Fix compilation with clang (ros-navigation#4131)

Signed-off-by: Ramon Wijnands <ramon.wijnands@nobleo.nl>
Signed-off-by: enricosutera <enricosutera@outlook.com>

Author: Rayman

nav2_behavior_tree/include/nav2_behavior_tree/bt_utils.hpp

@@ -145,7 +145,7 @@ T1 deconflictPortAndParamFrame(
   const T2 * behavior_tree_node)
 {
   T1 param_value;
-  bool param_from_input = behavior_tree_node->getInput(param_name, param_value);
+  bool param_from_input = behavior_tree_node->getInput(param_name, param_value).has_value();
 
   if constexpr (std::is_same_v<T1, std::string>) {
     // not valid if port doesn't exist or it is an empty string

nav2_collision_monitor/test/velocity_polygons_test.cpp

@@ -40,7 +40,6 @@ using namespace std::chrono_literals;
 static constexpr double EPSILON = std::numeric_limits<float>::epsilon();
 
 static const char BASE_FRAME_ID[]{"base_link"};
-static const char BASE2_FRAME_ID[]{"base2_link"};
 static const char POLYGON_PUB_TOPIC[]{"polygon_pub"};
 static const char POLYGON_NAME[]{"TestVelocityPolygon"};
 static const char SUB_POLYGON_FORWARD_NAME[]{"Forward"};

nav2_costmap_2d/test/integration/test_costmap_subscriber.cpp

@@ -53,7 +53,7 @@ class TestCostmapSubscriberShould : public ::testing::Test
     costmapToSend = std::make_shared<nav2_costmap_2d::Costmap2D>(10, 10, 1.0, 0.0, 0.0);
   }
 
-  void TearDown()
+  void TearDown() override
   {
     costmapSubscriber.reset();
     costmapToSend.reset();

nav2_rviz_plugins/src/selector.cpp

@@ -169,7 +169,7 @@ void Selector::pluginLoader(
     }
     RCLCPP_INFO(
       node->get_logger(),
-      (server_name + " service not available").c_str());
+      "%s service not available", server_name.c_str());
     server_unavailable = true;
     server_failed_ = true;
     break;