Fix clang compiler warnings (backport of moveit#1712)

- Fix warning: definition of implicit copy assignment operator is deprecated
- Fix warning: expression with side effects will be evaluated
- Fix warning: passing by value
- Enable -Werror
- Fix -Wdelete-non-abstract-non-virtual-dtor
- Fix more clang warnings
- Modernize gtest: TYPED_TEST_CASE -> TYPED_TEST_SUITE
- Fix GoogleTestVerification.UninstantiatedTypeParameterizedTestSuite
- Add default copy/move constructors/assignment operators
  As a user-declared destructor deletes any implicitly-defined move constructor/assignment operator,
  we need to declared them manually. This in turn requires to declare the copy constructor/assignment as well.
- Explicitly declare overrides
- Add default constructors as they are not implicitly declared anymore
- Declare selected classes as final
- Add noexcept specifier to constructors

.github/workflows/ci.yaml

@@ -40,13 +40,13 @@ jobs:
       BEFORE_BUILD_UPSTREAM_WORKSPACE: ccache -z
       AFTER_BUILD_TARGET_WORKSPACE: ccache -s
       # Changing linker to lld as ld has a behavior where it takes a long time to finish
-      # Compile CCOV with Debug. Enable -Werror (except CLANG_TIDY=pedantic, which makes the clang-tidy step fail on warnings)
+      # Compile CCOV with Debug. Enable -Werror.
       TARGET_CMAKE_ARGS: >
         -DCMAKE_EXE_LINKER_FLAGS=-fuse-ld=lld
         -DCMAKE_SHARED_LINKER_FLAGS=-fuse-ld=lld
         -DCMAKE_MODULE_LINKER_FLAGS=-fuse-ld=lld
         -DCMAKE_BUILD_TYPE=${{ matrix.env.CCOV && 'Debug' || 'Release'}}
-        -DCMAKE_CXX_FLAGS="${{ matrix.env.CLANG_TIDY != 'pedantic' && '-Werror ' || '' }}$CXXFLAGS${{ matrix.env.CCOV && ' --coverage -O2 -fno-omit-frame-pointer'}}"
+        -DCMAKE_CXX_FLAGS="-Werror $CXXFLAGS${{ matrix.env.CCOV && ' --coverage -O2 -fno-omit-frame-pointer'}}"
       UPSTREAM_CMAKE_ARGS: "-DCMAKE_CXX_FLAGS=''"
       DOWNSTREAM_CMAKE_ARGS: -DCMAKE_CXX_FLAGS="-Wall -Wextra"
       CCACHE_DIR: ${{ github.workspace }}/.ccache

moveit_core/collision_detection/include/moveit/collision_detection/collision_matrix.h

@@ -96,6 +96,9 @@ class AllowedCollisionMatrix
   /** @brief Copy constructor */
   AllowedCollisionMatrix(const AllowedCollisionMatrix& acm) = default;
 
+  /** @brief Copy assignment */
+  AllowedCollisionMatrix& operator=(const AllowedCollisionMatrix&) = default;
+
   /** @brief Get the type of the allowed collision between two elements.
    *  Return true if the entry is included in the collision matrix. Return false if the entry is not found.
    *  @param name1 name of first element

moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h

@@ -354,9 +354,9 @@ TYPED_TEST_P(DistanceFullPandaTest, DistancePoints)
   }
 }
 
-REGISTER_TYPED_TEST_CASE_P(CollisionDetectorPandaTest, InitOK, DefaultNotInCollision, LinksInCollision,
-                           RobotWorldCollision_1, RobotWorldCollision_2, PaddingTest, DistanceSelf, DistanceWorld);
+REGISTER_TYPED_TEST_SUITE_P(CollisionDetectorPandaTest, InitOK, DefaultNotInCollision, LinksInCollision,
+                            RobotWorldCollision_1, RobotWorldCollision_2, PaddingTest, DistanceSelf, DistanceWorld);
 
-REGISTER_TYPED_TEST_CASE_P(DistanceCheckPandaTest, DistanceSingle);
+REGISTER_TYPED_TEST_SUITE_P(DistanceCheckPandaTest, DistanceSingle);
 
-REGISTER_TYPED_TEST_CASE_P(DistanceFullPandaTest, DistancePoints);
+REGISTER_TYPED_TEST_SUITE_P(DistanceFullPandaTest, DistancePoints);

moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h

@@ -564,6 +564,6 @@ TYPED_TEST_P(CollisionDetectorTest, TestChangingShapeSize)
   }
 }
 
