CI: Fix compiler warnings and enable -Werror (#752)

* Fix old-style-cast
* Fix deprecated member names (due to moveit/moveit#3244)
* Enable -Werror

Author: rhaschke

.github/workflows/ci.yaml

@@ -16,15 +16,16 @@ jobs:
     strategy:
       matrix:
         env:
-          - IMAGE: master-source
-          - IMAGE: noetic-source
+          - IMAGE: master-source  # MoveIt master branch built on Melodic
+          - IMAGE: noetic-source  # MoveIt master branch built on Noetic
     env:
       DOCKER_IMAGE: moveit/moveit:${{ matrix.env.IMAGE }}
       UNDERLAY: /root/ws_moveit/install
       CATKIN_LINT: true
       CCACHE_DIR: ${{ github.workspace }}/.ccache
       BASEDIR: ${{ github.workspace }}/.work
       CLANG_TIDY_BASE_REF: ${{ github.base_ref || github.ref }}
+      CXXFLAGS: -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls
 
     name: ${{ matrix.env.IMAGE }}${{ matrix.env.CATKIN_LINT && ' + catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' + clang-tidy' || '' }}
     runs-on: ubuntu-latest

doc/bullet_collision_checker/src/bullet_collision_checker_tutorial.cpp

@@ -114,7 +114,7 @@ void computeCollisionContactPoints(InteractiveRobot& robot)
 
   if (c_res.collision)
   {
-    ROS_INFO("COLLIDING contact_point_count=%d", (int)c_res.contact_count);
+    ROS_INFO_STREAM("COLLIDING contact_point_count=" << c_res.contact_count);
     if (c_res.contact_count > 0)
     {
       std_msgs::ColorRGBA color;

doc/moveit_cpp/src/moveit_cpp_tutorial.cpp

@@ -92,7 +92,7 @@ int main(int argc, char** argv)
     visual_tools.publishAxisLabeled(target_pose1.pose, "target_pose");
     visual_tools.publishText(text_pose, "Goal Pose", rvt::WHITE, rvt::XLARGE);
     // Visualize the trajectory in Rviz
-    visual_tools.publishTrajectoryLine(plan_solution1.trajectory, joint_model_group_ptr);
+    visual_tools.publishTrajectoryLine(plan_solution1.trajectory_, joint_model_group_ptr);
     visual_tools.trigger();
 
     /* Uncomment if you want to execute the plan */
@@ -131,13 +131,13 @@ int main(int argc, char** argv)
   if (plan_solution2)
   {
     moveit::core::RobotState robot_state(robot_model_ptr);
-    moveit::core::robotStateMsgToRobotState(plan_solution2.start_state, robot_state);
+    moveit::core::robotStateMsgToRobotState(plan_solution2.start_state_, robot_state);
 
     visual_tools.publishText(text_pose, "Start Pose", rvt::WHITE, rvt::XLARGE);
     visual_tools.publishAxisLabeled(robot_state.getGlobalLinkTransform("panda_link8"), "start_pose");
     visual_tools.publishText(text_pose, "Goal Pose", rvt::WHITE, rvt::XLARGE);
     visual_tools.publishAxisLabeled(target_pose1.pose, "target_pose");
-    visual_tools.publishTrajectoryLine(plan_solution2.trajectory, joint_model_group_ptr);
+    visual_tools.publishTrajectoryLine(plan_solution2.trajectory_, joint_model_group_ptr);
     visual_tools.trigger();
 
     /* Uncomment if you want to execute the plan */
@@ -176,13 +176,13 @@ int main(int argc, char** argv)
   if (plan_solution3)
   {
     moveit::core::RobotState robot_state(robot_model_ptr);
-    moveit::core::robotStateMsgToRobotState(plan_solution3.start_state, robot_state);
+    moveit::core::robotStateMsgToRobotState(plan_solution3.start_state_, robot_state);
 
     visual_tools.publishText(text_pose, "Start Pose", rvt::WHITE, rvt::XLARGE);
     visual_tools.publishAxisLabeled(robot_state.getGlobalLinkTransform("panda_link8"), "start_pose");
     visual_tools.publishText(text_pose, "Goal Pose", rvt::WHITE, rvt::XLARGE);
     visual_tools.publishAxisLabeled(target_pose2, "target_pose");
-    visual_tools.publishTrajectoryLine(plan_solution3.trajectory, joint_model_group_ptr);
+    visual_tools.publishTrajectoryLine(plan_solution3.trajectory_, joint_model_group_ptr);
     visual_tools.trigger();
 
     /* Uncomment if you want to execute the plan */
@@ -219,13 +219,13 @@ int main(int argc, char** argv)
   if (plan_solution4)
   {
     moveit::core::RobotState robot_state(robot_model_ptr);
-    moveit::core::robotStateMsgToRobotState(plan_solution4.start_state, robot_state);
+    moveit::core::robotStateMsgToRobotState(plan_solution4.start_state_, robot_state);
 
     visual_tools.publishText(text_pose, "Start Pose", rvt::WHITE, rvt::XLARGE);
     visual_tools.publishAxisLabeled(robot_state.getGlobalLinkTransform("panda_link8"), "start_pose");
     visual_tools.publishText(text_pose, "Goal Pose", rvt::WHITE, rvt::XLARGE);
     visual_tools.publishAxisLabeled(robot_start_state->getGlobalLinkTransform("panda_link8"), "target_pose");
-    visual_tools.publishTrajectoryLine(plan_solution4.trajectory, joint_model_group_ptr);
+    visual_tools.publishTrajectoryLine(plan_solution4.trajectory_, joint_model_group_ptr);
     visual_tools.trigger();
 
     /* Uncomment if you want to execute the plan */

doc/visualizing_collisions/src/visualizing_collisions_tutorial.cpp

@@ -128,7 +128,7 @@ void computeCollisionContactPoints(InteractiveRobot& robot)
   // for how.
   if (c_res.collision)
   {
-    ROS_INFO("COLLIDING contact_point_count=%d", (int)c_res.contact_count);
+    ROS_INFO_STREAM("COLLIDING contact_point_count" << c_res.contact_count);
     if (c_res.contact_count > 0)
     {
       std_msgs::ColorRGBA color;