[ControllerManager] Fix all warnings from the latets features. (ros-c…

…ontrols#1174)

controller_manager/src/controller_manager.cpp

@@ -2501,20 +2501,23 @@ bool ControllerManager::controller_sorting(
       // If there is no common parent, then they belong to 2 different sets
       auto following_ctrls_b = get_following_controller_names(ctrl_b.info.name, controllers);
       if (following_ctrls_b.empty()) return true;
-      auto find_first_element = [&](const auto & controllers_list)
+      auto find_first_element = [&](const auto & controllers_list) -> size_t
       {
         auto it = std::find_if(
           controllers.begin(), controllers.end(),
           std::bind(controller_name_compare, std::placeholders::_1, controllers_list.back()));
         if (it != controllers.end())
         {
-          int dist = std::distance(controllers.begin(), it);
-          return dist;
+          return std::distance(controllers.begin(), it);
         }
+        return 0;
       };
-      const int ctrl_a_chain_first_controller = find_first_element(following_ctrls);
-      const int ctrl_b_chain_first_controller = find_first_element(following_ctrls_b);
-      if (ctrl_a_chain_first_controller < ctrl_b_chain_first_controller) return true;
+      const auto ctrl_a_chain_first_controller = find_first_element(following_ctrls);
+      const auto ctrl_b_chain_first_controller = find_first_element(following_ctrls_b);
+      if (ctrl_a_chain_first_controller < ctrl_b_chain_first_controller)
+      {
+        return true;
+      }
     }
 
     // If the ctrl_a's state interface is the one exported by the ctrl_b then ctrl_b should be

controller_manager/test/test_controller_failed_init/test_controller_failed_init.cpp

@@ -33,7 +33,7 @@ TestControllerFailedInit::on_init()
 
 controller_interface::return_type TestControllerFailedInit::init(
   const std::string & /* controller_name */, const std::string & /* urdf */,
-  unsigned int cm_update_rate, const std::string & /*namespace_*/,
+  unsigned int /*cm_update_rate*/, const std::string & /*namespace_*/,
   const rclcpp::NodeOptions & /*node_options*/)
 {
   return controller_interface::return_type::ERROR;

controller_manager/test/test_controller_manager.cpp

@@ -486,16 +486,18 @@ TEST_P(TestControllerUpdateRates, check_the_controller_update_rate)
     time += rclcpp::Duration::from_seconds(0.01);
     if (update_counter % cm_update_rate == 0)
     {
-      const auto no_of_secs_passed = update_counter / cm_update_rate;
+      const double no_of_secs_passed = static_cast<double>(update_counter) / cm_update_rate;
       // NOTE: here EXPECT_NEAR is used because it is observed that in the first iteration of whole
       // cycle of cm_update_rate counts, there is one count missing, but in rest of the 9 cycles it
       // is clearly tracking, so adding 1 here won't affect the final count.
       // For instance, a controller with update rate 37 Hz, seems to have 36 in the first update
       // cycle and then on accumulating 37 on every other update cycle so at the end of the 10
       // cycles it will have 369 instead of 370.
-      EXPECT_NEAR(
+      EXPECT_THAT(
         test_controller->internal_counter - initial_counter,
-        (controller_update_rate * no_of_secs_passed), 1);
+        testing::AnyOf(
+          testing::Eq(controller_update_rate * no_of_secs_passed),
+          testing::Eq((controller_update_rate * no_of_secs_passed) - 1)));
     }
   }
 }

controller_manager/test/test_controller_manager_srvs.cpp

@@ -807,7 +807,7 @@ TEST_F(TestControllerManagerSrvs, list_sorted_complex_chained_controllers)
   ASSERT_EQ(result->controller[1].name, TEST_CHAINED_CONTROLLER_7);
   ASSERT_EQ(result->controller[2].name, TEST_CHAINED_CONTROLLER_6);
 
-  auto get_ctrl_pos = [result](const std::string & controller_name) -> int
+  auto get_ctrl_pos = [result](const std::string & controller_name) -> int64_t
   {
     auto it = std::find_if(
       result->controller.begin(), result->controller.end(),
@@ -1016,7 +1016,7 @@ TEST_F(TestControllerManagerSrvs, list_sorted_independent_chained_controllers)
   result = call_service_and_wait(*client, request, srv_executor);
   ASSERT_EQ(10u, result->controller.size());
 
-  auto get_ctrl_pos = [result](const std::string & controller_name) -> int
+  auto get_ctrl_pos = [result](const std::string & controller_name) -> int64_t
   {
     auto it = std::find_if(
       result->controller.begin(), result->controller.end(),