From 17d24ae7070dc3082b3d6aec2de6c2c06fa3afd3 Mon Sep 17 00:00:00 2001
From: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com>
Date: Mon, 1 Jul 2024 14:13:52 +0900
Subject: [PATCH] fix(autoware_joy_controller): add virtual destructor to
 autoware_joy_controller (#7760)

Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>
---
 .../include/autoware/joy_controller/joy_controller.hpp      | 2 --
 .../joy_controller/joy_converter/g29_joy_converter.hpp      | 6 ++++--
 .../joy_controller/joy_converter/joy_converter_base.hpp     | 4 ++--
 control/autoware_joy_controller/src/joy_controller_node.cpp | 5 ++---
 4 files changed, 8 insertions(+), 9 deletions(-)

diff --git a/control/autoware_joy_controller/include/autoware/joy_controller/joy_controller.hpp b/control/autoware_joy_controller/include/autoware/joy_controller/joy_controller.hpp
index fd2d89f446dbb..a4dcbc841696e 100644
--- a/control/autoware_joy_controller/include/autoware/joy_controller/joy_controller.hpp
+++ b/control/autoware_joy_controller/include/autoware/joy_controller/joy_controller.hpp
@@ -33,7 +33,6 @@
 #include <tier4_external_api_msgs/srv/engage.hpp>
 #include <tier4_external_api_msgs/srv/set_emergency.hpp>
 
-#include <algorithm>
 #include <memory>
 #include <string>
 
@@ -110,7 +109,6 @@ class AutowareJoyControllerNode : public rclcpp::Node
   autoware_control_msgs::msg::Control prev_control_command_;
   tier4_external_api_msgs::msg::ControlCommand prev_external_control_command_;
   GearShiftType prev_shift_ = tier4_external_api_msgs::msg::GearShift::NONE;
-  TurnSignalType prev_turn_signal_ = tier4_external_api_msgs::msg::TurnSignal::NONE;
   GateModeType prev_gate_mode_ = tier4_control_msgs::msg::GateMode::AUTO;
 
   // Timer
diff --git a/control/autoware_joy_controller/include/autoware/joy_controller/joy_converter/g29_joy_converter.hpp b/control/autoware_joy_controller/include/autoware/joy_controller/joy_converter/g29_joy_converter.hpp
index ea253e86305b7..28c424e7d6452 100644
--- a/control/autoware_joy_controller/include/autoware/joy_controller/joy_converter/g29_joy_converter.hpp
+++ b/control/autoware_joy_controller/include/autoware/joy_controller/joy_converter/g29_joy_converter.hpp
@@ -17,6 +17,8 @@
 
 #include "autoware/joy_controller/joy_converter/joy_converter_base.hpp"
 
+#include <cstdlib>
+
 namespace autoware::joy_controller
 {
 class G29JoyConverter : public JoyConverterBase
@@ -27,7 +29,7 @@ class G29JoyConverter : public JoyConverterBase
   float accel() const
   {
     constexpr float eps = 0.0000001;
-    if (std::fabs(AccelPedal()) < eps) {
+    if (std::abs(AccelPedal()) < eps) {
       return 0.0f;
     }
     return (AccelPedal() + 1.0f) / 2;
@@ -36,7 +38,7 @@ class G29JoyConverter : public JoyConverterBase
   float brake() const
   {
     constexpr float eps = 0.0000001;
-    if (std::fabs(BrakePedal()) < eps) {
+    if (std::abs(BrakePedal()) < eps) {
       return 0.0f;
     }
     return (BrakePedal() + 1.0f) / 2;
diff --git a/control/autoware_joy_controller/include/autoware/joy_controller/joy_converter/joy_converter_base.hpp b/control/autoware_joy_controller/include/autoware/joy_controller/joy_converter/joy_converter_base.hpp
index fa6081721511c..6deae0445bf0b 100644
--- a/control/autoware_joy_controller/include/autoware/joy_controller/joy_converter/joy_converter_base.hpp
+++ b/control/autoware_joy_controller/include/autoware/joy_controller/joy_converter/joy_converter_base.hpp
@@ -17,8 +17,6 @@
 
 #include <sensor_msgs/msg/joy.hpp>
 
-#include <algorithm>
-
 namespace autoware::joy_controller
 {
 class JoyConverterBase
@@ -49,6 +47,8 @@ class JoyConverterBase
 
   virtual bool vehicle_engage() const = 0;
   virtual bool vehicle_disengage() const = 0;
+
+  virtual ~JoyConverterBase() = default;
 };
 }  // namespace autoware::joy_controller
 
diff --git a/control/autoware_joy_controller/src/joy_controller_node.cpp b/control/autoware_joy_controller/src/joy_controller_node.cpp
index cab15c93d753f..378109eacc574 100644
--- a/control/autoware_joy_controller/src/joy_controller_node.cpp
+++ b/control/autoware_joy_controller/src/joy_controller_node.cpp
@@ -23,7 +23,6 @@
 #include <algorithm>
 #include <memory>
 #include <string>
-#include <utility>
 
 namespace
 {
@@ -404,8 +403,8 @@ void AutowareJoyControllerNode::sendEmergencyRequest(bool emergency)
   request->emergency = emergency;
 
   client_emergency_stop_->async_send_request(
-    request, [this, emergency](
-               rclcpp::Client<tier4_external_api_msgs::srv::SetEmergency>::SharedFuture result) {
+    request,
+    [this](rclcpp::Client<tier4_external_api_msgs::srv::SetEmergency>::SharedFuture result) {
       auto response = result.get();
       if (tier4_api_utils::is_success(response->status)) {
         RCLCPP_INFO(get_logger(), "service succeeded");