15 KiB
15 KiB
/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp: In member function ‘bool icp_loco::FrameTracker::isReady() const’:
/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp:42:68: warning: comparison of integer expressions of different signedness: ‘size_t’ {aka ‘long unsigned int’} and ‘const int’ [-Wsign-compare]
42 | const bool isOdomBufferReady = odomToTrackingCamera_.size()>minNumOdomMeasurementsBeforeReady_ || !isUseOdometryForRangeSensorPosePrediction_;
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp: In member function ‘icp_loco::Rigid3d icp_loco::FrameTracker::getTransformOdomSourceToRangeSensor(const Time&) const’:
/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp:59:29: warning: unused parameter ‘time’ [-Wunused-parameter]
59 | const Time &time) const {
| ~~~~~~~~~~~~^~~~
/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp: In member function ‘icp_loco::Rigid3d icp_loco::FrameTracker::getTransformImuToRangeSensor(const Time&) const’:
/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp:63:64: warning: unused parameter ‘time’ [-Wunused-parameter]
63 | Rigid3d FrameTracker::getTransformImuToRangeSensor(const Time &time) const {
| ~~~~~~~~~~~~^~~~
/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp: In member function ‘icp_loco::Rigid3d icp_loco::FrameTracker::computeFromImu(const Time&, const Time&) const’:
/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp:151:22: warning: unused variable ‘kRadToDeg’ [-Wunused-variable]
151 | const double kRadToDeg = 180.0 / M_PI;
| ^~~~~~~~~
In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7:
/home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:51:73: warning: ‘geometry_msgs::msg::PoseWithCovarianceStamped_<std::allocator<void> >::ConstPtr’ is deprecated [-Wdeprecated-declarations]
51 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg);
| ^
In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7,
from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49,
from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24,
from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7:
/opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here
115 | ConstPtr;
| ^~~~~~~~
In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/localizer_node.cpp:7:
/home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:51:73: warning: ‘geometry_msgs::msg::PoseWithCovarianceStamped_<std::allocator<void> >::ConstPtr’ is deprecated [-Wdeprecated-declarations]
51 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg);
| ^
In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7,
from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49,
from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24,
from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/localizer_node.cpp:7:
/opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here
115 | ConstPtr;
| ^~~~~~~~
/home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:71:71: warning: ‘geometry_msgs::msg::PoseWithCovarianceStamped_<std::allocator<void> >::ConstPtr’ is deprecated [-Wdeprecated-declarations]
71 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg) {
| ^
In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7,
from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49,
from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24,
from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7:
/opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here
115 | ConstPtr;
| ^~~~~~~~
/home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp: In member function ‘void icp_loco::ICPlocalization::icpWorker()’:
/home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:374:18: warning: unused variable ‘timeMs’ [-Wunused-variable]
374 | const double timeMs = nUs / 1000.0;
| ^~~~~~
In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:8:
/home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp: In constructor ‘icp_loco::ImuTracker::ImuTracker()’:
/home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp:55:22: warning: ‘icp_loco::ImuTracker::currentOrientation_’ will be initialized after [-Wreorder]
55 | Eigen::Quaterniond currentOrientation_;
| ^~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp:54:10: warning: ‘double icp_loco::ImuTracker::imuGravityTimeConstant_’ [-Wreorder]
54 | double imuGravityTimeConstant_;
| ^~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:19:1: warning: when initialized here [-Wreorder]
19 | ImuTracker::ImuTracker()
| ^~~~~~~~~~
In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:8:
/home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp:54:10: warning: ‘icp_loco::ImuTracker::imuGravityTimeConstant_’ will be initialized after [-Wreorder]
54 | double imuGravityTimeConstant_;
| ^~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp:53:19: warning: ‘Eigen::Vector3d icp_loco::ImuTracker::currentGravityVector_’ [-Wreorder]
53 | Eigen::Vector3d currentGravityVector_;
