Adding changes for Issue-58. (#254)

Author: bailaC

forward_command_controller/src/forward_command_controller.cpp

@@ -179,7 +179,7 @@ controller_interface::return_type ForwardCommandController::update(
     return controller_interface::return_type::ERROR;
   }
 
-  for (auto index = 0ul; index < command_interfaces_.size(); ++index)
+  for (size_t index = 0; index < command_interfaces_.size(); ++index)
   {
     command_interfaces_[index].set_value((*joint_commands)->data[index]);
   }

joint_state_broadcaster/src/joint_state_broadcaster.cpp

@@ -245,7 +245,7 @@ controller_interface::return_type JointStateBroadcaster::update(
   dynamic_joint_state_msg_.header.stamp = time;
 
   // update joint state message and dynamic joint state message
-  for (auto i = 0ul; i < joint_names_.size(); ++i)
+  for (size_t i = 0; i < joint_names_.size(); ++i)
   {
     joint_state_msg_.position[i] =
       get_value(name_if_value_mapping_, joint_names_[i], HW_IF_POSITION);
@@ -254,11 +254,11 @@ controller_interface::return_type JointStateBroadcaster::update(
     joint_state_msg_.effort[i] = get_value(name_if_value_mapping_, joint_names_[i], HW_IF_EFFORT);
   }
 
-  for (auto joint_index = 0ul; joint_index < dynamic_joint_state_msg_.joint_names.size();
+  for (size_t joint_index = 0; joint_index < dynamic_joint_state_msg_.joint_names.size();
        ++joint_index)
   {
     const auto & name = dynamic_joint_state_msg_.joint_names[joint_index];
-    for (auto interface_index = 0ul;
+    for (size_t interface_index = 0;
          interface_index <
          dynamic_joint_state_msg_.interface_values[joint_index].interface_names.size();
          ++interface_index)

joint_state_broadcaster/test/test_joint_state_broadcaster.cpp

@@ -273,7 +273,7 @@ void JointStateBroadcasterTest::test_published_dynamic_joint_state_message(
   // we only check that all values in this test are present in the message
   // and that it is the same across the interfaces
   // for test purposes they are mapped to the same doubles
-  for (auto i = 0ul; i < dynamic_joint_state_msg.joint_names.size(); ++i)
+  for (size_t i = 0; i < dynamic_joint_state_msg.joint_names.size(); ++i)
   {
     ASSERT_THAT(
       dynamic_joint_state_msg.interface_values[i].interface_names,

joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp

@@ -105,7 +105,7 @@ SegmentTolerances get_segment_tolerances(
 
   tolerances.state_tolerance.resize(n_joints);
   tolerances.goal_state_tolerance.resize(n_joints);
-  for (auto i = 0ul; i < n_joints; ++i)
+  for (size_t i = 0; i < n_joints; ++i)
   {
     const std::string prefix = "constraints." + joint_names[i];
 

joint_trajectory_controller/src/joint_trajectory_controller.cpp

@@ -148,7 +148,7 @@ controller_interface::return_type JointTrajectoryController::update(
   // changed, but its value only?
   auto assign_interface_from_point =
     [&, joint_num](auto & joint_inteface, const std::vector<double> & trajectory_point_interface) {
-      for (auto index = 0ul; index < joint_num; ++index)
+      for (size_t index = 0; index < joint_num; ++index)
       {
         joint_inteface[index].get().set_value(trajectory_point_interface[index]);
       }
@@ -208,7 +208,7 @@ controller_interface::return_type JointTrajectoryController::update(
       //         assign_interface_from_point(joint_command_interface_[3], state_desired.effort);
       //       }
 
-      for (auto index = 0ul; index < joint_num; ++index)
+      for (size_t index = 0; index < joint_num; ++index)
       {
         compute_error_for_joint(state_error, index, state_current, state_desired);
 
@@ -314,7 +314,7 @@ void JointTrajectoryController::read_state_from_hardware(JointTrajectoryPoint &
   const auto joint_num = joint_names_.size();
   auto assign_point_from_interface =
     [&, joint_num](std::vector<double> & trajectory_point_interface, const auto & joint_inteface) {
-      for (auto index = 0ul; index < joint_num; ++index)
+      for (size_t index = 0; index < joint_num; ++index)
       {
         trajectory_point_interface[index] = joint_inteface[index].get().get_value();
       }
@@ -353,7 +353,7 @@ bool JointTrajectoryController::read_state_from_command_interfaces(JointTrajecto
   const auto joint_num = joint_names_.size();
   auto assign_point_from_interface =
     [&, joint_num](std::vector<double> & trajectory_point_interface, const auto & joint_inteface) {
-      for (auto index = 0ul; index < joint_num; ++index)
+      for (size_t index = 0; index < joint_num; ++index)
       {
         trajectory_point_interface[index] = joint_inteface[index].get().get_value();
       }
@@ -793,13 +793,13 @@ CallbackReturn JointTrajectoryController::on_activate(const rclcpp_lifecycle::St
 CallbackReturn JointTrajectoryController::on_deactivate(const rclcpp_lifecycle::State &)
 {
   // TODO(anyone): How to halt when using effort commands?
-  for (auto index = 0ul; index < joint_names_.size(); ++index)
+  for (size_t index = 0; index < joint_names_.size(); ++index)
   {
     joint_command_interface_[0][index].get().set_value(
       joint_command_interface_[0][index].get().get_value());
   }
 
