From 97528ce5ed2293e8149fa68b6b2d1b1269efd39c Mon Sep 17 00:00:00 2001
From: Henning Kayser <henningkayser@picknik.ai>
Date: Thu, 6 Jun 2024 14:30:14 +0000
Subject: [PATCH] Silence clang warnings

---
 .../collision_detection/src/collision_octomap_filter.cpp    | 6 +++---
 .../templates/ikfast61_moveit_plugin_template.cpp           | 3 +++
 moveit_py/src/moveit/moveit_core/robot_state/robot_state.h  | 3 +++
 3 files changed, 9 insertions(+), 3 deletions(-)

diff --git a/moveit_core/collision_detection/src/collision_octomap_filter.cpp b/moveit_core/collision_detection/src/collision_octomap_filter.cpp
index 3e407db29e..aca52fa2c8 100644
--- a/moveit_core/collision_detection/src/collision_octomap_filter.cpp
+++ b/moveit_core/collision_detection/src/collision_octomap_filter.cpp
@@ -126,15 +126,15 @@ int collision_detection::refineContactNormals(const World::ObjectConstPtr& objec
               octree->begin_leafs_bbx(bbx_min, bbx_max);
           octomap::OcTreeBaseImpl<octomap::OcTreeNode, octomap::AbstractOccupancyOcTree>::leaf_bbx_iterator leafs_end =
               octree->end_leafs_bbx();
-          int count = 0;
+          // int count = 0;
           for (; it != leafs_end; ++it)
           {
             const octomap::point3d pt = it.getCoordinate();
-            // double prob = it->getOccupancy();
             if (octree->isNodeOccupied(*it))  // magic number!
             {
-              count++;
               node_centers.push_back(pt);
+              // count++;
+              // double prob = it->getOccupancy();
               // RCLCPP_INFO(getLogger(), "Adding point %d with prob %.3f at [%.3f, %.3f, %.3f]",
               //                          count, prob, pt.x(), pt.y(), pt.z());
             }
diff --git a/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast61_moveit_plugin_template.cpp b/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast61_moveit_plugin_template.cpp
index 6d4671ea90..cd5c60319f 100644
--- a/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast61_moveit_plugin_template.cpp
+++ b/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast61_moveit_plugin_template.cpp
@@ -808,7 +808,10 @@ bool IKFastKinematicsPlugin::getPositionFK(const std::vector<std::string>& link_
     return false;
   }
 
+  #pragma clang diagnostic push
+  #pragma clang diagnostic ignored "-Wno-vla-extension"
   IkReal angles[num_joints_];
+  #pragma clang diagnostic pop
   for (unsigned char i = 0; i < num_joints_; ++i)
     angles[i] = joint_angles[i];
 
diff --git a/moveit_py/src/moveit/moveit_core/robot_state/robot_state.h b/moveit_py/src/moveit/moveit_core/robot_state/robot_state.h
index e688705898..97530dd76e 100644
--- a/moveit_py/src/moveit/moveit_core/robot_state/robot_state.h
+++ b/moveit_py/src/moveit/moveit_core/robot_state/robot_state.h
@@ -38,7 +38,10 @@
 
 #include <pybind11/pybind11.h>
 #include <pybind11/stl.h>
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wmaybe-uninitialized"
 #include <pybind11/eigen.h>
+#pragma GCC diagnostic pop
 #include <moveit_py/moveit_py_utils/copy_ros_msg.h>
 #include <tf2_eigen/tf2_eigen.hpp>
 #include <moveit/robot_state/robot_state.h>