-REGISTER_TYPED_TEST_CASE_P(CollisionDetectorTest, InitOK, DefaultNotInCollision, LinksInCollision, ContactReporting,
-                           ContactPositions, AttachedBodyTester, DiffSceneTester, ConvertObjectToAttached,
-                           TestCollisionMapAdditionSpeed, MoveMesh, TestChangingShapeSize);
+REGISTER_TYPED_TEST_SUITE_P(CollisionDetectorTest, InitOK, DefaultNotInCollision, LinksInCollision, ContactReporting,
+                            ContactPositions, AttachedBodyTester, DiffSceneTester, ConvertObjectToAttached,
+                            TestCollisionMapAdditionSpeed, MoveMesh, TestChangingShapeSize);

moveit_core/collision_detection_bullet/test/test_bullet_collision_detection_panda.cpp

@@ -37,8 +37,14 @@
 #include <moveit/collision_detection_bullet/collision_detector_allocator_bullet.h>
 #include <moveit/collision_detection/test_collision_common_panda.h>
 
-INSTANTIATE_TYPED_TEST_CASE_P(BulletCollisionCheckPanda, CollisionDetectorPandaTest,
-                              collision_detection::CollisionDetectorAllocatorBullet);
+INSTANTIATE_TYPED_TEST_SUITE_P(BulletCollisionCheckPanda, CollisionDetectorPandaTest,
+                               collision_detection::CollisionDetectorAllocatorBullet);
+
+// These are not instantiated, because be don't yet have distance checking for Bullet
+#ifdef GTEST_ALLOW_UNINSTANTIATED_PARAMETERIZED_TEST
+GTEST_ALLOW_UNINSTANTIATED_PARAMETERIZED_TEST(DistanceCheckPandaTest);
+GTEST_ALLOW_UNINSTANTIATED_PARAMETERIZED_TEST(DistanceFullPandaTest);
+#endif
 
 int main(int argc, char* argv[])
 {

moveit_core/collision_detection_bullet/test/test_bullet_collision_detection_pr2.cpp

@@ -37,8 +37,8 @@
 #include <moveit/collision_detection_bullet/collision_detector_allocator_bullet.h>
 #include <moveit/collision_detection/test_collision_common_pr2.h>
 
-INSTANTIATE_TYPED_TEST_CASE_P(BulletCollisionCheck, CollisionDetectorTest,
-                              collision_detection::CollisionDetectorAllocatorBullet);
+INSTANTIATE_TYPED_TEST_SUITE_P(BulletCollisionCheck, CollisionDetectorTest,
+                               collision_detection::CollisionDetectorAllocatorBullet);
 
 int main(int argc, char* argv[])
 {

moveit_core/collision_detection_fcl/test/test_fcl_collision_detection_panda.cpp

@@ -37,19 +37,25 @@
 #include <moveit/collision_detection_fcl/collision_detector_allocator_fcl.h>
 #include <moveit/collision_detection/test_collision_common_panda.h>
 
-INSTANTIATE_TYPED_TEST_CASE_P(FCLCollisionCheckPanda, CollisionDetectorPandaTest,
-                              collision_detection::CollisionDetectorAllocatorFCL);
+INSTANTIATE_TYPED_TEST_SUITE_P(FCLCollisionCheckPanda, CollisionDetectorPandaTest,
+                               collision_detection::CollisionDetectorAllocatorFCL);
 
 // FCL < 0.6 incorrectly reports distance results in the object coordinate frame.
 // See: https://github.com/flexible-collision-library/fcl/issues/171
 //  and https://github.com/flexible-collision-library/fcl/pull/288.
 // So only execute the full distance test suite on FCL >= 0.6.
 #if MOVEIT_FCL_VERSION >= FCL_VERSION_CHECK(0, 6, 0)
-INSTANTIATE_TYPED_TEST_CASE_P(FCLDistanceCheckPanda, DistanceFullPandaTest,
-                              collision_detection::CollisionDetectorAllocatorFCL);
+INSTANTIATE_TYPED_TEST_SUITE_P(FCLDistanceCheckPanda, DistanceFullPandaTest,
+                               collision_detection::CollisionDetectorAllocatorFCL);
+#ifdef GTEST_ALLOW_UNINSTANTIATED_PARAMETERIZED_TEST
+GTEST_ALLOW_UNINSTANTIATED_PARAMETERIZED_TEST(DistanceCheckPandaTest);
+#endif
 #else
-INSTANTIATE_TYPED_TEST_CASE_P(FCLDistanceCheckPanda, DistanceCheckPandaTest,
-                              collision_detection::CollisionDetectorAllocatorFCL);
+INSTANTIATE_TYPED_TEST_SUITE_P(FCLDistanceCheckPanda, DistanceCheckPandaTest,
+                               collision_detection::CollisionDetectorAllocatorFCL);
+#ifdef GTEST_ALLOW_UNINSTANTIATED_PARAMETERIZED_TEST
+GTEST_ALLOW_UNINSTANTIATED_PARAMETERIZED_TEST(DistanceFullPandaTest);
+#endif
 #endif
 
