[Issue #792] Fix compilation warnings - some warnings addressed

src/drivers/gazeboserver/plugins/car/carMotors.cc

@@ -258,7 +258,7 @@ namespace gazebo
                 std::cerr << e << std::endl;
             }
         }
-
+        return NULL;
     }
     // Register this plugin with the simulator
     GZ_REGISTER_MODEL_PLUGIN(Motors)

src/drivers/gazeboserver/plugins/car/pose3d.cc

@@ -148,7 +148,7 @@ namespace gazebo {
                 std::cerr << e << std::endl;
             }
         }
-
+        return NULL;
     }
 
 }

src/drivers/gazeboserver/plugins/f1/camera_dump.cc

@@ -146,7 +146,7 @@ class CameraI: virtual public jderobot::Camera {
 		}
 
 		virtual std::string startCameraStreaming(const Ice::Current&){
-
+            return "";  // Remove return warning
 		}
 
 		virtual void stopCameraStreaming(const Ice::Current&) {
@@ -302,5 +302,6 @@ void *myMain(void* v)
             std::cerr << e << std::endl;
         }
     }
-
+
+    return NULL;    
 }

src/drivers/gazeboserver/plugins/f1/laser.cc

@@ -172,4 +172,5 @@ void *mainLaser(void* v)
         }
     }
 
+    return NULL;
 }

src/drivers/gazeboserver/plugins/f1/motors.cc

@@ -260,6 +260,7 @@ namespace gazebo
             }
         }
 
+        return NULL;
     }
     // Register this plugin with the simulator
     GZ_REGISTER_MODEL_PLUGIN(Motors)

src/drivers/gazeboserver/plugins/f1/pose3d.cc

@@ -149,6 +149,7 @@ namespace gazebo {
             }
         }
 
+        return NULL;
     }
 
 }

src/drivers/gazeboserver/plugins/holo_car/holoCarMotors.cc

@@ -171,7 +171,7 @@ namespace gazebo
                 std::cerr << e << std::endl;
             }
         }
-
+        return NULL;
     }
     // Register this plugin with the simulator
     GZ_REGISTER_MODEL_PLUGIN(Motors)

src/drivers/gazeboserver/plugins/holo_car/holoCarPose3d.cc

@@ -148,7 +148,7 @@ namespace gazebo {
                 std::cerr << e << std::endl;
             }
         }
-
+        return NULL;
     }
 
 }

src/drivers/gazeboserver/plugins/pioneer/camera_dump.cc

@@ -147,7 +147,7 @@ class CameraI: virtual public jderobot::Camera {
 		}
 
 		virtual std::string startCameraStreaming(const Ice::Current&){
-
+            return ""; // Remove return warning
 		}
 
 		virtual void stopCameraStreaming(const Ice::Current&) {
@@ -302,5 +302,6 @@ void *myMain(void* v)
             std::cerr << e << std::endl;
         }
     }
-
+
+    return NULL;    
 }

src/drivers/gazeboserver/plugins/pioneer/laser.cc

@@ -143,4 +143,6 @@ void *mainLaser(void* v)
         }
     }
 
+    return NULL;
+
 }

src/drivers/gazeboserver/plugins/pioneer/motors.cc

@@ -236,5 +236,6 @@ std::cout << argv[0] << " loaded" << std::endl;
             }
         }
 
+        return NULL;
     }
 }

src/drivers/gazeboserver/plugins/pioneer/pose3d.cc

@@ -149,6 +149,8 @@ namespace gazebo {
             }
         }
 
+        return NULL;
+
     }
 
 }

src/drivers/gazeboserver/plugins/pioneer/pose3dencoders.cc

@@ -122,10 +122,10 @@ namespace gazebo {
         this->cameraRight.encoder.tilt = this->cameraRight.camera_link_tilt->GetRelativePose().rot.GetAsEuler().y * 180.0 / M_PI;
         //std::cout << this->cameraRight.encoder.tilt << std::endl;
 
