@ -146,7 +145,7 @@ namespace realsense2_camera
         std::list<std::string> _parameters_names;
 
         void publishExtrinsicsTopic(const stream_index_pair& sip, const rs2_extrinsics& ex);
-        virtual void calcAndPublishStaticTransform(const rs2::stream_profile& profile, const rs2::stream_profile& base_profile);
+        void calcAndPublishStaticTransform(const rs2::stream_profile& profile, const rs2::stream_profile& base_profile);
         void getDeviceInfo(const realsense2_camera_msgs::srv::DeviceInfo::Request::SharedPtr req,
                                  realsense2_camera_msgs::srv::DeviceInfo::Response::SharedPtr res);
         tf2::Quaternion rotationMatrixToQuaternion(const float rotation[9]) const;
@@ -247,6 +246,7 @@ namespace realsense2_camera
         std::mutex _publish_tf_mutex;
         std::mutex _update_sensor_mutex;
         std::mutex _profile_changes_mutex;
+        std::mutex _publish_dynamic_tf_mutex;
 
         std::shared_ptr<tf2_ros::StaticTransformBroadcaster> _static_tf_broadcaster;
         std::shared_ptr<tf2_ros::TransformBroadcaster> _dynamic_tf_broadcaster;

realsense2_camera/include/dynamic_params.h

@@ -50,5 +50,7 @@ namespace realsense2_camera
             std::shared_ptr<std::thread> _update_functions_t;
             std::deque<std::function<void()> > _update_functions_v;
             std::list<std::string> self_set_parameters;
+            std::mutex _mu;
+
     };
 }

realsense2_camera/src/base_realsense_node.cpp

@@ -22,7 +22,7 @@ using namespace realsense2_camera;
 SyncedImuPublisher::SyncedImuPublisher(rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr imu_publisher, 
                                        std::size_t waiting_list_size):
             _publisher(imu_publisher), _pause_mode(false),
-            _waiting_list_size(waiting_list_size)
+            _waiting_list_size(waiting_list_size), _is_enabled(false)
             {}
 
 SyncedImuPublisher::~SyncedImuPublisher()
@@ -87,10 +87,21 @@ BaseRealSenseNode::BaseRealSenseNode(rclcpp::Node& node,
     _parameters(parameters),
     _dev(dev),
     _json_file_path(""),
+    _depth_scale_meters(0),
+    _clipping_distance(0),
+    _linear_accel_cov(0),
+    _angular_velocity_cov(0),
+    _hold_back_imu_for_frames(false),
+    _publish_tf(false),
     _tf_publish_rate(TF_PUBLISH_RATE),
+    _diagnostics_period(0),
     _use_intra_process(use_intra_process),
     _is_initialized_time_base(false),
+    _camera_time_base(0),
     _sync_frames(SYNC_FRAMES),
+    _pointcloud(false),
+    _publish_odom_tf(false),
+    _imu_sync_method(imu_sync_method::NONE),
     _is_profile_changed(false),
     _is_align_depth_changed(false)
 {
@@ -918,7 +929,7 @@ void BaseRealSenseNode::SetBaseStream()
     }
 
     std::vector<stream_index_pair>::const_iterator base_stream(base_stream_priority.begin());
-    while( (available_profiles.find(*base_stream) == available_profiles.end()) && (base_stream != base_stream_priority.end()))
+    while((base_stream != base_stream_priority.end()) && (available_profiles.find(*base_stream) == available_profiles.end()))
     {
         base_stream++;
     }
@@ -973,9 +984,7 @@ void BaseRealSenseNode::startDynamicTf()
 void BaseRealSenseNode::publishDynamicTransforms()
 {
     // Publish transforms for the cameras
-
-    std::mutex mu;
-    std::unique_lock<std::mutex> lock(mu);
+    std::unique_lock<std::mutex> lock(_publish_dynamic_tf_mutex);
     while (rclcpp::ok() && _is_running && _tf_publish_rate > 0)
     {
         _cv_tf.wait_for(lock, std::chrono::milliseconds((int)(1000.0/_tf_publish_rate)), [&]{return (!(_is_running && _tf_publish_rate > 0));});

realsense2_camera/src/dynamic_params.cpp

@@ -59,8 +59,7 @@ namespace realsense2_camera
     {
         int time_interval(1000);
         std::function<void()> func = [this, time_interval](){
-            std::mutex mu;
-            std::unique_lock<std::mutex> lock(mu);
+            std::unique_lock<std::mutex> lock(_mu);
             while(_is_running) {
                 _update_functions_cv.wait_for(lock, std::chrono::milliseconds(time_interval), [&]{return !_is_running || !_update_functions_v.empty();});
                 while (!_update_functions_v.empty())