 int main(int argc, char* argv[])

moveit_core/collision_detection_fcl/test/test_fcl_collision_detection_pr2.cpp

@@ -37,8 +37,8 @@
 #include <moveit/collision_detection_fcl/collision_detector_allocator_fcl.h>
 #include <moveit/collision_detection/test_collision_common_pr2.h>
 
-INSTANTIATE_TYPED_TEST_CASE_P(FCLCollisionCheck, CollisionDetectorTest,
-                              collision_detection::CollisionDetectorAllocatorFCL);
+INSTANTIATE_TYPED_TEST_SUITE_P(FCLCollisionCheck, CollisionDetectorTest,
+                               collision_detection::CollisionDetectorAllocatorFCL);
 
 int main(int argc, char* argv[])
 {

moveit_core/robot_state/src/robot_state.cpp

@@ -1605,8 +1605,9 @@ bool RobotState::setFromIK(const JointModelGroup* jmg, const EigenSTL::vector_Is
     std::string error_msg;
     if (!solver->supportsGroup(jmg, &error_msg))
     {
-      RCLCPP_ERROR(LOGGER, "Kinematics solver %s does not support joint group %s.  Error: %s", typeid(*solver).name(),
-                   jmg->getName().c_str(), error_msg.c_str());
+      const kinematics::KinematicsBase& solver_ref = *solver;
+      RCLCPP_ERROR(LOGGER, "Kinematics solver %s does not support joint group %s.  Error: %s",
+                   typeid(solver_ref).name(), jmg->getName().c_str(), error_msg.c_str());
       valid_solver = false;
     }
   }

moveit_core/trajectory_processing/include/moveit/trajectory_processing/time_parameterization.h

@@ -11,6 +11,11 @@ MOVEIT_CLASS_FORWARD(TimeParameterization);
 class TimeParameterization
 {
 public:
+  TimeParameterization() = default;
+  TimeParameterization(const TimeParameterization&) = default;
+  TimeParameterization(TimeParameterization&&) = default;
+  TimeParameterization& operator=(const TimeParameterization&) = default;
+  TimeParameterization& operator=(TimeParameterization&&) = default;
   virtual ~TimeParameterization() = default;
   virtual bool computeTimeStamps(robot_trajectory::RobotTrajectory& trajectory,
                                  const double max_velocity_scaling_factor = 1.0,

moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/GreedyKCenters.h

@@ -57,7 +57,10 @@ class GreedyKCenters
   using Matrix = Eigen::MatrixXd;
 
   GreedyKCenters() = default;
-
+  GreedyKCenters(const GreedyKCenters&) = default;
+  GreedyKCenters(GreedyKCenters&&) noexcept = default;
+  GreedyKCenters& operator=(const GreedyKCenters&) = default;
+  GreedyKCenters& operator=(GreedyKCenters&&) noexcept = default;
   virtual ~GreedyKCenters() = default;
 
   /** \brief Set the distance function to use */

moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/NearestNeighbors.h

@@ -52,7 +52,10 @@ class NearestNeighbors
   typedef std::function<double(const _T&, const _T&)> DistanceFunction;
 
   NearestNeighbors() = default;
-
+  NearestNeighbors(const NearestNeighbors&) = default;
+  NearestNeighbors(NearestNeighbors&&) noexcept = default;
+  NearestNeighbors& operator=(const NearestNeighbors&) = default;
+  NearestNeighbors& operator=(NearestNeighbors&&) noexcept = default;
   virtual ~NearestNeighbors() = default;
 