-        double setPanRight = -50;
-        double setPanLeft = -50;
-        double setTiltRight = -10;
-        double setTiltLeft = -10;
+        // double setPanRight = -50;
+        // double setPanLeft = -50;
+        // double setTiltRight = -10;
+        // double setTiltLeft = -10;
         //          ----------MOTORS----------
 
 
@@ -343,6 +343,7 @@ namespace gazebo {
             pose->cameraLeft.motor.tiltSpeed = data->tiltSpeed;            
             pthread_mutex_unlock(&pose->mutex);
 
+            return 0; // Remove return warning
         }        
 
         gazebo::Pose3DEncoders* pose;
@@ -411,6 +412,7 @@ namespace gazebo {
             pose->cameraRight.motor.tiltSpeed = data->tiltSpeed;            
             pthread_mutex_unlock(&pose->mutex);
 
+            return 0; // Remove return warning
         }        
 
         gazebo::Pose3DEncoders* pose;
@@ -489,7 +491,8 @@ namespace gazebo {
                 std::cerr << e << std::endl;
             }
         }
-
+
+        return NULL;
     }
 
 

src/drivers/kobuki_driver/actuators/motors.cpp

@@ -12,12 +12,12 @@ Motors::~Motors()
 
 float Motors::getV(const Ice::Current&)
 {
-
+    return 0.;
 }
 
 float Motors::getW(const Ice::Current&)
 {
-
+    return 0.;
 }
 
 float Motors::getL(const Ice::Current&)
@@ -28,11 +28,13 @@ float Motors::getL(const Ice::Current&)
 Ice::Int Motors::setV(Ice::Float v, const Ice::Current&)
 {
     kobuki_manager->setV(v);
+    return 0;
 }
 
 Ice::Int Motors::setW(Ice::Float _w, const Ice::Current&)
 {
     kobuki_manager->setW(_w);
+    return 0;
 }
 
 Ice::Int Motors::setL(Ice::Float l, const Ice::Current&)

src/drivers/kobuki_driver/kobukimanager.cpp

@@ -96,7 +96,7 @@ void KobukiManager::update()
 
     std::cout << "ir: " << ir.docking.size()<< std::endl;
 
-    for(int  i =0; i < ir.docking.size(); i++){
+    for(unsigned int i =0; i < ir.docking.size(); i++){
         std::cout << (unsigned char)ir.docking[i] << ", ";
     }
 

src/drivers/kobuki_driver/sensors/pose3d.cpp

@@ -8,7 +8,7 @@ Pose3D::Pose3D(KobukiManager *kobuki)
 int Pose3D::setPose3DData(const jderobot::Pose3DDataPtr&  pose3dData,
                              const Ice::Current&)
 {
-
+    return 0;
 }
 
 

src/drivers/laser_server/hokuyo/hokuyomanager.cpp

@@ -14,7 +14,7 @@ namespace hokuyo{
 		this->timeout = timeout;
         this->faceup = faceup;
 std::cout << "open: " << port << std::endl;
-		hokuyo:LaserConfig config;
+		LaserConfig config;
 		laser_.getConfig(config);
 std::cout<< "min_range: " << config.min_range << std::endl;
 std::cout<< "max_range: " << config.max_range << std::endl;
@@ -65,9 +65,9 @@ std::cout<< "range_res: " << config.range_res << std::endl;
             data->maxAngle = this->max_ang;
 
 	    hokuyo::LaserScan  scan;
-	    int res;
-	    mutex.lock();
-	    res = laser_.pollScan(scan,this->min_ang,this->max_ang,this->clustering,this->timeout);
+
+        mutex.lock();
+	    //res = laser_.pollScan(scan,this->min_ang,this->max_ang,this->clustering,this->timeout);
 
 	    mutex.unlock();
 