| ^~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:19:1: warning: when initialized here [-Wreorder]
19 | ImuTracker::ImuTracker()
| ^~~~~~~~~~
In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:8:
/home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp:58:19: warning: ‘icp_loco::ImuTracker::integratedPosition_’ will be initialized after [-Wreorder]
58 | Eigen::Vector3d integratedPosition_;
| ^~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp:57:19: warning: ‘Eigen::Vector3d icp_loco::ImuTracker::integratedLinearVelocity_’ [-Wreorder]
57 | Eigen::Vector3d integratedLinearVelocity_;
| ^~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:19:1: warning: when initialized here [-Wreorder]
19 | ImuTracker::ImuTracker()
| ^~~~~~~~~~
/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp: In member function ‘icp_loco::Rigid3d icp_loco::ImuTracker::getLatestOdometry() const’:
/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:110:14: warning: variable ‘rpyAccelerometer’ set but not used [-Wunused-but-set-variable]
110 | const auto rpyAccelerometer = toRPY(currentOrientation_);
| ^~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp: In member function ‘void icp_loco::ImuTracker::removeGravityAccelerationFromBuffer() const’:
/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:150:21: warning: comparison of integer expressions of different signedness: ‘int’ and ‘std::vector<icp_loco::TimestampedImuReading>::size_type’ {aka ‘long unsigned int’} [-Wsign-compare]
150 | for (int i = 0; i < integrationBuffer_.size(); ++i) {
| ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp: In member function ‘void icp_loco::ImuTracker::integrateBufferInPlace(icp_loco::ImuTracker::Accessor, const Vector3d&) const’:
/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:171:21: warning: comparison of integer expressions of different signedness: ‘int’ and ‘std::vector<icp_loco::TimestampedImuReading>::size_type’ {aka ‘long unsigned int’} [-Wsign-compare]
171 | for (int i = 1; i < integrationBuffer_.size(); ++i) {
| ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp: In member function ‘void icp_loco::ImuTracker::printBuffer(icp_loco::ImuTracker::Accessor) const’:
/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:182:21: warning: comparison of integer expressions of different signedness: ‘int’ and ‘std::vector<icp_loco::TimestampedImuReading>::size_type’ {aka ‘long unsigned int’} [-Wsign-compare]
182 | for (int i = 0; i < integrationBuffer_.size(); ++i) {
| ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp:42:68: warning: comparison of integer expressions of different signedness: ‘size_t’ {aka ‘long unsigned int’} and ‘const int’ [-Wsign-compare]
42 | const bool isOdomBufferReady = odomToTrackingCamera_.size()>minNumOdomMeasurementsBeforeReady_ || !isUseOdometryForRangeSensorPosePrediction_;
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp: In member function ‘icp_loco::Rigid3d icp_loco::FrameTracker::getTransformOdomSourceToRangeSensor(const Time&) const’:
/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp:59:29: warning: unused parameter ‘time’ [-Wunused-parameter]
59 | const Time &time) const {
| ~~~~~~~~~~~~^~~~
/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp: In member function ‘icp_loco::Rigid3d icp_loco::FrameTracker::getTransformImuToRangeSensor(const Time&) const’:
/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp:63:64: warning: unused parameter ‘time’ [-Wunused-parameter]
63 | Rigid3d FrameTracker::getTransformImuToRangeSensor(const Time &time) const {
| ~~~~~~~~~~~~^~~~
/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp: In member function ‘icp_loco::Rigid3d icp_loco::FrameTracker::computeFromImu(const Time&, const Time&) const’:
/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp:151:22: warning: unused variable ‘kRadToDeg’ [-Wunused-variable]
151 | const double kRadToDeg = 180.0 / M_PI;
| ^~~~~~~~~
In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7:
/home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:51:73: warning: ‘geometry_msgs::msg::PoseWithCovarianceStamped_<std::allocator<void> >::ConstPtr’ is deprecated [-Wdeprecated-declarations]
51 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg);
| ^
In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7,
from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49,
from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24,
from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7:
/opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here
115 | ConstPtr;
| ^~~~~~~~
In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/localizer_node.cpp:7:
/home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:51:73: warning: ‘geometry_msgs::msg::PoseWithCovarianceStamped_<std::allocator<void> >::ConstPtr’ is deprecated [-Wdeprecated-declarations]
51 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg);
| ^
