Fix Wshadow errors and enforce it

nav2_amcl/src/pf/eig3.c

@@ -43,7 +43,7 @@ static void tred2(double V[n][n], double d[n], double e[n])
 //  Fortran subroutine in EISPACK.
 
   int i, j, k;
-  double f, g, h, hh;
+  double f, g, hh;
   for (j = 0; j < n; j++) {
     d[j] = V[n - 1][j];
   }
@@ -122,7 +122,7 @@ static void tred2(double V[n][n], double d[n], double e[n])
   for (i = 0; i < n - 1; i++) {
     V[n - 1][i] = V[i][i];
     V[i][i] = 1.0;
-    h = d[i + 1];
+    const double h = d[i + 1];
     if (h != 0.0) {
       for (k = 0; k <= i; k++) {
         d[k] = V[k][i + 1] / h;

nav2_common/cmake/nav2_package.cmake

@@ -37,7 +37,7 @@ macro(nav2_package)
   endif()
 
   if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-    add_compile_options(-Wall -Wextra -Wpedantic -Werror -Wdeprecated -fPIC )
+    add_compile_options(-Wall -Wextra -Wpedantic -Werror -Wdeprecated -fPIC -Wshadow)
     add_compile_options("$<$<COMPILE_LANGUAGE:CXX>:-Wnon-virtual-dtor>")
   endif()
 

nav2_constrained_smoother/include/nav2_constrained_smoother/smoother.hpp

@@ -194,8 +194,8 @@ class Smoother
       // update cusp zone costmap weights
       if (is_cusp) {
         double len_to_cusp = current_segment_len;
-        for (int i = potential_cusp_funcs.size() - 1; i >= 0; i--) {
-          auto & f = potential_cusp_funcs[i];
+        for (int i_cusp = potential_cusp_funcs.size() - 1; i_cusp >= 0; i_cusp--) {
+          auto & f = potential_cusp_funcs[i_cusp];
           double new_weight =
             params.cusp_costmap_weight * (1.0 - len_to_cusp / cusp_half_length) +
             params.costmap_weight * len_to_cusp / cusp_half_length;

nav2_costmap_2d/plugins/denoise_layer.cpp

@@ -171,12 +171,12 @@ DenoiseLayer::removeSinglePixels(Image<uint8_t> & image) const
         return v == NO_INFORMATION ? FREE_SPACE : v;
       };
     auto max = [&](const std::initializer_list<uint8_t> lst) {
-        std::array<uint8_t, 3> buf = {
+        std::array<uint8_t, 3> rbuf = {
           replace_to_free(*lst.begin()),
           replace_to_free(*(lst.begin() + 1)),
           replace_to_free(*(lst.begin() + 2))
         };
-        return *std::max_element(buf.begin(), buf.end());
+        return *std::max_element(rbuf.begin(), rbuf.end());
       };
     dilate(image, max_neighbors_image, group_connectivity_type_, max);
   } else {

nav2_costmap_2d/test/integration/test_costmap_topic_collision_checker.cpp

@@ -73,8 +73,8 @@ class DummyFootprintSubscriber : public nav2_costmap_2d::FootprintSubscriber
   DummyFootprintSubscriber(
     nav2_util::LifecycleNode::SharedPtr node,
     std::string & topic_name,
-    tf2_ros::Buffer & tf_)
-  : FootprintSubscriber(node, topic_name, tf_)
+    tf2_ros::Buffer & tf)
+  : FootprintSubscriber(node, topic_name, tf)
   {}
 
   void setFootprint(geometry_msgs::msg::PolygonStamped::SharedPtr msg)

nav2_dwb_controller/dwb_core/src/dwb_local_planner.cpp

@@ -526,8 +526,8 @@ DWBLocalPlanner::transformGlobalPlan(
   // from the robot using integrated distance
   auto transformation_end = std::find_if(
     transformation_begin, global_plan_.poses.end(),
-    [&](const auto & pose) {
-      return euclidean_distance(pose, robot_pose.pose) > transform_end_threshold;
+    [&](const auto & global_plan_pose) {
+      return euclidean_distance(global_plan_pose, robot_pose.pose) > transform_end_threshold;
     });
 
   // Transform the near part of the global plan into the robot's frame of reference.

nav2_dwb_controller/dwb_critics/test/obstacle_footprint_test.cpp

@@ -105,8 +105,7 @@ TEST(ObstacleFootprint, GetOrientedFootprint)
   pose.theta = theta;
   footprint_after = dwb_critics::getOrientedFootprint(pose, footprint_before);
 
-  uint i;
-  for (i = 0; i < footprint_before.size(); i++) {
+  for (uint i = 0; i < footprint_before.size(); i++) {
     ASSERT_EQ(rotate_origin(footprint_before[i], theta), footprint_after[i]);
   }
 

nav2_navfn_planner/src/navfn.cpp

@@ -421,11 +421,10 @@ inline void
 NavFn::updateCell(int n)
 {
   // get neighbors
-  float u, d, l, r;
-  l = potarr[n - 1];
-  r = potarr[n + 1];
-  u = potarr[n - nx];
-  d = potarr[n + nx];
+  const float l = potarr[n - 1];
+  const float r = potarr[n + 1];
+  const float u = potarr[n - nx];
+  const float d = potarr[n + nx];
   // ROS_INFO("[Update] c: %0.1f  l: %0.1f  r: %0.1f  u: %0.1f  d: %0.1f\n",
   //  potarr[n], l, r, u, d);
   // ROS_INFO("[Update] cost: %d\n", costarr[n]);
@@ -452,8 +451,8 @@ NavFn::updateCell(int n)
       // use quadratic approximation
       // might speed this up through table lookup, but still have to
       //   do the divide
-      float d = dc / hf;
-      float v = -0.2301 * d * d + 0.5307 * d + 0.7040;
+      const float div = dc / hf;
+      const float v = -0.2301 * div * div + 0.5307 * div + 0.7040;
       pot = ta + hf * v;
     }
 
