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onboarding complete #87

Closed timy-13 closed 3 weeks ago

timy-13 commented 3 weeks ago

Proposed changes

Completed onboarding

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Cpp-Linter Report :warning:

Some files did not pass the configured checks!

clang-tidy (v18.1.8) reports: 35 concern(s) - **src/onboarding/include/onboarding/odom_publisher.h:1:1:** warning: [[misc-include-cleaner](https://clang.llvm.org/extra/clang-tidy/checks/misc/include-cleaner.html)] > included header ackermann_drive_stamped.hpp is not used directly ```h 1 | #include "ackermann_msgs/msg/ackermann_drive_stamped.hpp" | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 2 | #include "rclcpp/rclcpp.hpp" ``` - **src/onboarding/include/onboarding/odom_publisher.h:2:1:** warning: [[misc-include-cleaner](https://clang.llvm.org/extra/clang-tidy/checks/misc/include-cleaner.html)] > included header rclcpp.hpp is not used directly ```h 2 | #include "rclcpp/rclcpp.hpp" | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~ 3 | ``` - **src/onboarding/include/onboarding/odom_publisher.h:4:38:** warning: [[misc-include-cleaner](https://clang.llvm.org/extra/clang-tidy/checks/misc/include-cleaner.html)] > no header providing "rclcpp::Node" is directly included ```h 1 | #include "ackermann_msgs/msg/ackermann_drive_stamped.hpp" 2 | #include "rclcpp/rclcpp.hpp" 3 | 4 | class OdomPublisher : public rclcpp::Node { | ^ ``` - **src/onboarding/include/onboarding/odom_publisher.h:12:8:** warning: [[misc-include-cleaner](https://clang.llvm.org/extra/clang-tidy/checks/misc/include-cleaner.html)] > no header providing "std::string" is directly included ```h 1 | #include "ackermann_msgs/msg/ackermann_drive_stamped.hpp" 2 | #include "rclcpp/rclcpp.hpp" 3 | 4 | class OdomPublisher : public rclcpp::Node { 5 | public: 6 | OdomPublisher(); 7 | 8 | private: 9 | double v_; 10 | double d_; 11 | 12 | std::string drive_; | ^ ``` - **src/onboarding/include/onboarding/odom_publisher.h:14:11:** warning: [[misc-include-cleaner](https://clang.llvm.org/extra/clang-tidy/checks/misc/include-cleaner.html)] > no header providing "rclcpp::TimerBase" is directly included ```h 1 | #include "ackermann_msgs/msg/ackermann_drive_stamped.hpp" 2 | #include "rclcpp/rclcpp.hpp" 3 | 4 | class OdomPublisher : public rclcpp::Node { 5 | public: 6 | OdomPublisher(); 7 | 8 | private: 9 | double v_; 10 | double d_; 11 | 12 | std::string drive_; 13 | 14 | rclcpp::TimerBase::SharedPtr timer_; | ^ ``` - **src/onboarding/include/onboarding/odom_publisher.h:16:11:** warning: [[misc-include-cleaner](https://clang.llvm.org/extra/clang-tidy/checks/misc/include-cleaner.html)] > no header providing "rclcpp::Publisher" is directly included ```h 1 | #include "ackermann_msgs/msg/ackermann_drive_stamped.hpp" 2 | #include "rclcpp/rclcpp.hpp" 3 | 4 | class OdomPublisher : public rclcpp::Node { 5 | public: 6 | OdomPublisher(); 7 | 8 | private: 9 | double v_; 10 | double d_; 11 | 12 | std::string drive_; 13 | 14 | rclcpp::TimerBase::SharedPtr timer_; 15 | 16 | rclcpp::Publisher::SharedPtr publisher_drive_; | ^ ``` - **src/onboarding/include/onboarding/odom_publisher.h:16:42:** warning: [[misc-include-cleaner](https://clang.llvm.org/extra/clang-tidy/checks/misc/include-cleaner.html)] > no header providing "ackermann_msgs::msg::AckermannDriveStamped" is directly included ```h 1 | #include "ackermann_msgs/msg/ackermann_drive_stamped.hpp" 2 | #include "rclcpp/rclcpp.hpp" 3 | 4 | class OdomPublisher : public rclcpp::Node { 5 | public: 6 | OdomPublisher(); 7 | 8 | private: 9 | double v_; 10 | double d_; 11 | 12 | std::string drive_; 13 | 14 | rclcpp::TimerBase::SharedPtr timer_; 15 | 16 | rclcpp::Publisher::SharedPtr publisher_drive_; | ^ ``` - **src/onboarding/include/onboarding/odom_relay.h:1:1:** warning: [[misc-include-cleaner](https://clang.llvm.org/extra/clang-tidy/checks/misc/include-cleaner.html)] > included header ackermann_drive_stamped.hpp is not used directly ```h 1 | #include "ackermann_msgs/msg/ackermann_drive_stamped.hpp" | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 2 | #include "rclcpp/rclcpp.hpp" ``` - **src/onboarding/include/onboarding/odom_relay.h:2:1:** warning: [[misc-include-cleaner](https://clang.llvm.org/extra/clang-tidy/checks/misc/include-cleaner.html)] > included header rclcpp.hpp is not used directly ```h 2 | #include "rclcpp/rclcpp.hpp" | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~ 3 | ``` - **src/onboarding/include/onboarding/odom_relay.h:4:34:** warning: [[misc-include-cleaner](https://clang.llvm.org/extra/clang-tidy/checks/misc/include-cleaner.html)] > no header providing "rclcpp::Node" is directly included ```h 1 | #include "ackermann_msgs/msg/ackermann_drive_stamped.hpp" 2 | #include "rclcpp/rclcpp.hpp" 3 | 4 | class OdomRelay : public rclcpp::Node { | ^ ``` - **src/onboarding/include/onboarding/odom_relay.h:9:8:** warning: [[misc-include-cleaner](https://clang.llvm.org/extra/clang-tidy/checks/misc/include-cleaner.html)] > no header providing "std::string" is directly included ```h 1 | #include "ackermann_msgs/msg/ackermann_drive_stamped.hpp" 2 | #include "rclcpp/rclcpp.hpp" 3 | 4 | class OdomRelay : public rclcpp::Node { 5 | public: 6 | OdomRelay(); 7 | 8 | private: 9 | std::string drive_topic_; | ^ ``` - **src/onboarding/include/onboarding/odom_relay.h:15:11:** warning: [[misc-include-cleaner](https://clang.llvm.org/extra/clang-tidy/checks/misc/include-cleaner.html)] > no header providing "rclcpp::Subscription" is directly included ```h 1 | #include "ackermann_msgs/msg/ackermann_drive_stamped.hpp" 2 | #include "rclcpp/rclcpp.hpp" 3 | 4 | class OdomRelay : public rclcpp::Node { 5 | public: 6 | OdomRelay(); 7 | 8 | private: 9 | std::string drive_topic_; 10 | std::string drive_relay_; 11 | 12 | double speed_; 13 | double steering_angle_; 14 | 15 | rclcpp::Subscription::SharedPtr subscriber_drive_; | ^ ``` - **src/onboarding/include/onboarding/odom_relay.h:15:45:** warning: [[misc-include-cleaner](https://clang.llvm.org/extra/clang-tidy/checks/misc/include-cleaner.html)] > no header providing "ackermann_msgs::msg::AckermannDriveStamped" is directly included ```h 1 | #include "ackermann_msgs/msg/ackermann_drive_stamped.hpp" 2 | #include "rclcpp/rclcpp.hpp" 3 | 4 | class OdomRelay : public rclcpp::Node { 5 | public: 6 | OdomRelay(); 7 | 8 | private: 9 | std::string drive_topic_; 10 | std::string drive_relay_; 11 | 12 | double speed_; 13 | double steering_angle_; 14 | 15 | rclcpp::Subscription::SharedPtr subscriber_drive_; | ^ ``` - **src/onboarding/include/onboarding/odom_relay.h:17:11:** warning: [[misc-include-cleaner](https://clang.llvm.org/extra/clang-tidy/checks/misc/include-cleaner.html)] > no header providing "rclcpp::Publisher" is directly included ```h 1 | rclcpp::Publisher::SharedPtr publisher_relay_; | ^ ``` - **src/onboarding/src/odom_publisher.cpp:7:34:** warning: [[misc-include-cleaner](https://clang.llvm.org/extra/clang-tidy/checks/misc/include-cleaner.html)] > no header providing "rclcpp::Node" is directly included ```cpp 4 | 5 | using namespace std::chrono_literals; 6 | 7 | OdomPublisher::OdomPublisher() : Node("odom_publisher_node") { | ^ ``` - **src/onboarding/src/odom_publisher.cpp:20:51:** warning: [[misc-include-cleaner](https://clang.llvm.org/extra/clang-tidy/checks/misc/include-cleaner.html)] > no header providing "ackermann_msgs::msg::AckermannDriveStamped" is directly included ```cpp 3 | this->create_publisher(drive_, 25); | ^ ``` - **src/onboarding/src/odom_publisher.cpp:23:21:** warning: [[readability-function-cognitive-complexity](https://clang.llvm.org/extra/clang-tidy/checks/readability/function-cognitive-complexity.html)] > function 'publishMessage' has cognitive complexity of 36 (threshold 25) ```cpp 23 | void OdomPublisher::publishMessage() { | ^ /__w/f1tenth/f1tenth/src/onboarding/src/odom_publisher.cpp:34:3: note: +1, including nesting penalty of 0, nesting level increased to 1 34 | RCLCPP_INFO(this->get_logger(), "Speed: %.2f, Steering Angle: %.2f", drive_msg_obj.drive.speed, | ^ /opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:529:3: note: expanded from macro 'RCLCPP_INFO' 529 | do { \ | ^ /__w/f1tenth/f1tenth/src/onboarding/src/odom_publisher.cpp:34:3: note: +2, including nesting penalty of 1, nesting level increased to 2 34 | RCLCPP_INFO(this->get_logger(), "Speed: %.2f, Steering Angle: %.2f", drive_msg_obj.drive.speed, | ^ /opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:535:5: note: expanded from macro 'RCLCPP_INFO' 535 | RCUTILS_LOG_INFO_NAMED( \ | ^ /opt/ros/humble/include/rcutils/rcutils/logging_macros.h:507:3: note: expanded from macro 'RCUTILS_LOG_INFO_NAMED' 507 | RCUTILS_LOG_COND_NAMED( \ | ^ /opt/ros/humble/include/rcutils/rcutils/logging_macros.h:74:3: note: expanded from macro 'RCUTILS_LOG_COND_NAMED' 74 | do { \ | ^ /__w/f1tenth/f1tenth/src/onboarding/src/odom_publisher.cpp:34:3: note: +3, including nesting penalty of 2, nesting level increased to 3 34 | RCLCPP_INFO(this->get_logger(), "Speed: %.2f, Steering Angle: %.2f", drive_msg_obj.drive.speed, | ^ /opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:535:5: note: expanded from macro 'RCLCPP_INFO' 535 | RCUTILS_LOG_INFO_NAMED( \ | ^ /opt/ros/humble/include/rcutils/rcutils/logging_macros.h:507:3: note: expanded from macro 'RCUTILS_LOG_INFO_NAMED' 507 | RCUTILS_LOG_COND_NAMED( \ | ^ /opt/ros/humble/include/rcutils/rcutils/logging_macros.h:75:5: note: expanded from macro 'RCUTILS_LOG_COND_NAMED' 75 | RCUTILS_LOGGING_AUTOINIT; \ | ^ /opt/ros/humble/include/rcutils/rcutils/logging.h:525:3: note: expanded from macro 'RCUTILS_LOGGING_AUTOINIT' 525 | do { \ | ^ /__w/f1tenth/f1tenth/src/onboarding/src/odom_publisher.cpp:34:3: note: +4, including nesting penalty of 3, nesting level increased to 4 34 | RCLCPP_INFO(this->get_logger(), "Speed: %.2f, Steering Angle: %.2f", drive_msg_obj.drive.speed, | ^ /opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:535:5: note: expanded from macro 'RCLCPP_INFO' 535 | RCUTILS_LOG_INFO_NAMED( \ | ^ /opt/ros/humble/include/rcutils/rcutils/logging_macros.h:507:3: note: expanded from macro 'RCUTILS_LOG_INFO_NAMED' 507 | RCUTILS_LOG_COND_NAMED( \ | ^ /opt/ros/humble/include/rcutils/rcutils/logging_macros.h:75:5: note: expanded from macro 'RCUTILS_LOG_COND_NAMED' 75 | RCUTILS_LOGGING_AUTOINIT; \ | ^ /opt/ros/humble/include/rcutils/rcutils/logging.h:526:5: note: expanded from macro 'RCUTILS_LOGGING_AUTOINIT' 526 | if (RCUTILS_UNLIKELY(!g_rcutils_logging_initialized)) { \ | ^ /__w/f1tenth/f1tenth/src/onboarding/src/odom_publisher.cpp:34:3: note: +5, including nesting penalty of 4, nesting level increased to 5 34 | RCLCPP_INFO(this->get_logger(), "Speed: %.2f, Steering Angle: %.2f", drive_msg_obj.drive.speed, | ^ /opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:535:5: note: expanded from macro 'RCLCPP_INFO' 535 | RCUTILS_LOG_INFO_NAMED( \ | ^ /opt/ros/humble/include/rcutils/rcutils/logging_macros.h:507:3: note: expanded from macro 'RCUTILS_LOG_INFO_NAMED' 507 | RCUTILS_LOG_COND_NAMED( \ | ^ /opt/ros/humble/include/rcutils/rcutils/logging_macros.h:75:5: note: expanded from macro 'RCUTILS_LOG_COND_NAMED' 75 | RCUTILS_LOGGING_AUTOINIT; \ | ^ /opt/ros/humble/include/rcutils/rcutils/logging.h:527:7: note: expanded from macro 'RCUTILS_LOGGING_AUTOINIT' 