Add -Wconversion flag to protect future developments #667
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| @@ -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...
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…s-controls#667) * auto-switching of chained mode in controllers * interface-matching approach for managing chaining controllers
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@Mergifyio backport humble iron |
✅ Backports have been created
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(cherry picked from commit 23f0def)
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(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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Same reasons as ros-controls/ros2_control#1053
explicitly catching errors of time being zero in
forward_command_controllerseeI think there might be an ABI breaking in JTC with one argument changed from
inttosize_t. I did not know what to do there, and went for ABI breaking but I could also make it astatic_castif preferred. see