Fix warnings with GCC on Ubuntu 20.04

face_cropping/CMakeLists.txt

@@ -10,11 +10,6 @@ endif()
 if(NOT CMAKE_CXX_STANDARD)
     set(CMAKE_CXX_STANDARD 17)
     set(CMAKE_CXX_STANDARD_REQUIRED ON)
-
-endif()
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-    add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
 find_package(ament_cmake REQUIRED)
@@ -187,6 +182,12 @@ install(TARGETS face_cropping_webrtc_node DESTINATION lib/${PROJECT_NAME})
 
 install(DIRECTORY models DESTINATION share/${PROJECT_NAME})
 
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    target_compile_options(torchvision PRIVATE -w)
+    target_compile_options(face_cropping_node PRIVATE -Wall -Wextra -Wpedantic)
+    target_compile_options(face_cropping_webrtc_node PRIVATE -Wall -Wextra -Wpedantic)
+endif()
+
 if(BUILD_TESTING)
     find_package(ament_lint_auto REQUIRED)
     # the following line skips the linter which checks for copyrights

map_image_generator/src/drawers/LabelImageDrawer.cpp

@@ -2,8 +2,6 @@
 
 #include <opencv2/imgproc.hpp>
 
-#include <tf2/utils.h>
-
 using namespace map_image_generator;
 
 LabelImageDrawer::LabelImageDrawer(const Parameters& parameters, rclcpp::Node& node, tf2_ros::Buffer& tfBuffer)
@@ -52,14 +50,10 @@ void LabelImageDrawer::drawLabel(
     tf2::fromMsg(label.pose.pose, labelPose);
     labelPose = transform * labelPose;
     adjustTransformForRobotRef(labelPose);
-    double yaw = tf2::getYaw(labelPose.getRotation());
 
     int startX, startY;
     convertTransformToMapCoordinates(labelPose, startX, startY);
 
-    int endX = static_cast<int>(startX + size * cos(yaw));
-    int endY = static_cast<int>(startY + size * sin(yaw));
-
     cv::drawMarker(
         image,
         cv::Point(startX, startY),

map_image_generator/src/drawers/OccupancyGridImageDrawer.cpp

@@ -197,13 +197,17 @@ void OccupancyGridImageDrawer::rotateImageAboutCenter(cv::Mat& image, double ang
 OccupancyGridImageDrawer::DirectionalValues
     OccupancyGridImageDrawer::computePadding(const DirectionalValues& position, int height, int width)
 {
+    // TODO: remove pragma when using C++20
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wpedantic"
     return {
         .top = restrictToPositive((height - 1) / 2 - position.top),
         .bottom = restrictToPositive(height / 2 - position.bottom),
 
         .left = restrictToPositive((width - 1) / 2 - position.left),
         .right = restrictToPositive(width / 2 - position.right),
     };
+#pragma GCC diagnostic pop
 }
 
 OccupancyGridImageDrawer::MapCoordinates
@@ -217,12 +221,16 @@ OccupancyGridImageDrawer::MapCoordinates
 OccupancyGridImageDrawer::DirectionalValues
     OccupancyGridImageDrawer::getDirectionsFromMapCoordinates(const MapCoordinates& mapCoordinates, const cv::Mat& map)
 {
+    // TODO: remove pragma when using C++20
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wpedantic"
     return {
         .top = 0 + mapCoordinates.y,
         .bottom = (map.rows - 1) - mapCoordinates.y,
         .left = 0 + mapCoordinates.x,
         .right = (map.cols - 1) - mapCoordinates.x,
     };
+#pragma GCC diagnostic pop
 }
 
 void OccupancyGridImageDrawer::drawOccupancyGridImage(cv::Mat& image)
@@ -239,18 +247,10 @@ void OccupancyGridImageDrawer::drawOccupancyGridImage(cv::Mat& image)
     MapCoordinates robotCoordinates = getMapCoordinatesFromTf(*robotTransform);
     DirectionalValues robotPosition = getDirectionsFromMapCoordinates(robotCoordinates, m_scaledOccupancyGridImage);
 