527 | if (rcutils_logging_initialize() != RCUTILS_RET_OK) { \ | ^ /__w/f1tenth/f1tenth/src/onboarding/src/odom_publisher.cpp:34:3: note: +6, including nesting penalty of 5, nesting level increased to 6 34 | RCLCPP_INFO(this->get_logger(), "Speed: %.2f, Steering Angle: %.2f", drive_msg_obj.drive.speed, | ^ /opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:535:5: note: expanded from macro 'RCLCPP_INFO' 535 | RCUTILS_LOG_INFO_NAMED( \ | ^ /opt/ros/humble/include/rcutils/rcutils/logging_macros.h:507:3: note: expanded from macro 'RCUTILS_LOG_INFO_NAMED' 507 | RCUTILS_LOG_COND_NAMED( \ | ^ /opt/ros/humble/include/rcutils/rcutils/logging_macros.h:75:5: note: expanded from macro 'RCUTILS_LOG_COND_NAMED' 75 | RCUTILS_LOGGING_AUTOINIT; \ | ^ /opt/ros/humble/include/rcutils/rcutils/logging.h:528:9: note: expanded from macro 'RCUTILS_LOGGING_AUTOINIT' 528 | RCUTILS_SAFE_FWRITE_TO_STDERR( \ | ^ /opt/ros/humble/include/rcutils/rcutils/error_handling.h:54:3: note: expanded from macro 'RCUTILS_SAFE_FWRITE_TO_STDERR' 54 | do {fwrite(msg, sizeof(char), strlen(msg), stderr);} while (0) | ^ /__w/f1tenth/f1tenth/src/onboarding/src/odom_publisher.cpp:34:3: note: +6, including nesting penalty of 5, nesting level increased to 6 34 | RCLCPP_INFO(this->get_logger(), "Speed: %.2f, Steering Angle: %.2f", drive_msg_obj.drive.speed, | ^ /opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:535:5: note: expanded from macro 'RCLCPP_INFO' 535 | RCUTILS_LOG_INFO_NAMED( \ | ^ /opt/ros/humble/include/rcutils/rcutils/logging_macros.h:507:3: note: expanded from macro 'RCUTILS_LOG_INFO_NAMED' 507 | RCUTILS_LOG_COND_NAMED( \ | ^ /opt/ros/humble/include/rcutils/rcutils/logging_macros.h:75:5: note: expanded from macro 'RCUTILS_LOG_COND_NAMED' 75 | RCUTILS_LOGGING_AUTOINIT; \ | ^ /opt/ros/humble/include/rcutils/rcutils/logging.h:531:9: note: expanded from macro 'RCUTILS_LOGGING_AUTOINIT' 531 | RCUTILS_SAFE_FWRITE_TO_STDERR(rcutils_get_error_string().str); \ | ^ /opt/ros/humble/include/rcutils/rcutils/error_handling.h:54:3: note: expanded from macro 'RCUTILS_SAFE_FWRITE_TO_STDERR' 54 | do {fwrite(msg, sizeof(char), strlen(msg), stderr);} while (0) | ^ /__w/f1tenth/f1tenth/src/onboarding/src/odom_publisher.cpp:34:3: note: +6, including nesting penalty of 5, nesting level increased to 6 34 | RCLCPP_INFO(this->get_logger(), "Speed: %.2f, Steering Angle: %.2f", drive_msg_obj.drive.speed, | ^ /opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:535:5: note: expanded from macro 'RCLCPP_INFO' 535 | RCUTILS_LOG_INFO_NAMED( \ | ^ /opt/ros/humble/include/rcutils/rcutils/logging_macros.h:507:3: note: expanded from macro 'RCUTILS_LOG_INFO_NAMED' 507 | RCUTILS_LOG_COND_NAMED( \ | ^ /opt/ros/humble/include/rcutils/rcutils/logging_macros.h:75:5: note: expanded from macro 'RCUTILS_LOG_COND_NAMED' 75 | RCUTILS_LOGGING_AUTOINIT; \ | ^ /opt/ros/humble/include/rcutils/rcutils/logging.h:532:9: note: expanded from macro 'RCUTILS_LOGGING_AUTOINIT' 532 | RCUTILS_SAFE_FWRITE_TO_STDERR("\n"); \ | ^ /opt/ros/humble/include/rcutils/rcutils/error_handling.h:54:3: note: expanded from macro 'RCUTILS_SAFE_FWRITE_TO_STDERR' 54 | do {fwrite(msg, sizeof(char), strlen(msg), stderr);} while (0) | ^ /__w/f1tenth/f1tenth/src/onboarding/src/odom_publisher.cpp:34:3: note: +3, including nesting penalty of 2, nesting level increased to 3 34 | RCLCPP_INFO(this->get_logger(), "Speed: %.2f, Steering Angle: %.2f", drive_msg_obj.drive.speed, | ^ /opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:535:5: note: expanded from macro 'RCLCPP_INFO' 535 | RCUTILS_LOG_INFO_NAMED( \ | ^ /opt/ros/humble/include/rcutils/rcutils/logging_macros.h:507:3: note: expanded from macro 'RCUTILS_LOG_INFO_NAMED' 507 | RCUTILS_LOG_COND_NAMED( \ | ^ /opt/ros/humble/include/rcutils/rcutils/logging_macros.h:77:5: note: expanded from macro 'RCUTILS_LOG_COND_NAMED' 77 | if (rcutils_logging_logger_is_enabled_for(name, severity)) { \ | ^ /__w/f1tenth/f1tenth/src/onboarding/src/odom_publisher.cpp:29:31: warning: narrowing conversion from 'double' to '_speed_type' (aka 'float') [bugprone-narrowing-conversions,cppcoreguidelines-narrowing-conversions] 29 | drive_msg_obj.drive.speed = v_; | ^ /__w/f1tenth/f1tenth/src/onboarding/src/odom_publisher.cpp:30:40: warning: narrowing conversion from 'double' to '_steering_angle_type' (aka 'float') [bugprone-narrowing-conversions,cppcoreguidelines-narrowing-conversions] 30 | drive_msg_obj.drive.steering_angle = d_; | ^ ``` - **src/onboarding/src/odom_publisher.cpp:34:3:** warning: [[misc-include-cleaner](https://clang.llvm.org/extra/clang-tidy/checks/misc/include-cleaner.html)] > no header providing "RCLCPP_INFO" is directly included ```cpp 4 | RCLCPP_INFO(this->get_logger(), "Speed: %.2f, Steering Angle: %.2f", drive_msg_obj.drive.speed, | ^ ``` - **src/onboarding/src/odom_publisher.cpp:40:5:** warning: [[bugprone-exception-escape](https://clang.llvm.org/extra/clang-tidy/checks/bugprone/exception-escape.html)] > an exception may be thrown in function 'main' which should not throw exceptions ```cpp 40 | int main(int argc, char **argv) { | ^ ``` - **src/onboarding/src/odom_publisher.cpp:41:11:** warning: [[misc-include-cleaner](https://clang.llvm.org/extra/clang-tidy/checks/misc/include-cleaner.html)] > no header providing "rclcpp::init" is directly included ```cpp 4 | rclcpp::init(argc, argv); | ^ ``` - **src/onboarding/src/odom_publisher.cpp:42:24:** warning: [[misc-include-cleaner](https://clang.llvm.org/extra/clang-tidy/checks/misc/include-cleaner.html)] > no header providing "std::make_shared" is directly included ```cpp 4 | auto node_ptr = std::make_shared(); // initialise node pointer | ^ ``` - **src/onboarding/src/odom_publisher.cpp:43:11:** warning: [[misc-include-cleaner](https://clang.llvm.org/extra/clang-tidy/checks/misc/include-cleaner.html)] > no header providing "rclcpp::spin" is directly included ```cpp 4 | rclcpp::spin(node_ptr); | ^ ``` - **src/onboarding/src/odom_publisher.cpp:44:11:** warning: [[misc-include-cleaner](https://clang.llvm.org/extra/clang-tidy/checks/misc/include-cleaner.html)] > no header providing "rclcpp::shutdown" is directly included ```cpp 44 | rclcpp::shutdown(); | ^ ``` - **src/onboarding/src/odom_relay.cpp:3:26:** warning: [[misc-include-cleaner](https://clang.llvm.org/extra/clang-tidy/checks/misc/include-cleaner.html)] > no header providing "std::placeholders::_1" is directly included ```cpp 2 | 3 | using std::placeholders::_1; | ^ /__w/f1tenth/f1tenth/src/onboarding/src/odom_relay.cpp:5:1: warning: constructor does not initialize these fields: speed_, steering_angle_ [cppcoreguidelines-pro-type-member-init,hicpp-member-init] 5 | OdomRelay::OdomRelay() : Node("odom_relay_node") { | ^ ``` - **src/onboarding/src/odom_relay.cpp:5:26:** warning: [[misc-include-cleaner](https://clang.llvm.org/extra/clang-tidy/checks/misc/include-cleaner.html)] > no header providing "rclcpp::Node" is directly included ```cpp 2 | 3 | using std::placeholders::_1; 4 | 5 | OdomRelay::OdomRelay() : Node("odom_relay_node") { | ^ ``` - **src/onboarding/src/odom_relay.cpp:12:70:** warning: [[misc-include-cleaner](https://clang.llvm.org/extra/clang-tidy/checks/misc/include-cleaner.html)] > no header providing "ackermann_msgs::msg::AckermannDriveStamped" is directly included ```cpp 2 | 3 | using std::placeholders::_1; 4 | 5 | OdomRelay::OdomRelay() : Node("odom_relay_node") { 6 | this->declare_parameter("drive_topic", "/drive"); 7 | this->declare_parameter("drive_relay", "/relay"); 8 | 9 | drive_topic_ = this->get_parameter("drive_topic").as_string(); 