Fix shadowed variables, redefinition and old-style casts (#2569)

Author: christophfroehlich

controller_manager/include/controller_manager/controller_manager.hpp

@@ -51,7 +51,7 @@
 namespace controller_manager
 {
 class ParamListener;
-class Params;
+struct Params;
 using ControllersListIterator = std::vector<controller_manager::ControllerSpec>::const_iterator;
 
 rclcpp::NodeOptions get_cm_node_options();

controller_manager/src/controller_manager.cpp

@@ -1584,7 +1584,8 @@ controller_interface::return_type ControllerManager::switch_controller_cb(
       }
     }
     RCLCPP_DEBUG(
-      get_logger(), "'%s' request vector has size %i", action.c_str(), (int)request_list.size());
+      get_logger(), "'%s' request vector has size %i", action.c_str(),
+      static_cast<int>(request_list.size()));
 
     return result;
   };
@@ -2557,7 +2558,7 @@ void ControllerManager::reload_controller_libraries_service_cb(
       get_logger(),
       "Controller manager: Cannot reload controller libraries because"
       " there are still %i active controllers",
-      (int)active_controllers.size());
+      static_cast<int>(active_controllers.size()));
     response->ok = false;
     return;
   }

controller_manager/test/test_chainable_controller/test_chainable_controller.hpp

@@ -84,7 +84,6 @@ class TestChainableController : public controller_interface::ChainableController
   controller_interface::InterfaceConfiguration cmd_iface_cfg_;
   controller_interface::InterfaceConfiguration state_iface_cfg_;
   std::vector<std::string> reference_interface_names_;
-  std::vector<std::string> exported_state_interface_names_;
   std::unique_ptr<semantic_components::IMUSensor> imu_sensor_;
 
   realtime_tools::RealtimeBuffer<std::shared_ptr<CmdType>> rt_command_ptr_;

hardware_interface_testing/test/test_resource_manager_prepare_perform_switch.cpp

@@ -105,7 +105,6 @@ class ResourceManagerPreparePerformTest : public ResourceManagerTest
   std::unique_ptr<hardware_interface::LoanedStateInterface> claimed_actuator_position_state_;
 
   // Scenarios defined by example criteria
-  rclcpp::Node node_{"ResourceManagerPreparePerformTest"};
   std::vector<std::string> empty_keys = {};
   std::vector<std::string> non_existing_keys = {"elbow_joint/position", "should_joint/position"};
   std::vector<std::string> legal_keys_system = {"joint1/position", "joint2/position"};