Add fixes after review

controller_interface/include/semantic_components/force_torque_sensor.hpp

@@ -88,12 +88,12 @@ class ForceTorqueSensor : public SemanticComponentInterface<geometry_msgs::msg::
    *
    * \return array of size 3 with force values (x, y, z).
    */
-  std::array<double, 3> get_forces()
+  std::array<double, 3> get_forces() const
   {
     std::array<double, 3> forces{
       {double_limits::quiet_NaN(), double_limits::quiet_NaN(), double_limits::quiet_NaN()}};
     size_t interface_counter{0};
-    for (size_t i{0}; i < forces.size(); ++i)
+    for (auto i = 0u; i < forces.size(); ++i)
     {
       if (existing_axes_[i])
       {
@@ -110,16 +110,16 @@ class ForceTorqueSensor : public SemanticComponentInterface<geometry_msgs::msg::
    *
    * \return array of size 3 with torque values (x, y, z).
    */
-  std::array<double, 3> get_torques()
+  std::array<double, 3> get_torques() const
   {
     std::array<double, 3> torques{
       {double_limits::quiet_NaN(), double_limits::quiet_NaN(), double_limits::quiet_NaN()}};
     // find out how many force interfaces are being used
     // torque interfaces will be found from the next index onward
-    auto torque_interface_counter{static_cast<size_t>(
-      std::count(existing_axes_.begin(), existing_axes_.begin() + forces_size_, true))};
+    auto torque_interface_counter = static_cast<size_t>(
+      std::count(existing_axes_.begin(), existing_axes_.begin() + forces_size_, true));
 
-    for (size_t i{0}; i < torques.size(); ++i)
+    for (auto i = 0u; i < torques.size(); ++i)
     {
       if (existing_axes_[i + forces_size_])
       {
@@ -138,7 +138,7 @@ class ForceTorqueSensor : public SemanticComponentInterface<geometry_msgs::msg::
    *
    * \return wrench message from values;
    */
-  bool get_values_as_message(geometry_msgs::msg::Wrench & message)
+  bool get_values_as_message(geometry_msgs::msg::Wrench & message) const
   {
     const auto [force_x, force_y, force_z] = get_forces();
     const auto [torque_x, torque_y, torque_z] = get_torques();

controller_interface/include/semantic_components/imu_sensor.hpp

@@ -48,10 +48,10 @@ class IMUSensor : public SemanticComponentInterface<sensor_msgs::msg::Imu>
    *
    * \return Array of size 4 with orientation quaternion (x,y,z,w).
    */
-  std::array<double, 4> get_orientation()
+  std::array<double, 4> get_orientation() const
   {
     std::array<double, 4> orientation;
-    for (std::size_t i{0}; i < orientation.size(); ++i)
+    for (auto i = 0u; i < orientation.size(); ++i)
     {
       orientation[i] = state_interfaces_[i].get().get_value();
     }
@@ -64,11 +64,11 @@ class IMUSensor : public SemanticComponentInterface<sensor_msgs::msg::Imu>
    *
    * \return array of size 3 with angular velocity values (x, y, z).
    */
-  std::array<double, 3> get_angular_velocity()
+  std::array<double, 3> get_angular_velocity() const
   {
     std::array<double, 3> angular_velocity;
     const std::size_t interface_offset{4};
-    for (std::size_t i{0}; i < angular_velocity.size(); ++i)
+    for (auto i = 0u; i < angular_velocity.size(); ++i)
     {
       angular_velocity[i] = state_interfaces_[interface_offset + i].get().get_value();
     }
@@ -81,11 +81,11 @@ class IMUSensor : public SemanticComponentInterface<sensor_msgs::msg::Imu>
    *
    * \return array of size 3 with linear acceleration values (x, y, z).
    */
-  std::array<double, 3> get_linear_acceleration()
+  std::array<double, 3> get_linear_acceleration() const
   {
     std::array<double, 3> linear_acceleration;
     const std::size_t interface_offset{7};
-    for (std::size_t i{0}; i < linear_acceleration.size(); ++i)
+    for (auto i = 0u; i < linear_acceleration.size(); ++i)
     {
       linear_acceleration[i] = state_interfaces_[interface_offset + i].get().get_value();
     }
@@ -97,7 +97,7 @@ class IMUSensor : public SemanticComponentInterface<sensor_msgs::msg::Imu>
    * Constructs and return a IMU message from the current values.
    * \return imu message from values;
    */
-  bool get_values_as_message(sensor_msgs::msg::Imu & message)
+  bool get_values_as_message(sensor_msgs::msg::Imu & message) const
   {
     const auto [orientation_x, orientation_y, orientation_z, orientation_w] = get_orientation();
     const auto [angular_velocity_x, angular_velocity_y, angular_velocity_z] =

controller_interface/include/semantic_components/pose_sensor.hpp

@@ -46,10 +46,10 @@ class PoseSensor : public SemanticComponentInterface<geometry_msgs::msg::Pose>
    *
    * \return Array of position coordinates.
    */
-  std::array<double, 3> get_position()
+  std::array<double, 3> get_position() const
   {
     std::array<double, 3> position;
-    for (std::size_t i{0}; i < position.size(); ++i)
+    for (auto i = 0u; i < position.size(); ++i)
     {
       position[i] = state_interfaces_[i].get().get_value();
     }
@@ -62,11 +62,11 @@ class PoseSensor : public SemanticComponentInterface<geometry_msgs::msg::Pose>
    *
    * \return Array of orientation coordinates in xyzw convention.
    */
-  std::array<double, 4> get_orientation()
+  std::array<double, 4> get_orientation() const
   {
     std::array<double, 4> orientation;
     const std::size_t interface_offset{3};
-    for (std::size_t i{0}; i < orientation.size(); ++i)
+    for (auto i = 0u; i < orientation.size(); ++i)
     {
       orientation[i] = state_interfaces_[interface_offset + i].get().get_value();
     }
@@ -77,7 +77,7 @@ class PoseSensor : public SemanticComponentInterface<geometry_msgs::msg::Pose>
   /**
    * Fill a pose message with current position and orientation from the state interfaces.
    */
-  bool get_values_as_message(geometry_msgs::msg::Pose & message)
+  bool get_values_as_message(geometry_msgs::msg::Pose & message) const
   {
     const auto [position_x, position_y, position_z] = get_position();
     const auto [orientation_x, orientation_y, orientation_z, orientation_w] = get_orientation();

controller_interface/include/semantic_components/range_sensor.hpp

@@ -35,14 +35,14 @@ class RangeSensor : public SemanticComponentInterface<sensor_msgs::msg::Range>
    *
    * \return value of the range in meters
    */
-  float get_range() { return state_interfaces_[0].get().get_value(); }
+  float get_range() const { return state_interfaces_[0].get().get_value(); }
 
   /// Return Range message with range in meters
   /**
    * Constructs and return a Range message from the current values.
    * \return Range message from values;
    */
-  bool get_values_as_message(sensor_msgs::msg::Range & message)
+  bool get_values_as_message(sensor_msgs::msg::Range & message) const
   {
     message.range = get_range();
     return true;

controller_interface/include/semantic_components/semantic_component_interface.hpp

@@ -33,7 +33,7 @@ class SemanticComponentInterface
     state_interfaces_.reserve(interface_names.size());
   }
 
-  explicit SemanticComponentInterface(const std::string & name, size_t size = 0) : name_{name}
+  explicit SemanticComponentInterface(const std::string & name, std::size_t size = 0) : name_{name}
   {
     interface_names_.reserve(size);
     state_interfaces_.reserve(size);