   /** \brief Set the distance function to use */

moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/basecmd.h

@@ -44,10 +44,11 @@ template <class StartType, class GoalType>
 class BaseCmd : public MotionCmd
 {
 public:
-  BaseCmd() : MotionCmd()
-  {
-  }
-
+  BaseCmd() = default;
+  BaseCmd(const BaseCmd&) = default;
+  BaseCmd(BaseCmd&&) noexcept = default;
+  BaseCmd& operator=(const BaseCmd&) = default;
+  BaseCmd& operator=(BaseCmd&&) noexcept = default;
   virtual ~BaseCmd() = default;
 
 public:

moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/goalconstraintsmsgconvertible.h

@@ -48,6 +48,12 @@ namespace pilz_industrial_motion_planner_testutils
 class GoalConstraintMsgConvertible
 {
 public:
+  GoalConstraintMsgConvertible() = default;
+  GoalConstraintMsgConvertible(const GoalConstraintMsgConvertible&) = default;
+  GoalConstraintMsgConvertible(GoalConstraintMsgConvertible&&) = default;
+  GoalConstraintMsgConvertible& operator=(const GoalConstraintMsgConvertible&) = default;
+  GoalConstraintMsgConvertible& operator=(GoalConstraintMsgConvertible&&) = default;
+  virtual ~GoalConstraintMsgConvertible() = default;
   virtual moveit_msgs::msg::Constraints toGoalConstraints() const = 0;
 };
 }  // namespace pilz_industrial_motion_planner_testutils

moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/robotstatemsgconvertible.h

@@ -46,6 +46,12 @@ namespace pilz_industrial_motion_planner_testutils
 class RobotStateMsgConvertible
 {
 public:
+  RobotStateMsgConvertible() = default;
+  RobotStateMsgConvertible(const RobotStateMsgConvertible&) = default;
+  RobotStateMsgConvertible(RobotStateMsgConvertible&&) = default;
+  RobotStateMsgConvertible& operator=(const RobotStateMsgConvertible&) = default;
+  RobotStateMsgConvertible& operator=(RobotStateMsgConvertible&&) = default;
+  virtual ~RobotStateMsgConvertible() = default;
   virtual moveit_msgs::msg::RobotState toMoveitMsgsRobotState() const = 0;
 };
 }  // namespace pilz_industrial_motion_planner_testutils

moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/testdata_loader.h

@@ -60,6 +60,10 @@ class TestdataLoader
   {
   }
 
+  TestdataLoader(const TestdataLoader&) = default;
+  TestdataLoader(TestdataLoader&&) = default;
+  TestdataLoader& operator=(const TestdataLoader&) = default;
+  TestdataLoader& operator=(TestdataLoader&&) = default;
   virtual ~TestdataLoader() = default;
 
 public:

moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/xml_testdata_loader.h

@@ -184,8 +184,14 @@ class XmlTestdataLoader : public TestdataLoader
   class AbstractCmdGetterAdapter
   {
   public:
-    virtual CmdVariant getCmd(const std::string& /*cmd_name*/) const = 0;
+    AbstractCmdGetterAdapter() = default;
+    AbstractCmdGetterAdapter(const AbstractCmdGetterAdapter&) = default;
+    AbstractCmdGetterAdapter(AbstractCmdGetterAdapter&&) = default;
+    AbstractCmdGetterAdapter& operator=(const AbstractCmdGetterAdapter&) = default;
+    AbstractCmdGetterAdapter& operator=(AbstractCmdGetterAdapter&&) = default;
     virtual ~AbstractCmdGetterAdapter() = default;
+
+    virtual CmdVariant getCmd(const std::string& /*cmd_name*/) const = 0;
   };
 
 private:

moveit_planners/trajopt/include/trajopt_interface/problem_description.h

@@ -144,6 +144,11 @@ struct TermInfo
   using MakerFunc = TermInfoPtr (*)(void);
   static void RegisterMaker(const std::string& type, MakerFunc);
 
+  TermInfo() = default;
+  TermInfo(const TermInfo&) = default;
+  TermInfo(TermInfo&&) = default;
+  TermInfo& operator=(const TermInfo&) = default;
+  TermInfo& operator=(TermInfo&&) = default;
   virtual ~TermInfo() = default;
 
 protected:

moveit_ros/hybrid_planning/global_planner/global_planner_component/include/moveit/global_planner/global_planner_interface.h

