CPPCheck fixes

realsense2_camera/include/base_realsense_node.h

@@ -95,9 +95,8 @@ namespace realsense2_camera
             ~SyncedImuPublisher();
             void Pause();   // Pause sending messages. All messages from now on are saved in queue.
             void Resume();  // Send all pending messages and allow sending future messages.
-            void Publish(sensor_msgs::msg::Imu msg);     //either send or hold message.
+            void Publish(sensor_msgs::msg::Imu imu_msg);     //either send or hold message.
             size_t getNumSubscribers();
-            void Enable(bool is_enabled) {_is_enabled=is_enabled;};
 
         private:
             void PublishPendingMessages();
@@ -225,7 +224,7 @@ namespace realsense2_camera
         void publishStaticTransforms();
         void startDynamicTf();
         void publishDynamicTransforms();
-        void publishPointCloud(rs2::points f, const rclcpp::Time& t, const rs2::frameset& frameset);
+        void publishPointCloud(rs2::points pc, const rclcpp::Time& t, const rs2::frameset& frameset);
         Extrinsics rsExtrinsicsToMsg(const rs2_extrinsics& extrinsics) const;
         IMUInfo getImuInfo(const rs2::stream_profile& profile);
         void initializeFormatsMaps();

realsense2_camera/src/base_realsense_node.cpp

@@ -815,7 +815,6 @@ void BaseRealSenseNode::updateExtrinsicsCalibData(const rs2::video_stream_profil
 void BaseRealSenseNode::SetBaseStream()
 {
     const std::vector<stream_index_pair> base_stream_priority = {DEPTH};
-    std::set<stream_index_pair> checked_sips;
     std::map<stream_index_pair, rs2::stream_profile> available_profiles;
     for(auto&& sensor : _available_ros_sensors)
     {
@@ -831,7 +830,7 @@ void BaseRealSenseNode::SetBaseStream()
     std::vector<stream_index_pair>::const_iterator base_stream(base_stream_priority.begin());
     while((base_stream != base_stream_priority.end()) && (available_profiles.find(*base_stream) == available_profiles.end()))
     {
-        base_stream++;
+        ++base_stream;
     }
     if (base_stream == base_stream_priority.end())
     {
@@ -1120,7 +1119,7 @@ void BaseRealSenseNode::publishRGBD(
         auto depth_camera_info = _camera_info.at(DEPTH);
         msg->depth_camera_info = depth_camera_info;
 
-        realsense2_camera_msgs::msg::RGBD *msg_address = msg.get();
+        const realsense2_camera_msgs::msg::RGBD *msg_address = msg.get();
         _rgbd_publisher->publish(std::move(msg));
         ROS_DEBUG_STREAM("rgbd stream published, message address: " << std::hex << msg_address);
     }

realsense2_camera/src/profile_manager.cpp

@@ -51,7 +51,7 @@ void ProfilesManager::registerSensorQOSParam(std::string template_name,
 {
     // For each pair of stream-index, Function add a QOS parameter to <params> and advertise it by <template_name>.
     // parameters in <params> are dynamically being updated. If invalid they are reverted.
-    for (auto& sip : unique_sips)
+    for (const auto &sip : unique_sips)
     {
         std::string param_name = applyTemplateName(template_name, sip);
         params[sip] = std::make_shared<std::string>(value);
@@ -320,7 +320,7 @@ std::string VideoProfilesManager::get_profiles_descriptions(rs2_stream stream_ty
         }
     }
     std::stringstream descriptors_strm;
-    for (auto& profile_str : profiles_str)
+    for (const auto &profile_str : profiles_str)
     {
         descriptors_strm << profile_str << "\n";
     }
@@ -345,7 +345,7 @@ std::string VideoProfilesManager::getProfileFormatsDescriptions(stream_index_pai
         }
     }
     std::stringstream descriptors_strm;
-    for (auto& profile_format_str : profile_formats_str)
+    for (const auto &profile_format_str : profile_formats_str)
     {
         descriptors_strm << profile_format_str << "\n";
     }

realsense2_camera/src/realsense_node_factory.cpp

@@ -104,7 +104,6 @@ void RealSenseNodeFactory::getDevice(rs2::device_list list)
                 std::string pn = dev.get_info(RS2_CAMERA_INFO_PHYSICAL_PORT);
                 std::string name = dev.get_info(RS2_CAMERA_INFO_NAME);
                 ROS_INFO_STREAM("Device with physical ID " << pn << " was found.");
-                std::vector<std::string> results;
                 ROS_INFO_STREAM("Device with name " << name << " was found.");
                 std::string port_id = parseUsbPort(pn);
                 if (port_id.empty())

realsense2_camera/src/ros_sensor.cpp

@@ -355,17 +355,14 @@ bool profiles_equal(const rs2::stream_profile& a, const rs2::stream_profile& b)
 
 bool is_profiles_in_profiles(const std::vector<stream_profile>& sub_profiles, const std::vector<stream_profile>& all_profiles)
 {
-    for (auto& a : sub_profiles)
+    for (const auto &a : sub_profiles)
     {
-        bool found_profile(false);
-        for (auto& b : all_profiles)
-        {
-            if (profiles_equal(a, b))
-            {
-                found_profile = true;
-                break;
-            }
-        }
+        bool found_profile = std::any_of(
+            all_profiles.begin(),
+            all_profiles.end(),
+            [&a](const stream_profile &b) {
+                return profiles_equal(a, b);
+            });
         if (!found_profile)
         {
             return false;

realsense2_camera/src/ros_utils.cpp

@@ -109,7 +109,7 @@ static const rmw_qos_profile_t rmw_qos_profile_latched =
     false
 };
 
-const rmw_qos_profile_t qos_string_to_qos(std::string str)
+const rmw_qos_profile_t qos_string_to_qos(const std::string &str)
 {
     if (str == "UNKNOWN")
         return rmw_qos_profile_unknown;

realsense2_camera/src/rs_node_setup.cpp

@@ -217,7 +217,6 @@ void BaseRealSenseNode::stopPublishers(const std::vector<stream_profile>& profil
 
 void BaseRealSenseNode::startPublishers(const std::vector<stream_profile>& profiles, const RosSensor& sensor)
 {
-    const std::string module_name(create_graph_resource_name(rs2_to_ros(sensor.get_info(RS2_CAMERA_INFO_NAME))));
     for (auto& profile : profiles)
     {
         stream_index_pair sip(profile.stream_type(), profile.stream_index());
@@ -264,8 +263,6 @@ void BaseRealSenseNode::startPublishers(const std::vector<stream_profile>& profi
                 aligned_image_raw << "~/" << "aligned_depth_to_" << stream_name << "/image_raw";
                 aligned_camera_info << "~/" << "aligned_depth_to_" << stream_name << "/camera_info";
 
-                std::string aligned_stream_name = "aligned_depth_to_" + stream_name;
-
                 // We can use 2 types of publishers:
                 // Native RCL publisher that support intra-process zero-copy comunication
                 // image-transport package publisher that add's a commpressed image topic if the package is installed
@@ -451,7 +448,7 @@ void BaseRealSenseNode::startUpdatedSensors()
                     if (_publish_tf)
                     {
                         std::lock_guard<std::mutex> lock_guard(_publish_tf_mutex);
-                        for (auto &profile : wanted_profiles)
+                        for (const auto &profile : wanted_profiles)
                         {
                             calcAndAppendTransformMsgs(profile, _base_profile);
                         }