Merge pull request #56 from jonbinney/debug-ros2-ci

Fix compiler warnings and test failures on CI

Author: jonbinney

include/filters/filter_chain.hpp

@@ -79,13 +79,21 @@ load_chain_config(
     name_desc.name = norm_param_prefix + filter_n + ".name";
     name_desc.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
     name_desc.read_only = false;
+    // Must be dynamically typed because later we undeclare it and redeclare
+    // it read-only, but statically typed params cannot be undeclared.
+    name_desc.dynamic_typing = true;
     rcl_interfaces::msg::ParameterDescriptor type_desc;
     type_desc.name = norm_param_prefix + filter_n + ".type";
     type_desc.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
     type_desc.read_only = false;
+    // Must be dynamically typed because later we undeclare it and redeclare
+    // it read-only, but statically typed params cannot be undeclared.
+    type_desc.dynamic_typing = true;
 
-    node_params->declare_parameter(name_desc.name);
-    node_params->declare_parameter(type_desc.name);
+    node_params->declare_parameter(
+      name_desc.name, rclcpp::ParameterValue(), name_desc);
+    node_params->declare_parameter(
+      type_desc.name, rclcpp::ParameterValue(), type_desc);
 
     rclcpp::Parameter param_name;
     rclcpp::Parameter param_type;

include/filters/transfer_function.hpp

@@ -311,7 +311,7 @@ bool MultiChannelTransferFunctionFilter<T>::update(
   if (data_in.size() != this->number_of_channels_ || data_out.size() != this->number_of_channels_) {
     RCLCPP_ERROR(
       this->logging_interface_->get_logger(),
-      "Number of channels is %d, but data_in.size() = %ld and data_out.size() = %ld. "
+      "Number of channels is %zu, but data_in.size() = %zu and data_out.size() = %zu. "
       "They must match", this->number_of_channels_, data_in.size(), data_out.size());
     return false;
   }