Fix warning.

CMakeLists.txt

-
 cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 set(CMAKE_CXX_STANDARD 17)
 
-project(gz-gep-tools)
+# These variables have to be defined before running SETUP_PROJECT
+set(PROJECT_NAME gz_gep_tools)
+set(PROJECT_DESCRIPTION "Tools to control Gazebo through C++")
+set(PROJECT_URL http://github.com/gepetto/gz_gep_tools)
+
+include(cmake/base.cmake)
 
+project(${PROJECT_NAME} CXX)
 
 set(CMAKE_VERBOSE_MAKEFILE TRUE)
 

include/gz_gep_tools/joint_state_interface.hh

@@ -32,7 +32,7 @@ class JointValues {
   double vel_mes;
   double force_ctrl;
   std::string cmd_force_topic;
-  gz::transport::Node::Publisher;
+  gz::transport::Node::Publisher gz_pub_cmd_force;
 };
 
 /// This class handles the interface to the joints and the sensors

src/control_over_gz.cc

@@ -35,8 +35,8 @@ ControlOverGz::ControlOverGz(std::string &world_prefix, bool debug_level)
 void ControlOverGz::CallbackClock(const gz::msgs::Clock &a_gz_time_msg) {
   if (a_gz_time_msg.has_sim())
   {
-    gz_sim_time_ = a_gz_time_msg.sim().sec() +
-        1e-9*a_gz_time_msg.sim().nsec();
+    gz_sim_time_ = (double)a_gz_time_msg.sim().sec() +
+        1e-9*(double)a_gz_time_msg.sim().nsec();
     if (debug_level_)
       std::cerr << "ControlOverGz::CallbackClock: Time: "  << a_gz_time_msg.sim().sec()
                 << " "  <<  a_gz_time_msg.sim().nsec()

src/joint_state_interface.cc

@@ -135,7 +135,7 @@ bool JointStateInterface::GetPosVel(std::vector<double> &pos_vecd,
       return false;
 
   std::lock_guard(last_state_.lock_state_access_);
-  time=last_state_.time_sec_ + 1e-9*last_state_.time_nsec_;
+  time=(double)last_state_.time_sec_ + 1e-9*(double)last_state_.time_nsec_;
   for(std::vector<double>::size_type idx=0;
       idx < pos_vecd.size();
       idx++)

tools/control_loop.cc

@@ -42,7 +42,7 @@ void signal_handler(int _signal)
 }
 
 //////////////////////////////////////////////////
-int main(int argc, char **argv)
+int main(int , char **)
 {
   using namespace std::chrono_literals;