src/drivers/openni1Server/myprogeo.cpp

@@ -38,7 +38,6 @@ int myprogeo::load_cam_line(FILE *myfile,int cam)
     char word1[MAX_BUFFER],word2[MAX_BUFFER];
     int i=0;
     char buffer_file[MAX_BUFFER];
-    double roll;
 
     buffer_file[0]=fgetc(myfile);
     if (feof(myfile)) return EOF;
@@ -150,8 +149,7 @@ void myprogeo::load_cam(char *fich_in,int cam, int w, int h)
 {
 	this->w=w;
 	this->h=h;
-    FILE *entrada;
-    int i;
+
     if (strlen(fich_in) ==0 ) {
         std::cout << w << ", " << h << std::endl;
         this->cameras[cam].fdistx=515;

src/drivers/openni1Server/openni1Server.cpp

@@ -469,11 +469,10 @@ void CalculateJoints(){
 		g_pTexMap = (XnRGB24Pixel*)malloc(g_nTexMapX * g_nTexMapY * sizeof(XnRGB24Pixel));
 		SceneMetaData smd;
 
-		struct timeval a, b;
+		struct timeval a;
 		int cycle; // duración del ciclo
 		long totala;
 		long totalpre=0;
-		long diff;
 
 		std::cout << "RGB FPS: " << fps << std::endl;
 		cycle=(float)(1/(float)fps)*1000000;
@@ -714,8 +713,6 @@ void CalculateJoints(){
 	}
 
     virtual void run(){
-		int test;
-
 
 		jderobot::ImageDataPtr reply(new jderobot::ImageData);
 		reply->description = mycameradepth->imageDescription;
@@ -727,11 +724,10 @@ void CalculateJoints(){
 		g_pTexMap = (XnRGB24Pixel*)malloc(g_nTexMapX * g_nTexMapY * sizeof(XnRGB24Pixel));
 		distances.resize(width*height);
 
-		struct timeval a, b;
+		struct timeval a;
 		int cycle; // duración del ciclo
 		long totala;
 		long totalpre=0;
-		long diff;
 
 		//std::cout << "FPS depth: " << fps << std::endl;
 		cycle=(float)(1/(float)fps)*1000000;
@@ -754,7 +750,6 @@ void CalculateJoints(){
 				XnDepthPixel* pDepth = (XnDepthPixel* )pDepthRow;
 				for (XnUInt x = 0; x < sensors[SELCAM].depthMD.XRes(); ++x, ++pDepth)
 				{
-					test= *pDepth;
 
 					if ((!segmentation)||(*pLabels!=0)){
 						distances[(y*sensors[SELCAM].depthMD.XRes() + x)] = *pDepth;
@@ -783,7 +778,9 @@ void CalculateJoints(){
 			}
 			//cvFlip(src, NULL, 1);
 
-		   if ((mycameradepth->imageDescription->width != sensors[SELCAM].imageMD.XRes()) || (mycameradepth->imageDescription->height != sensors[SELCAM].imageMD.YRes())){
+		   if ( (static_cast<unsigned int>(mycameradepth->imageDescription->width) != sensors[SELCAM].imageMD.XRes()) || 
+                (static_cast<unsigned int>(mycameradepth->imageDescription->height) != sensors[SELCAM].imageMD.YRes())
+            ) {
 				cvResize(src,dst_resize);
 				memcpy(&(reply->pixelData[0]),(unsigned char *) dst_resize->imageData,dst_resize->width*dst_resize->height * 3);
 			}
@@ -942,7 +939,7 @@ void CalculateJoints(){
 				mypro= new openni1Server::myprogeo();
 				mypro->load_cam((char*)path.c_str(),0, cWidth, cHeight);
 