10 | drive_relay_ = this->get_parameter("drive_relay").as_string(); 11 | 12 | subscriber_drive_ = this->create_subscription( | ^ ``` - **src/onboarding/src/odom_relay.cpp:13:25:** warning: [[modernize-avoid-bind](https://clang.llvm.org/extra/clang-tidy/checks/modernize/avoid-bind.html)] > prefer a lambda to std::bind ```cpp 13 | drive_topic_, 25, std::bind(&OdomRelay::relay, this, _1)); | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | [this](auto && PH1) { relay(std::forward(PH1)); } ``` - **src/onboarding/src/odom_relay.cpp:13:30:** warning: [[misc-include-cleaner](https://clang.llvm.org/extra/clang-tidy/checks/misc/include-cleaner.html)] > no header providing "std::bind" is directly included ```cpp 13 | drive_topic_, 25, std::bind(&OdomRelay::relay, this, _1)); | ^ ``` - **src/onboarding/src/odom_relay.cpp:25:17:** warning: [[readability-function-cognitive-complexity](https://clang.llvm.org/extra/clang-tidy/checks/readability/function-cognitive-complexity.html)] > function 'publishRelay' has cognitive complexity of 36 (threshold 25) ```cpp 25 | void OdomRelay::publishRelay(double speed, double steering_angle) { | ^ /__w/f1tenth/f1tenth/src/onboarding/src/odom_relay.cpp:30:3: note: +1, including nesting penalty of 0, nesting level increased to 1 30 | RCLCPP_INFO(this->get_logger(), "Speed: %.2f, Steering Angle: %.2f", relay_msg_obj.drive.speed, | ^ /opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:529:3: note: expanded from macro 'RCLCPP_INFO' 529 | do { \ | ^ /__w/f1tenth/f1tenth/src/onboarding/src/odom_relay.cpp:30:3: note: +2, including nesting penalty of 1, nesting level increased to 2 30 | RCLCPP_INFO(this->get_logger(), "Speed: %.2f, Steering Angle: %.2f", relay_msg_obj.drive.speed, | ^ /opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:535:5: note: expanded from macro 'RCLCPP_INFO' 535 | RCUTILS_LOG_INFO_NAMED( \ | ^ /opt/ros/humble/include/rcutils/rcutils/logging_macros.h:507:3: note: expanded from macro 'RCUTILS_LOG_INFO_NAMED' 507 | RCUTILS_LOG_COND_NAMED( \ | ^ /opt/ros/humble/include/rcutils/rcutils/logging_macros.h:74:3: note: expanded from macro 'RCUTILS_LOG_COND_NAMED' 74 | do { \ | ^ /__w/f1tenth/f1tenth/src/onboarding/src/odom_relay.cpp:30:3: note: +3, including nesting penalty of 2, nesting level increased to 3 30 | RCLCPP_INFO(this->get_logger(), "Speed: %.2f, Steering Angle: %.2f", relay_msg_obj.drive.speed, | ^ /opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:535:5: note: expanded from macro 'RCLCPP_INFO' 535 | RCUTILS_LOG_INFO_NAMED( \ | ^ /opt/ros/humble/include/rcutils/rcutils/logging_macros.h:507:3: note: expanded from macro 'RCUTILS_LOG_INFO_NAMED' 507 | RCUTILS_LOG_COND_NAMED( \ | ^ /opt/ros/humble/include/rcutils/rcutils/logging_macros.h:75:5: note: expanded from macro 'RCUTILS_LOG_COND_NAMED' 75 | RCUTILS_LOGGING_AUTOINIT; \ | ^ /opt/ros/humble/include/rcutils/rcutils/logging.h:525:3: note: expanded from macro 'RCUTILS_LOGGING_AUTOINIT' 525 | do { \ | ^ /__w/f1tenth/f1tenth/src/onboarding/src/odom_relay.cpp:30:3: note: +4, including nesting penalty of 3, nesting level increased to 4 30 | RCLCPP_INFO(this->get_logger(), "Speed: %.2f, Steering Angle: %.2f", relay_msg_obj.drive.speed, | ^ /opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:535:5: note: expanded from macro 'RCLCPP_INFO' 535 | RCUTILS_LOG_INFO_NAMED( \ | ^ /opt/ros/humble/include/rcutils/rcutils/logging_macros.h:507:3: note: expanded from macro 'RCUTILS_LOG_INFO_NAMED' 507 | RCUTILS_LOG_COND_NAMED( \ | ^ /opt/ros/humble/include/rcutils/rcutils/logging_macros.h:75:5: note: expanded from macro 'RCUTILS_LOG_COND_NAMED' 75 | RCUTILS_LOGGING_AUTOINIT; \ | ^ /opt/ros/humble/include/rcutils/rcutils/logging.h:526:5: note: expanded from macro 'RCUTILS_LOGGING_AUTOINIT' 526 | if (RCUTILS_UNLIKELY(!g_rcutils_logging_initialized)) { \ | ^ /__w/f1tenth/f1tenth/src/onboarding/src/odom_relay.cpp:30:3: note: +5, including nesting penalty of 4, nesting level increased to 5 30 | RCLCPP_INFO(this->get_logger(), "Speed: %.2f, Steering Angle: %.2f", relay_msg_obj.drive.speed, | ^ /opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:535:5: note: expanded from macro 'RCLCPP_INFO' 535 | RCUTILS_LOG_INFO_NAMED( \ | ^ /opt/ros/humble/include/rcutils/rcutils/logging_macros.h:507:3: note: expanded from macro 'RCUTILS_LOG_INFO_NAMED' 507 | RCUTILS_LOG_COND_NAMED( \ | ^ /opt/ros/humble/include/rcutils/rcutils/logging_macros.h:75:5: note: expanded from macro 'RCUTILS_LOG_COND_NAMED' 75 | RCUTILS_LOGGING_AUTOINIT; \ | ^ /opt/ros/humble/include/rcutils/rcutils/logging.h:527:7: note: expanded from macro 'RCUTILS_LOGGING_AUTOINIT' 527 | if (rcutils_logging_initialize() != RCUTILS_RET_OK) { \ | ^ /__w/f1tenth/f1tenth/src/onboarding/src/odom_relay.cpp:30:3: note: +6, including nesting penalty of 5, nesting level increased to 6 30 | RCLCPP_INFO(this->get_logger(), "Speed: %.2f, Steering Angle: %.2f", relay_msg_obj.drive.speed, | ^ /opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:535:5: note: expanded from macro 'RCLCPP_INFO' 535 | RCUTILS_LOG_INFO_NAMED( \ | ^ /opt/ros/humble/include/rcutils/rcutils/logging_macros.h:507:3: note: expanded from macro 'RCUTILS_LOG_INFO_NAMED' 507 | RCUTILS_LOG_COND_NAMED( \ | ^ /opt/ros/humble/include/rcutils/rcutils/logging_macros.h:75:5: note: expanded from macro 'RCUTILS_LOG_COND_NAMED' 75 | RCUTILS_LOGGING_AUTOINIT; \ | ^ /opt/ros/humble/include/rcutils/rcutils/logging.h:528:9: note: expanded from macro 'RCUTILS_LOGGING_AUTOINIT' 528 | RCUTILS_SAFE_FWRITE_TO_STDERR( \ | ^ /opt/ros/humble/include/rcutils/rcutils/error_handling.h:54:3: note: expanded from macro 'RCUTILS_SAFE_FWRITE_TO_STDERR' 54 | do {fwrite(msg, sizeof(char), strlen(msg), stderr);} while (0) | ^ /__w/f1tenth/f1tenth/src/onboarding/src/odom_relay.cpp:30:3: note: +6, including nesting penalty of 5, nesting level increased to 6 30 | RCLCPP_INFO(this->get_logger(), "Speed: %.2f, Steering Angle: %.2f", relay_msg_obj.drive.speed, | ^ /opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:535:5: note: expanded from macro 'RCLCPP_INFO' 535 | RCUTILS_LOG_INFO_NAMED( \ | ^ /opt/ros/humble/include/rcutils/rcutils/logging_macros.h:507:3: note: expanded from macro 'RCUTILS_LOG_INFO_NAMED' 507 | RCUTILS_LOG_COND_NAMED( \ | ^ /opt/ros/humble/include/rcutils/rcutils/logging_macros.h:75:5: note: expanded from macro 'RCUTILS_LOG_COND_NAMED' 75 | RCUTILS_LOGGING_AUTOINIT; \ | ^ /opt/ros/humble/include/rcutils/rcutils/logging.h:531:9: note: expanded from macro 'RCUTILS_LOGGING_AUTOINIT' 531 | RCUTILS_SAFE_FWRITE_TO_STDERR(rcutils_get_error_string().str); \ | ^ /opt/ros/humble/include/rcutils/rcutils/error_handling.h:54:3: note: expanded from macro 'RCUTILS_SAFE_FWRITE_TO_STDERR' 54 | do {fwrite(msg, sizeof(char), strlen(msg), stderr);} while (0) | ^ /__w/f1tenth/f1tenth/src/onboarding/src/odom_relay.cpp:30:3: note: +6, including nesting penalty of 5, nesting level increased to 6 30 | RCLCPP_INFO(this->get_logger(), "Speed: %.2f, Steering Angle: %.2f", relay_msg_obj.drive.speed, | ^ /opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:535:5: note: expanded from macro 'RCLCPP_INFO' 535 | RCUTILS_LOG_INFO_NAMED( \ | ^ /opt/ros/humble/include/rcutils/rcutils/logging_macros.h:507:3: note: expanded from macro 'RCUTILS_LOG_INFO_NAMED' 507 | RCUTILS_LOG_COND_NAMED( \ | ^ /opt/ros/humble/include/rcutils/rcutils/logging_macros.h:75:5: note: expanded from macro 'RCUTILS_LOG_COND_NAMED' 75 | RCUTILS_LOGGING_AUTOINIT; \ | ^ /opt/ros/humble/include/rcutils/rcutils/logging.h:532:9: note: expanded from macro 