@@ -496,11 +495,10 @@ inline void
 NavFn::updateCellAstar(int n)
 {
   // get neighbors
-  float u, d, l, r;
-  l = potarr[n - 1];
-  r = potarr[n + 1];
-  u = potarr[n - nx];
-  d = potarr[n + nx];
+  float l = potarr[n - 1];
+  float r = potarr[n + 1];
+  float u = potarr[n - nx];
+  float d = potarr[n + nx];
   // ROS_INFO("[Update] c: %0.1f  l: %0.1f  r: %0.1f  u: %0.1f  d: %0.1f\n",
   // potarr[n], l, r, u, d);
   // ROS_INFO("[Update] cost of %d: %d\n", n, costarr[n]);
@@ -527,8 +525,8 @@ NavFn::updateCellAstar(int n)
       // use quadratic approximation
       // might speed this up through table lookup, but still have to
       //   do the divide
-      float d = dc / hf;
-      float v = -0.2301 * d * d + 0.5307 * d + 0.7040;
+      const float div = dc / hf;
+      const float v = -0.2301 * div * div + 0.5307 * div + 0.7040;
       pot = ta + hf * v;
     }
 
@@ -834,22 +832,22 @@ NavFn::calcPath(int n, int * st)
       // check eight neighbors to find the lowest
       int minc = stc;
       int minp = potarr[stc];
-      int st = stcpx - 1;
-      if (potarr[st] < minp) {minp = potarr[st]; minc = st;}
-      st++;
-      if (potarr[st] < minp) {minp = potarr[st]; minc = st;}
-      st++;
-      if (potarr[st] < minp) {minp = potarr[st]; minc = st;}
-      st = stc - 1;
-      if (potarr[st] < minp) {minp = potarr[st]; minc = st;}
-      st = stc + 1;
-      if (potarr[st] < minp) {minp = potarr[st]; minc = st;}
-      st = stcnx - 1;
-      if (potarr[st] < minp) {minp = potarr[st]; minc = st;}
-      st++;
-      if (potarr[st] < minp) {minp = potarr[st]; minc = st;}
-      st++;
-      if (potarr[st] < minp) {minp = potarr[st]; minc = st;}
+      int sti = stcpx - 1;
+      if (potarr[sti] < minp) {minp = potarr[sti]; minc = sti;}
+      sti++;
+      if (potarr[sti] < minp) {minp = potarr[sti]; minc = sti;}
+      sti++;
+      if (potarr[sti] < minp) {minp = potarr[sti]; minc = sti;}
+      sti = stc - 1;
+      if (potarr[sti] < minp) {minp = potarr[sti]; minc = sti;}
+      sti = stc + 1;
+      if (potarr[sti] < minp) {minp = potarr[sti]; minc = sti;}
+      sti = stcnx - 1;
+      if (potarr[sti] < minp) {minp = potarr[sti]; minc = sti;}
+      sti++;
+      if (potarr[sti] < minp) {minp = potarr[sti]; minc = sti;}
+      sti++;
+      if (potarr[sti] < minp) {minp = potarr[sti]; minc = sti;}
       stc = minc;
       dx = 0;
       dy = 0;

nav2_regulated_pure_pursuit_controller/src/path_handler.cpp

@@ -77,8 +77,8 @@ nav_msgs::msg::Path PathHandler::transformGlobalPlan(
   const double max_costmap_extent = getCostmapMaxExtent();
   auto transformation_end = std::find_if(
     transformation_begin, global_plan_.poses.end(),
-    [&](const auto & pose) {
-      return euclidean_distance(pose, robot_pose) > max_costmap_extent;
+    [&](const auto & global_plan_pose) {
+      return euclidean_distance(global_plan_pose, robot_pose) > max_costmap_extent;
     });
 
   // Lambda to transform a PoseStamped from global frame to local

nav2_smoother/test/test_smoother_server.cpp

@@ -158,8 +158,8 @@ class DummyFootprintSubscriber : public nav2_costmap_2d::FootprintSubscriber
   DummyFootprintSubscriber(
     nav2_util::LifecycleNode::SharedPtr node,
     const std::string & topic_name,
-    tf2_ros::Buffer & tf_)
-  : FootprintSubscriber(node, topic_name, tf_)
+    tf2_ros::Buffer & tf)
+  : FootprintSubscriber(node, topic_name, tf)
   {
     auto footprint = std::make_shared<geometry_msgs::msg::PolygonStamped>();
     footprint->header.frame_id = "base_link";  // global frame = robot frame to avoid tf lookup

nav2_system_tests/CMakeLists.txt

@@ -23,6 +23,7 @@ find_package(nav2_planner REQUIRED)
 find_package(navigation2)
 find_package(angles REQUIRED)
 find_package(behaviortree_cpp_v3 REQUIRED)
+find_package(pluginlib REQUIRED)
 
 nav2_package()
 
@@ -45,6 +46,7 @@ set(dependencies
   nav2_navfn_planner
   angles
   behaviortree_cpp_v3
+  pluginlib
 )
 
 set(local_controller_plugin_lib local_controller)