cleanup warnings

nav2_behaviors/include/nav2_behaviors/timed_behavior.hpp

@@ -63,13 +63,12 @@ class TimedBehavior : public nav2_core::Behavior
   TimedBehavior()
   : action_server_(nullptr),
     cycle_frequency_(10.0),
-    enabled_(false)
+    enabled_(false),
+    transform_tolerance_(0.0)
   {
   }
 
-  virtual ~TimedBehavior()
-  {
-  }
+  virtual ~TimedBehavior() = default;
 
   // Derived classes can override this method to catch the command and perform some checks
   // before getting into the main loop. The method will only be called

nav2_behaviors/plugins/drive_on_heading.cpp

@@ -13,14 +13,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <chrono>
-#include <ctime>
 #include <memory>
-#include <utility>
-
 #include "drive_on_heading.hpp"
-#include "nav2_util/node_utils.hpp"
-#include "nav2_msgs/action/back_up.hpp"
 
 #include "pluginlib/class_list_macros.hpp"
 PLUGINLIB_EXPORT_CLASS(nav2_behaviors::DriveOnHeading<>, nav2_core::Behavior)

nav2_behaviors/plugins/drive_on_heading.hpp

@@ -41,13 +41,14 @@ class DriveOnHeading : public TimedBehavior<ActionT>
    */
   DriveOnHeading()
   : TimedBehavior<ActionT>(),
-    feedback_(std::make_shared<typename ActionT::Feedback>())
+    feedback_(std::make_shared<typename ActionT::Feedback>()),
+    command_x_(0.0),
+    command_speed_(0.0),
+    simulate_ahead_time_(0.0)
   {
   }
 
-
-  ~DriveOnHeading()
-  {}
+  ~DriveOnHeading() = default;
 
   /**
    * @brief Initialization to run behavior
@@ -122,7 +123,6 @@ class DriveOnHeading : public TimedBehavior<ActionT>
       return Status::SUCCEEDED;
     }
 
-    // TODO(mhpanah): cmd_vel value should be passed as a parameter
     auto cmd_vel = std::make_unique<geometry_msgs::msg::Twist>();
     cmd_vel->linear.y = 0.0;
     cmd_vel->angular.z = 0.0;
@@ -199,18 +199,14 @@ class DriveOnHeading : public TimedBehavior<ActionT>
     node->get_parameter("simulate_ahead_time", simulate_ahead_time_);
   }
 
-  double min_linear_vel_;
-  double max_linear_vel_;
-  double linear_acc_lim_;
+  typename ActionT::Feedback::SharedPtr feedback_;
 
   geometry_msgs::msg::PoseStamped initial_pose_;
   double command_x_;
   double command_speed_;
   rclcpp::Duration command_time_allowance_{0, 0};
   rclcpp::Time end_time_;
   double simulate_ahead_time_;
-
-  typename ActionT::Feedback::SharedPtr feedback_;
 };
 
 }  // namespace nav2_behaviors

nav2_behaviors/plugins/spin.cpp

@@ -13,19 +13,13 @@
 // limitations under the License.
 
 #include <cmath>
-#include <chrono>
-#include <ctime>
 #include <thread>
 #include <algorithm>
 #include <memory>
 #include <utility>
 
 #include "spin.hpp"
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wpedantic"
 #include "tf2/utils.h"
-#pragma GCC diagnostic pop
-#include "tf2/LinearMath/Quaternion.h"
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 #include "nav2_util/node_utils.hpp"
 
@@ -37,13 +31,17 @@ namespace nav2_behaviors
 Spin::Spin()
 : TimedBehavior<SpinAction>(),
   feedback_(std::make_shared<SpinAction::Feedback>()),
-  prev_yaw_(0.0)
+  min_rotational_vel_(0.0),
+  max_rotational_vel_(0.0),
+  rotational_acc_lim_(0.0),
+  cmd_yaw_(0.0),
+  prev_yaw_(0.0),
+  relative_yaw_(0.0),
+  simulate_ahead_time_(0.0)
 {
 }
 
-Spin::~Spin()
-{
-}
+Spin::~Spin() = default;
 
 void Spin::onConfigure()
 {
@@ -128,7 +126,7 @@ Status Spin::onCycleUpdate()
   relative_yaw_ += delta_yaw;
   prev_yaw_ = current_yaw;
 
-  feedback_->angular_distance_traveled = relative_yaw_;
+  feedback_->angular_distance_traveled = static_cast<float>(relative_yaw_);
   action_server_->publish_feedback(feedback_);
 
   double remaining_yaw = abs(cmd_yaw_) - abs(relative_yaw_);

nav2_behaviors/plugins/wait.cpp

@@ -12,7 +12,6 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <cmath>
 #include <chrono>
 #include <memory>
 
@@ -27,9 +26,7 @@ Wait::Wait()
 {
 }
 
-Wait::~Wait()
-{
-}
+Wait::~Wait() = default;
 
 Status Wait::onRun(const std::shared_ptr<const WaitAction::Goal> command)
 {

nav2_behaviors/src/main.cpp

@@ -13,7 +13,6 @@
 // See the License for the specific language governing permissions and
 // limitations under the License. Reserved.
 
-#include <string>
 #include <memory>
 
 #include "nav2_behaviors/behavior_server.hpp"

nav2_behaviors/test/test_behaviors.cpp

@@ -16,7 +16,6 @@
 #include <memory>
 #include <chrono>
 #include <iostream>
-#include <future>
 #include <thread>
 
 #include "gtest/gtest.h"
@@ -42,7 +41,7 @@ class DummyBehavior : public TimedBehavior<BehaviorAction>
   : TimedBehavior<BehaviorAction>(),
     initialized_(false) {}
 
-  ~DummyBehavior() {}
+  ~DummyBehavior() = default;
 
   Status onRun(const std::shared_ptr<const BehaviorAction::Goal> goal) override
   {
@@ -96,9 +95,9 @@ class BehaviorTest : public ::testing::Test
 {
 protected:
   BehaviorTest() {SetUp();}
-  ~BehaviorTest() {}
+  ~BehaviorTest() = default;
 
-  void SetUp()
+  void SetUp() override
   {
     node_lifecycle_ =
       std::make_shared<rclcpp_lifecycle::LifecycleNode>(