-    double heightBorder = 0.1 * outHeight;
-    double widthBorder = 0.1 * outWidth;
-
-    // Map center
-    double occupancyXOrigin = m_lastOccupancyGrid->info.origin.position.x;
-    double occupancyYOrigin = m_lastOccupancyGrid->info.origin.position.y;
-
     tf2::Transform mapOriginPose;
     mapOriginPose.setOrigin({0.0, 0.0, 0.0});
 
     MapCoordinates mapOriginCoordinates = getMapCoordinatesFromTf(mapOriginPose);
-    DirectionalValues mapPosition = getDirectionsFromMapCoordinates(mapOriginCoordinates, m_scaledOccupancyGridImage);
 
     double hScaleFactor = (0.4 * outWidth) / std::abs(robotPosition.left - mapOriginCoordinates.x);
     double vScaleFactor = (0.4 * outHeight) / std::abs(robotPosition.top - mapOriginCoordinates.y);
@@ -259,10 +259,14 @@ void OccupancyGridImageDrawer::drawOccupancyGridImage(cv::Mat& image)
 
     const auto& zoomedMap = getZoomedOccupancyImage();
 
+    // TODO: remove pragma when using C++20
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wpedantic"
     MapCoordinates zoomedMapOriginCoordinates{
         .x = static_cast<int>(mapOriginCoordinates.x * m_parameters.scaleFactor()),
         .y = static_cast<int>(mapOriginCoordinates.y * m_parameters.scaleFactor()),
     };
+#pragma GCC diagnostic pop
     DirectionalValues zoomedMapPosition = getDirectionsFromMapCoordinates(zoomedMapOriginCoordinates, zoomedMap);
 
     DirectionalValues padding = computePadding(zoomedMapPosition, outHeight, outWidth);

opentera_webrtc_demos/CMakeLists.txt

@@ -21,7 +21,7 @@ find_package(ament_cmake REQUIRED)
 add_custom_command(
     OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/node_modules.stamp
     DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/opentera-webrtc-teleop-frontend/teleop-vue/package.json
-    COMMAND npm install
+    COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/cmake/output_only_if_failed.sh npm install
     COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_CURRENT_BINARY_DIR}/node_modules.stamp
     WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/opentera-webrtc-teleop-frontend/teleop-vue
     VERBATIM
@@ -45,7 +45,7 @@ file(
 add_custom_command(
     OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/dist.stamp
     DEPENDS ${FRONTEND_FILES} ${CMAKE_CURRENT_BINARY_DIR}/node_modules.stamp opentera_werbrtc_teleop_frontend-install
-    COMMAND npm run build
+    COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/cmake/output_only_if_failed.sh npm run build
     COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_CURRENT_BINARY_DIR}/dist.stamp
     WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/opentera-webrtc-teleop-frontend/teleop-vue
     VERBATIM

opentera_webrtc_demos/cmake/output_only_if_failed.sh

@@ -0,0 +1,10 @@
+#!/bin/bash
+
+output=$("$@" 2>&1)
+return_code=$?
+
+if [ $return_code -ne 0 ]; then
+    echo -e "$output" >&2
+fi
+
+exit $return_code

opentera_webrtc_robot_gui/src/LocalCameraWindow.cpp

@@ -61,7 +61,7 @@ void LocalCameraWindow::mousePressEvent(QMouseEvent* event)
     }
 }
 
-void LocalCameraWindow::focusOutEvent(QFocusEvent* event)
+void LocalCameraWindow::focusOutEvent([[maybe_unused]] QFocusEvent* event)
 {
     if (isSizeGripEnabled())
     {

opentera_webrtc_robot_gui/src/MainWindow.cpp

@@ -189,7 +189,7 @@ void MainWindow::onPeerStatusClientDisconnected(const QString& id)
     }
 }
 
