Clean up Windows warnings.

Signed-off-by: Michael Carroll <[email protected]>

Author: mjcarroll

sensor_msgs/include/sensor_msgs/impl/point_cloud2_iterator.hpp

@@ -129,15 +129,15 @@ inline void PointCloud2Modifier::resize(size_t size)
 
   // Update height/width
   if (cloud_msg_.height == 1) {
-    cloud_msg_.width = size;
-    cloud_msg_.row_step = size * cloud_msg_.point_step;
+    cloud_msg_.width = static_cast<uint32_t>(size);
+    cloud_msg_.row_step = static_cast<uint32_t>(size * cloud_msg_.point_step);
   } else {
     if (cloud_msg_.width == 1) {
-      cloud_msg_.height = size;
+      cloud_msg_.height = static_cast<uint32_t>(size);
     } else {
       cloud_msg_.height = 1;
-      cloud_msg_.width = size;
-      cloud_msg_.row_step = size * cloud_msg_.point_step;
+      cloud_msg_.width = static_cast<uint32_t>(size);
+      cloud_msg_.row_step = static_cast<uint32_t>(size * cloud_msg_.point_step);
     }
   }
 }

sensor_msgs/include/sensor_msgs/point_cloud_conversion.hpp

@@ -60,7 +60,7 @@ static inline int getPointCloud2FieldIndex(
   // Get the index we need
   for (size_t d = 0; d < cloud.fields.size(); ++d) {
     if (cloud.fields[d].name == field_name) {
-      return d;
+      return static_cast<int>(d);
     }
   }
   return -1;
@@ -76,7 +76,7 @@ static inline bool convertPointCloudToPointCloud2(
   sensor_msgs::msg::PointCloud2 & output)
 {
   output.header = input.header;
-  output.width = input.points.size();
+  output.width = static_cast<uint32_t>(input.points.size());
   output.height = 1;
   output.fields.resize(3 + input.channels.size());
   // Convert x/y/z to fields

sensor_msgs/test/test_pointcloud_conversion.cpp

@@ -36,13 +36,13 @@ TEST(sensor_msgs, PointCloudConversion)
 
   for (size_t ii = 0; ii < 100; ++ii) {
     auto pt = geometry_msgs::msg::Point32();
-    pt.x = ii;
-    pt.y = 2 * ii;
-    pt.z = 3 * ii;
+    pt.x = static_cast<float>(1 * ii);
+    pt.y = static_cast<float>(2 * ii);
+    pt.z = static_cast<float>(3 * ii);
     cloud.points.push_back(pt);
 
-    intensity.values.push_back(4 * ii);
-    range.values.push_back(5 * ii);
+    intensity.values.push_back(static_cast<float>(4 * ii));
+    range.values.push_back(static_cast<float>(5 * ii));
   }
   cloud.channels.push_back(intensity);
   cloud.channels.push_back(range);

sensor_msgs/test/test_pointcloud_iterator.cpp

@@ -45,7 +45,7 @@ TEST(sensor_msgs, PointCloud2Iterator)
   // Create a dummy PointCloud2
   size_t n_points = 4;
   sensor_msgs::msg::PointCloud2 cloud_msg_1, cloud_msg_2;
-  cloud_msg_1.height = n_points;
+  cloud_msg_1.height = static_cast<uint32_t>(n_points);
   cloud_msg_1.width = 1;
   sensor_msgs::PointCloud2Modifier modifier(cloud_msg_1);
   modifier.setPointCloud2FieldsByString(2, "xyz", "rgb");