@@ -55,6 +55,12 @@ namespace moveit::hybrid_planning
 class GlobalPlannerInterface
 {
 public:
+  GlobalPlannerInterface() = default;
+  GlobalPlannerInterface(const GlobalPlannerInterface&) = default;
+  GlobalPlannerInterface(GlobalPlannerInterface&&) = default;
+  GlobalPlannerInterface& operator=(const GlobalPlannerInterface&) = default;
+  GlobalPlannerInterface& operator=(GlobalPlannerInterface&&) = default;
+  virtual ~GlobalPlannerInterface() = default;
   /**
    * Initialize global planner
    * @return True if initialization was successful

moveit_ros/hybrid_planning/global_planner/global_planner_plugins/include/moveit/global_planner/moveit_planning_pipeline.h

@@ -50,7 +50,7 @@ class MoveItPlanningPipeline : public GlobalPlannerInterface
 {
 public:
   MoveItPlanningPipeline() = default;
-  ~MoveItPlanningPipeline() = default;
+  ~MoveItPlanningPipeline() override = default;
   bool initialize(const rclcpp::Node::SharedPtr& node) override;
   bool reset() noexcept override;
   moveit_msgs::msg::MotionPlanResponse

moveit_ros/hybrid_planning/hybrid_planning_manager/hybrid_planning_manager_component/include/moveit/hybrid_planning_manager/planner_logic_interface.h

@@ -104,6 +104,13 @@ class HybridPlanningManager;  // Forward declaration
 class PlannerLogicInterface
 {
 public:
+  PlannerLogicInterface() = default;
+  PlannerLogicInterface(const PlannerLogicInterface&) = default;
+  PlannerLogicInterface(PlannerLogicInterface&&) = default;
+  PlannerLogicInterface& operator=(const PlannerLogicInterface&) = default;
+  PlannerLogicInterface& operator=(PlannerLogicInterface&&) = default;
+  virtual ~PlannerLogicInterface() = default;
+
   /**
    * Initialize the planner logic
    * @param hybrid_planning_manager The hybrid planning manager instance to initialize this logic with.

moveit_ros/hybrid_planning/hybrid_planning_manager/planner_logic_plugins/include/moveit/planner_logic_plugins/replan_invalidated_trajectory.h

@@ -47,7 +47,7 @@ class ReplanInvalidatedTrajectory : public SinglePlanExecution  // Inherit from
 {
 public:
   ReplanInvalidatedTrajectory() = default;
-  ~ReplanInvalidatedTrajectory() = default;
+  ~ReplanInvalidatedTrajectory() override = default;
   ReactionResult react(const std::string& event) override;
 };
 }  // namespace moveit::hybrid_planning

moveit_ros/hybrid_planning/hybrid_planning_manager/planner_logic_plugins/include/moveit/planner_logic_plugins/single_plan_execution.h

@@ -46,7 +46,7 @@ class SinglePlanExecution : public PlannerLogicInterface
 {
 public:
   SinglePlanExecution() = default;
-  ~SinglePlanExecution() = default;
+  ~SinglePlanExecution() override = default;
   bool initialize(const std::shared_ptr<HybridPlanningManager>& hybrid_planning_manager) override;
   ReactionResult react(const HybridPlanningEvent& event) override;
   ReactionResult react(const std::string& event) override;

moveit_ros/hybrid_planning/local_planner/local_constraint_solver_plugins/include/moveit/local_constraint_solver_plugins/forward_trajectory.h

@@ -49,7 +49,7 @@ class ForwardTrajectory : public LocalConstraintSolverInterface
 {
 public:
   ForwardTrajectory() = default;
-  ~ForwardTrajectory() = default;
+  ~ForwardTrajectory() override = default;
   bool initialize(const rclcpp::Node::SharedPtr& node,
                   const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
                   const std::string& /* unused */) override;

moveit_ros/hybrid_planning/local_planner/local_planner_component/include/moveit/local_planner/local_constraint_solver_interface.h

@@ -59,6 +59,12 @@ namespace moveit::hybrid_planning
 class LocalConstraintSolverInterface
 {
 public:
+  LocalConstraintSolverInterface() = default;
+  LocalConstraintSolverInterface(const LocalConstraintSolverInterface&) = default;
+  LocalConstraintSolverInterface(LocalConstraintSolverInterface&&) = default;
+  LocalConstraintSolverInterface& operator=(const LocalConstraintSolverInterface&) = default;
+  LocalConstraintSolverInterface& operator=(LocalConstraintSolverInterface&&) = default;
+  virtual ~LocalConstraintSolverInterface() = default;
   /**
    * Initialize local constraint solver
    * @return True if initialization was successful

moveit_ros/hybrid_planning/local_planner/local_planner_component/include/moveit/local_planner/trajectory_operator_interface.h