In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7,
from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49,
from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24,
from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/localizer_node.cpp:7:
/opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here
115 | ConstPtr;
| ^~~~~~~~
/home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:71:71: warning: ‘geometry_msgs::msg::PoseWithCovarianceStamped_<std::allocator<void> >::ConstPtr’ is deprecated [-Wdeprecated-declarations]
71 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg) {
| ^
In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7,
from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49,
from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24,
from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7:
/opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here
115 | ConstPtr;
| ^~~~~~~~
/home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp: In member function ‘void icp_loco::ICPlocalization::icpWorker()’:
/home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:374:18: warning: unused variable ‘timeMs’ [-Wunused-variable]
374 | const double timeMs = nUs / 1000.0;
| ^~~~~~
In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:8:
/home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp: In constructor ‘icp_loco::ImuTracker::ImuTracker()’:
/home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp:55:22: warning: ‘icp_loco::ImuTracker::currentOrientation_’ will be initialized after [-Wreorder]
55 | Eigen::Quaterniond currentOrientation_;
| ^~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp:54:10: warning: ‘double icp_loco::ImuTracker::imuGravityTimeConstant_’ [-Wreorder]
54 | double imuGravityTimeConstant_;
| ^~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:19:1: warning: when initialized here [-Wreorder]
19 | ImuTracker::ImuTracker()
| ^~~~~~~~~~
In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:8:
/home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp:54:10: warning: ‘icp_loco::ImuTracker::imuGravityTimeConstant_’ will be initialized after [-Wreorder]
54 | double imuGravityTimeConstant_;
| ^~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp:53:19: warning: ‘Eigen::Vector3d icp_loco::ImuTracker::currentGravityVector_’ [-Wreorder]
53 | Eigen::Vector3d currentGravityVector_;
| ^~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:19:1: warning: when initialized here [-Wreorder]
19 | ImuTracker::ImuTracker()
| ^~~~~~~~~~
In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:8:
/home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp:58:19: warning: ‘icp_loco::ImuTracker::integratedPosition_’ will be initialized after [-Wreorder]
58 | Eigen::Vector3d integratedPosition_;
| ^~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp:57:19: warning: ‘Eigen::Vector3d icp_loco::ImuTracker::integratedLinearVelocity_’ [-Wreorder]
57 | Eigen::Vector3d integratedLinearVelocity_;
| ^~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:19:1: warning: when initialized here [-Wreorder]
19 | ImuTracker::ImuTracker()
| ^~~~~~~~~~
/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp: In member function ‘icp_loco::Rigid3d icp_loco::ImuTracker::getLatestOdometry() const’:
/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:110:14: warning: variable ‘rpyAccelerometer’ set but not used [-Wunused-but-set-variable]
110 | const auto rpyAccelerometer = toRPY(currentOrientation_);
| ^~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp: In member function ‘void icp_loco::ImuTracker::removeGravityAccelerationFromBuffer() const’:
/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:150:21: warning: comparison of integer expressions of different signedness: ‘int’ and ‘std::vector<icp_loco::TimestampedImuReading>::size_type’ {aka ‘long unsigned int’} [-Wsign-compare]
150 | for (int i = 0; i < integrationBuffer_.size(); ++i) {
| ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp: In member function ‘void icp_loco::ImuTracker::integrateBufferInPlace(icp_loco::ImuTracker::Accessor, const Vector3d&) const’:
/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:171:21: warning: comparison of integer expressions of different signedness: ‘int’ and ‘std::vector<icp_loco::TimestampedImuReading>::size_type’ {aka ‘long unsigned int’} [-Wsign-compare]
171 | for (int i = 1; i < integrationBuffer_.size(); ++i) {
| ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp: In member function ‘void icp_loco::ImuTracker::printBuffer(icp_loco::ImuTracker::Accessor) const’:
/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:182:21: warning: comparison of integer expressions of different signedness: ‘int’ and ‘std::vector<icp_loco::TimestampedImuReading>::size_type’ {aka ‘long unsigned int’} [-Wsign-compare]
182 | for (int i = 0; i < integrationBuffer_.size(); ++i) {
| ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~