-				struct timeval a, b;
+				struct timeval a;
 				int cycle; // duración del ciclo
 				long totala;
 				long totalpre=0;
@@ -955,14 +952,15 @@ void CalculateJoints(){
 					totala=a.tv_sec*1000000+a.tv_usec;
 					pthread_mutex_lock(&mutex);
 					data2->p.clear();
-					for( unsigned int i = 0 ; (i < cWidth*cHeight)&&(distances.size()>0); i=i+9) {
-							distance=(float)distances[i];
-							if (distance!=0){
+					for( unsigned int i = 0 ; 
+                        (i < static_cast<unsigned int>(cWidth * cHeight)) && 
+                        (distances.size()>0); i=i+9) {
+
+						    distance = (float)distances[i];
+							if (distance != 0){
 								//if (((unsigned char)srcRGB->imageData[3*i]!=0) && ((unsigned char)srcRGB->imageData[3*i+1]!=0) && ((unsigned char)srcRGB->imageData[3*i+2]!=0)){
 									float xp,yp,zp,camx,camy,camz;
 									float ux,uy,uz; 
-									float x,y;
-									float k;
 									float c1x, c1y, c1z;
 									float fx,fy,fz;
 									float fmod;
@@ -1285,7 +1283,7 @@ int main(int argc, char** argv){
 	width=prop->getPropertyAsIntWithDefault("openni1Server.Width", 640);
 	localDebug=prop->getPropertyAsIntWithDefault("openni1Server.Debug", 0);
 	height=prop->getPropertyAsIntWithDefault("openni1Server.Height",480);
-	int fps=prop->getPropertyAsIntWithDefault("openni1Server.Fps",30);
+	//int fps=prop->getPropertyAsIntWithDefault("openni1Server.Fps",30);
 
 #ifndef WITH_NITE
 	playerdetection=0;
@@ -1390,7 +1388,7 @@ int main(int argc, char** argv){
 			uint8_t address = libusb_get_device_address (device);
 
 			int device_id = -1;
-			for (size_t i = 0; device_id < 0 && i < n_devices; ++i)
+			for (size_t i = 0; device_id < 0 && i < static_cast<unsigned int>(n_devices); ++i)
 			{
 				if (busId == sensors[i].bus && address == sensors[i].address)
 				device_id = i;
@@ -1467,14 +1465,10 @@ int main(int argc, char** argv){
 				}
 				delete[] aModeD;
 
-
-
-
-					XnMapOutputMode depth_mode;
-				depth_mode.nXRes = width;
-				depth_mode.nYRes = height;
-				depth_mode.nFPS = 30;
-
+				//XnMapOutputMode depth_mode;
+				//depth_mode.nXRes = width;
+				//depth_mode.nYRes = height;
+				//depth_mode.nFPS = 30;
 
 				CHECK_RC(rc, "Create Depth");
 				// now create a image generator over this device
@@ -1497,11 +1491,11 @@ int main(int argc, char** argv){
 				CHECK_RC(rc, "Find user generator");
 				#endif
 
-				XnMapOutputMode rgb_mode;
-					rgb_mode.nXRes = width;
-					rgb_mode.nYRes = height;
-					rgb_mode.nFPS = fps;
-					sensors[i].image.SetMapOutputMode(aModeD[2]);
+				// XnMapOutputMode rgb_mode;
+				// rgb_mode.nXRes = width;
+				// rgb_mode.nYRes = height;
+				// rgb_mode.nFPS = fps;
+				sensors[i].image.SetMapOutputMode(aModeD[2]);
 
 
 				sensors[i].depth.GetAlternativeViewPointCap().SetViewPoint(sensors[i].image);

src/drivers/pclRGBDServer/cameraRGB.h

@@ -55,7 +55,7 @@ namespace kinect{
 		}
 
 		virtual std::string startCameraStreaming(const Ice::Current&){
-
+            return "";
 		}
 
 		virtual void stopCameraStreaming(const Ice::Current&) {

src/drivers/pclRGBDServer/cameradepth.h

@@ -62,7 +62,7 @@ namespace kinect{
 		    }
 
 		    virtual std::string startCameraStreaming(const Ice::Current&){
-
+                return "";
 		    }
 
 		    virtual void stopCameraStreaming(const Ice::Current&) {