-void MainWindow::_onPeerStatus(const QString& id, const QString& name, int status)
+void MainWindow::_onPeerStatus(const QString& id, [[maybe_unused]] const QString& name, int status)
 {
     switch (status)
     {

opentera_webrtc_robot_gui/src/ROSCameraView.cpp

@@ -15,7 +15,7 @@ void CameraWidget::setImage(const QImage& image, bool repaintNow)
     }
 }
 
-void CameraWidget::paintEvent(QPaintEvent* event)
+void CameraWidget::paintEvent([[maybe_unused]] QPaintEvent* event)
 {
     QPainter painter(this);
     painter.setRenderHint(QPainter::SmoothPixmapTransform, true);
@@ -27,9 +27,9 @@ void CameraWidget::paintEvent(QPaintEvent* event)
         return;
     }
 
-    float scale =
-        std::min(static_cast<float>(width()) / static_cast<float>(m_image.width()),
-            static_cast<float>(height()) / static_cast<float>(m_image.height()));
+    float scale = std::min(
+        static_cast<float>(width()) / static_cast<float>(m_image.width()),
+        static_cast<float>(height()) / static_cast<float>(m_image.height()));
     int scaledWidth = static_cast<int>(scale * m_image.width());
     int scaledHeight = static_cast<int>(scale * m_image.height());
     int offsetX = std::max(0, (width() - scaledWidth) / 2);
@@ -41,8 +41,8 @@ void CameraWidget::paintEvent(QPaintEvent* event)
 ROSCameraView::ROSCameraView(QWidget* parent)
     : QWidget{parent},
       m_layout{nullptr},
-      m_label{nullptr},
-      m_cameraWidget{nullptr}
+      m_cameraWidget{nullptr},
+      m_label{nullptr}
 {
     m_layout = new QVBoxLayout(this);
 

opentera_webrtc_ros/CMakeLists.txt

@@ -16,10 +16,6 @@ endif()
 
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-    add_compile_options(-Wall -Wextra -Wpedantic)
-endif()
-
 if(NOT CMAKE_BUILD_TYPE )
     MESSAGE(STATUS "not define build type, set to release" )
     set(CMAKE_BUILD_TYPE Release )
@@ -55,6 +51,8 @@ set(OPENTERA_WEBRTC_ENABLE_EXAMPLES OFF)
 set(OPENTERA_WEBRTC_ENABLE_GSTREAMER ON)
 # Use system opencv that is shared with ROS
 set(OPENTERA_WEBRTC_USE_SYSTEM_OPENCV ON)
+# Disable building the documentation, the pip install for the documentation is annoying.
+set(OPENTERA_WEBRTC_ENABLE_PYTHON_HTML_DOC OFF)
 # Enable install on build for python package, which is required for using it in ROS if using devel space
 set(OPENTERA_WEBRTC_NATIVE_CLIENT_PYTHON_INSTALL_ON_BUILD OFF)
 # Install in ROS worksapce
@@ -193,6 +191,16 @@ ament_target_dependencies(${PROJECT_NAME}_json_data_handler
 set_target_properties(${PROJECT_NAME}_json_data_handler PROPERTIES OUTPUT_NAME json_data_handler PREFIX "")
 install(TARGETS ${PROJECT_NAME}_json_data_handler DESTINATION lib/${PROJECT_NAME})
 
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    target_compile_options(${PROJECT_NAME}_topic_streamer PRIVATE -Wall -Wextra -Wpedantic)
+    target_compile_options(${PROJECT_NAME}_data_channel_bridge PRIVATE -Wall -Wextra -Wpedantic)
+    target_compile_options(${PROJECT_NAME}_json_data_handler PRIVATE -Wall -Wextra -Wpedantic)
+
+    foreach(target ${opentera_webrtc_native_client_targets})
+        target_compile_options(${target} PRIVATE -Wall -Wextra -Wpedantic)
+    endforeach()
+endif()
+
 install(
     DIRECTORY
         lib/lib