From 13d7b35e1e8eeec4c3fb02634a51e60390de5f8e Mon Sep 17 00:00:00 2001
From: Dirk Thomas <dirk-thomas@users.noreply.github.com>
Date: Tue, 14 Jul 2020 14:18:00 -0700
Subject: [PATCH 1/2] use auto in range loops to avoid copy due to different
 type

Signed-off-by: Dirk Thomas <dirk-thomas@users.noreply.github.com>
---
 src/robot_state_publisher.cpp | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/robot_state_publisher.cpp b/src/robot_state_publisher.cpp
index c0e0ca8..4a05032 100644
--- a/src/robot_state_publisher.cpp
+++ b/src/robot_state_publisher.cpp
@@ -175,14 +175,14 @@ void RobotStatePublisher::setupURDF(const std::string & urdf_xml)
 
   // Initialize the mimic map
   mimic_.clear();
-  for (const std::pair<std::string, urdf::JointSharedPtr> & i : model_->joints_) {
+  for (const auto & i : model_->joints_) {
     if (i.second->mimic) {
       mimic_.insert(std::make_pair(i.first, i.second->mimic));
     }
   }
 
   KDL::SegmentMap segments_map = tree.getSegments();
-  for (const std::pair<std::string, KDL::TreeElement> & segment : segments_map) {
+  for (const auto & segment : segments_map) {
     RCLCPP_INFO(get_logger(), "got segment %s", segment.first.c_str());
   }
 
@@ -239,7 +239,7 @@ void RobotStatePublisher::publishTransforms(
   std::vector<geometry_msgs::msg::TransformStamped> tf_transforms;
 
   // loop over all joints
-  for (const std::pair<std::string, double> & jnt : joint_positions) {
+  for (const auto & jnt : joint_positions) {
     std::map<std::string, SegmentPair>::iterator seg = segments_.find(jnt.first);
     if (seg != segments_.end()) {
       geometry_msgs::msg::TransformStamped tf_transform =
@@ -260,7 +260,7 @@ void RobotStatePublisher::publishFixedTransforms()
   std::vector<geometry_msgs::msg::TransformStamped> tf_transforms;
 
   // loop over all fixed segments
-  for (const std::pair<std::string, SegmentPair> & seg : segments_fixed_) {
+  for (const auto & seg : segments_fixed_) {
     geometry_msgs::msg::TransformStamped tf_transform = kdlToTransform(seg.second.segment.pose(0));
     rclcpp::Time now = this->now();
     if (!use_tf_static_) {
@@ -321,7 +321,7 @@ void RobotStatePublisher::callbackJointState(const sensor_msgs::msg::JointState:
       joint_positions.insert(std::make_pair(state->name[i], state->position[i]));
     }
 
-    for (const std::pair<std::string, urdf::JointMimicSharedPtr> & i : mimic_) {
+    for (const auto & i : mimic_) {
       if (joint_positions.find(i.second->joint_name) != joint_positions.end()) {
         double pos = joint_positions[i.second->joint_name] * i.second->multiplier +
           i.second->offset;

From 94b6f42a10094edb7827502230df314b98ae34c4 Mon Sep 17 00:00:00 2001
From: Dirk Thomas <dirk-thomas@users.noreply.github.com>
Date: Tue, 14 Jul 2020 15:39:08 -0700
Subject: [PATCH 2/2] avoid auto, use explicit correct type

---
 src/robot_state_publisher.cpp | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/robot_state_publisher.cpp b/src/robot_state_publisher.cpp
index 4a05032..b29dcbe 100644
--- a/src/robot_state_publisher.cpp
+++ b/src/robot_state_publisher.cpp
@@ -175,14 +175,14 @@ void RobotStatePublisher::setupURDF(const std::string & urdf_xml)
 
   // Initialize the mimic map
   mimic_.clear();
-  for (const auto & i : model_->joints_) {
+  for (const std::pair<const std::string, urdf::JointSharedPtr> & i : model_->joints_) {
     if (i.second->mimic) {
       mimic_.insert(std::make_pair(i.first, i.second->mimic));
     }
   }
 
   KDL::SegmentMap segments_map = tree.getSegments();
-  for (const auto & segment : segments_map) {
+  for (const std::pair<const std::string, KDL::TreeElement> & segment : segments_map) {
     RCLCPP_INFO(get_logger(), "got segment %s", segment.first.c_str());
   }
 
@@ -239,7 +239,7 @@ void RobotStatePublisher::publishTransforms(
   std::vector<geometry_msgs::msg::TransformStamped> tf_transforms;
 
   // loop over all joints
-  for (const auto & jnt : joint_positions) {
+  for (const std::pair<const std::string, double> & jnt : joint_positions) {
     std::map<std::string, SegmentPair>::iterator seg = segments_.find(jnt.first);
     if (seg != segments_.end()) {
       geometry_msgs::msg::TransformStamped tf_transform =
@@ -260,7 +260,7 @@ void RobotStatePublisher::publishFixedTransforms()
   std::vector<geometry_msgs::msg::TransformStamped> tf_transforms;
 
   // loop over all fixed segments
-  for (const auto & seg : segments_fixed_) {
+  for (const std::pair<const std::string, SegmentPair> & seg : segments_fixed_) {
     geometry_msgs::msg::TransformStamped tf_transform = kdlToTransform(seg.second.segment.pose(0));
     rclcpp::Time now = this->now();
     if (!use_tf_static_) {
@@ -321,7 +321,7 @@ void RobotStatePublisher::callbackJointState(const sensor_msgs::msg::JointState:
       joint_positions.insert(std::make_pair(state->name[i], state->position[i]));
     }
 
-    for (const auto & i : mimic_) {
+    for (const std::pair<const std::string, urdf::JointMimicSharedPtr> & i : mimic_) {
       if (joint_positions.find(i.second->joint_name) != joint_positions.end()) {
         double pos = joint_positions[i.second->joint_name] * i.second->multiplier +
           i.second->offset;