'RCUTILS_LOGGING_AUTOINIT' 532 | RCUTILS_SAFE_FWRITE_TO_STDERR("\n"); \ | ^ /opt/ros/humble/include/rcutils/rcutils/error_handling.h:54:3: note: expanded from macro 'RCUTILS_SAFE_FWRITE_TO_STDERR' 54 | do {fwrite(msg, sizeof(char), strlen(msg), stderr);} while (0) | ^ /__w/f1tenth/f1tenth/src/onboarding/src/odom_relay.cpp:30:3: note: +3, including nesting penalty of 2, nesting level increased to 3 30 | RCLCPP_INFO(this->get_logger(), "Speed: %.2f, Steering Angle: %.2f", relay_msg_obj.drive.speed, | ^ /opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:535:5: note: expanded from macro 'RCLCPP_INFO' 535 | RCUTILS_LOG_INFO_NAMED( \ | ^ /opt/ros/humble/include/rcutils/rcutils/logging_macros.h:507:3: note: expanded from macro 'RCUTILS_LOG_INFO_NAMED' 507 | RCUTILS_LOG_COND_NAMED( \ | ^ /opt/ros/humble/include/rcutils/rcutils/logging_macros.h:77:5: note: expanded from macro 'RCUTILS_LOG_COND_NAMED' 77 | if (rcutils_logging_logger_is_enabled_for(name, severity)) { \ | ^ ``` - **src/onboarding/src/odom_relay.cpp:25:30:** warning: [[bugprone-easily-swappable-parameters](https://clang.llvm.org/extra/clang-tidy/checks/bugprone/easily-swappable-parameters.html)] > 2 adjacent parameters of 'publishRelay' of similar type ('double') are easily swapped by mistake ```cpp 25 | void OdomRelay::publishRelay(double speed, double steering_angle) { | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /__w/f1tenth/f1tenth/src/onboarding/src/odom_relay.cpp:25:37: note: the first parameter in the range is 'speed' 25 | void OdomRelay::publishRelay(double speed, double steering_angle) { | ^~~~~ /__w/f1tenth/f1tenth/src/onboarding/src/odom_relay.cpp:25:51: note: the last parameter in the range is 'steering_angle' 25 | void OdomRelay::publishRelay(double speed, double steering_angle) { | ^~~~~~~~~~~~~~ /__w/f1tenth/f1tenth/src/onboarding/src/odom_relay.cpp:27:31: warning: narrowing conversion from 'double' to '_speed_type' (aka 'float') [bugprone-narrowing-conversions,cppcoreguidelines-narrowing-conversions] 27 | relay_msg_obj.drive.speed = speed; | ^ /__w/f1tenth/f1tenth/src/onboarding/src/odom_relay.cpp:28:40: warning: narrowing conversion from 'double' to '_steering_angle_type' (aka 'float') [bugprone-narrowing-conversions,cppcoreguidelines-narrowing-conversions] 28 | relay_msg_obj.drive.steering_angle = steering_angle; | ^ ``` - **src/onboarding/src/odom_relay.cpp:30:3:** warning: [[misc-include-cleaner](https://clang.llvm.org/extra/clang-tidy/checks/misc/include-cleaner.html)] > no header providing "RCLCPP_INFO" is directly included ```cpp 2 | RCLCPP_INFO(this->get_logger(), "Speed: %.2f, Steering Angle: %.2f", relay_msg_obj.drive.speed, | ^ ``` - **src/onboarding/src/odom_relay.cpp:37:11:** warning: [[misc-include-cleaner](https://clang.llvm.org/extra/clang-tidy/checks/misc/include-cleaner.html)] > no header providing "rclcpp::init" is directly included ```cpp 2 | rclcpp::init(argc, argv); | ^ ``` - **src/onboarding/src/odom_relay.cpp:38:11:** warning: [[misc-include-cleaner](https://clang.llvm.org/extra/clang-tidy/checks/misc/include-cleaner.html)] > no header providing "rclcpp::spin" is directly included ```cpp 2 | rclcpp::spin(std::make_shared()); | ^ ``` - **src/onboarding/src/odom_relay.cpp:38:21:** warning: [[misc-include-cleaner](https://clang.llvm.org/extra/clang-tidy/checks/misc/include-cleaner.html)] > no header providing "std::make_shared" is directly included ```cpp 2 | rclcpp::spin(std::make_shared()); | ^ ``` - **src/onboarding/src/odom_relay.cpp:39:11:** warning: [[misc-include-cleaner](https://clang.llvm.org/extra/clang-tidy/checks/misc/include-cleaner.html)] > no header providing "rclcpp::shutdown" is directly included ```cpp 39 | rclcpp::shutdown(); | ^ ```

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