-  for (auto index = 0ul; index < allowed_interface_types_.size(); ++index)
+  for (size_t index = 0; index < allowed_interface_types_.size(); ++index)
   {
     joint_command_interface_[index].clear();
     joint_state_interface_[index].clear();
@@ -970,7 +970,7 @@ void JointTrajectoryController::fill_partial_goal(
 
   trajectory_msg->joint_names.reserve(joint_names_.size());
 
-  for (auto index = 0ul; index < joint_names_.size(); ++index)
+  for (size_t index = 0; index < joint_names_.size(); ++index)
   {
     {
       if (
@@ -1023,15 +1023,15 @@ void JointTrajectoryController::sort_to_local_joint_order(
     }
     std::vector<double> output;
     output.resize(mapping.size(), 0.0);
-    for (auto index = 0ul; index < mapping.size(); ++index)
+    for (size_t index = 0; index < mapping.size(); ++index)
     {
       auto map_index = mapping[index];
       output[map_index] = to_remap[index];
     }
     return output;
   };
 
-  for (auto index = 0ul; index < trajectory_msg->points.size(); ++index)
+  for (size_t index = 0; index < trajectory_msg->points.size(); ++index)
   {
     trajectory_msg->points[index].positions =
       remap(trajectory_msg->points[index].positions, mapping_vector);
@@ -1106,7 +1106,7 @@ bool JointTrajectoryController::validate_trajectory_msg(
     }
   }
 
-  for (auto i = 0ul; i < trajectory.joint_names.size(); ++i)
+  for (size_t i = 0; i < trajectory.joint_names.size(); ++i)
   {
     const std::string & incoming_joint_name = trajectory.joint_names[i];
 
@@ -1121,7 +1121,7 @@ bool JointTrajectoryController::validate_trajectory_msg(
   }
 
   rclcpp::Duration previous_traj_time(0ms);
-  for (auto i = 0ul; i < trajectory.points.size(); ++i)
+  for (size_t i = 0; i < trajectory.points.size(); ++i)
   {
     if ((i > 0) && (rclcpp::Duration(trajectory.points[i].time_from_start) <= previous_traj_time))
     {

joint_trajectory_controller/src/trajectory.cpp

@@ -106,7 +106,7 @@ bool Trajectory::sample(
 
   // time_from_start + trajectory time is the expected arrival time of trajectory
   const auto last_idx = trajectory_msg_->points.size() - 1;
-  for (auto i = 0ul; i < last_idx; ++i)
+  for (size_t i = 0; i < last_idx; ++i)
   {
     const auto & point = trajectory_msg_->points[i];
     const auto & next_point = trajectory_msg_->points[i + 1];

joint_trajectory_controller/test/test_trajectory_controller.cpp

@@ -971,7 +971,7 @@ TEST_P(TrajectoryControllerTestParameterized, test_hw_states_has_offset_first_co
   rclcpp::Parameter is_open_loop_parameters("open_loop_control", true);
 
   // set command values to NaN
-  for (auto i = 0u; i < 3; ++i)
+  for (size_t i = 0; i < 3; ++i)
   {
     joint_pos_[i] = std::numeric_limits<double>::quiet_NaN();
     joint_vel_[i] = std::numeric_limits<double>::quiet_NaN();
@@ -981,7 +981,7 @@ TEST_P(TrajectoryControllerTestParameterized, test_hw_states_has_offset_first_co
 
   auto current_state_when_offset = traj_controller_->get_current_state_when_offset();
 
-  for (auto i = 0u; i < 3; ++i)
+  for (size_t i = 0; i < 3; ++i)
   {
     EXPECT_EQ(current_state_when_offset.positions[i], joint_state_pos_[i]);
 
@@ -1022,7 +1022,7 @@ TEST_P(TrajectoryControllerTestParameterized, test_hw_states_has_offset_later_co
   rclcpp::Parameter is_open_loop_parameters("open_loop_control", true);
 
   // set command values to NaN
-  for (auto i = 0u; i < 3; ++i)
+  for (size_t i = 0; i < 3; ++i)
   {
     joint_pos_[i] = 3.1 + i;
     joint_vel_[i] = 0.25 + i;
@@ -1032,7 +1032,7 @@ TEST_P(TrajectoryControllerTestParameterized, test_hw_states_has_offset_later_co
 
   auto current_state_when_offset = traj_controller_->get_current_state_when_offset();
 
-  for (auto i = 0u; i < 3; ++i)
+  for (size_t i = 0; i < 3; ++i)
   {
     EXPECT_EQ(current_state_when_offset.positions[i], joint_pos_[i]);