@@ -60,6 +60,12 @@ namespace moveit::hybrid_planning
 class TrajectoryOperatorInterface
 {
 public:
+  TrajectoryOperatorInterface() = default;
+  TrajectoryOperatorInterface(const TrajectoryOperatorInterface&) = default;
+  TrajectoryOperatorInterface(TrajectoryOperatorInterface&&) = default;
+  TrajectoryOperatorInterface& operator=(const TrajectoryOperatorInterface&) = default;
+  TrajectoryOperatorInterface& operator=(TrajectoryOperatorInterface&&) = default;
+  virtual ~TrajectoryOperatorInterface() = default;
   /**
    * Initialize trajectory operator
    * @param node Node handle to access parameters

moveit_ros/hybrid_planning/local_planner/trajectory_operator_plugins/include/moveit/trajectory_operator_plugins/simple_sampler.h

@@ -47,7 +47,7 @@ class SimpleSampler : public TrajectoryOperatorInterface
 {
 public:
   SimpleSampler() = default;
-  ~SimpleSampler() = default;
+  ~SimpleSampler() override = default;
 
   bool initialize([[maybe_unused]] const rclcpp::Node::SharedPtr& node,
                   const moveit::core::RobotModelConstPtr& robot_model, const std::string& group_name) override;

moveit_ros/hybrid_planning/test/hybrid_planning_demo_node.cpp

@@ -265,7 +265,7 @@ class HybridPlanningDemo
     send_goal_options.feedback_callback =
         [](const rclcpp_action::ClientGoalHandle<moveit_msgs::action::HybridPlanner>::SharedPtr& /*unused*/,
            const std::shared_ptr<const moveit_msgs::action::HybridPlanner::Feedback>& feedback) {
-          RCLCPP_INFO(LOGGER, feedback->feedback.c_str());
+          RCLCPP_INFO_STREAM(LOGGER, feedback->feedback);
         };
 
     RCLCPP_INFO(LOGGER, "Sending hybrid planning goal");

moveit_ros/moveit_servo/src/servo_calcs.cpp

@@ -1258,10 +1258,10 @@ void ServoCalcs::twistStampedCB(const geometry_msgs::msg::TwistStamped::ConstSha
 {
   const std::lock_guard<std::mutex> lock(main_loop_mutex_);
   latest_twist_stamped_ = msg;
-  latest_twist_cmd_is_nonzero_ = isNonZero(*latest_twist_stamped_.get());
+  latest_twist_cmd_is_nonzero_ = isNonZero(*latest_twist_stamped_);
 
-  if (msg.get()->header.stamp != rclcpp::Time(0.))
-    latest_twist_command_stamp_ = msg.get()->header.stamp;
+  if (msg->header.stamp != rclcpp::Time(0.))
+    latest_twist_command_stamp_ = msg->header.stamp;
 
   // notify that we have a new input
   new_input_cmd_ = true;
@@ -1272,10 +1272,10 @@ void ServoCalcs::jointCmdCB(const control_msgs::msg::JointJog::ConstSharedPtr& m
 {
   const std::lock_guard<std::mutex> lock(main_loop_mutex_);
   latest_joint_cmd_ = msg;
-  latest_joint_cmd_is_nonzero_ = isNonZero(*latest_joint_cmd_.get());
+  latest_joint_cmd_is_nonzero_ = isNonZero(*latest_joint_cmd_);
 
-  if (msg.get()->header.stamp != rclcpp::Time(0.))
-    latest_joint_command_stamp_ = msg.get()->header.stamp;
+  if (msg->header.stamp != rclcpp::Time(0.))
+    latest_joint_command_stamp_ = msg->header.stamp;
 
   // notify that we have a new input
   new_input_cmd_ = true;
@@ -1284,7 +1284,7 @@ void ServoCalcs::jointCmdCB(const control_msgs::msg::JointJog::ConstSharedPtr& m
 
 void ServoCalcs::collisionVelocityScaleCB(const std_msgs::msg::Float64::ConstSharedPtr& msg)
 {
-  collision_velocity_scale_ = msg.get()->data;
+  collision_velocity_scale_ = msg->data;
 }
 
 void ServoCalcs::changeDriftDimensions(const std::shared_ptr<moveit_msgs::srv::ChangeDriftDimensions::Request>& req,