From 1144e236b9589410bef5f5c20ad467ba9490f128 Mon Sep 17 00:00:00 2001
From: MeierTobias <meier.tobias@hotmail.com>
Date: Sun, 11 Jan 2026 19:29:39 +0100
Subject: [PATCH] fix: initialize can_frame struct to avoid warnings

---
 odrive_node/src/odrive_can_node.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/odrive_node/src/odrive_can_node.cpp b/odrive_node/src/odrive_can_node.cpp
index 5f7ae42..6aa1764 100644
--- a/odrive_node/src/odrive_can_node.cpp
+++ b/odrive_node/src/odrive_can_node.cpp
@@ -61,7 +61,7 @@ ODriveCanNode::ODriveCanNode(const std::string& node_name) : rclcpp::Node(node_n
 
 void ODriveCanNode::deinit() {
     if (axis_idle_on_shutdown_) {
-        struct can_frame frame;
+        struct can_frame frame = {};
         frame.can_id = node_id_ << 5 | CmdId::kSetAxisState;
         write_le<uint32_t>(ODriveAxisState::AXIS_STATE_IDLE, frame.data);
         frame.can_dlc = 4;
@@ -221,7 +221,7 @@ void ODriveCanNode::service_callback(const std::shared_ptr<AxisState::Request> r
     response->procedure_result = ctrl_stat_.procedure_result;
 }
 
-void ODriveCanNode::service_clear_errors_callback(const std::shared_ptr<Empty::Request> request, std::shared_ptr<Empty::Response> response) {
+void ODriveCanNode::service_clear_errors_callback(const std::shared_ptr<Empty::Request> /*request*/, std::shared_ptr<Empty::Response> /*response*/) {
     RCLCPP_INFO(rclcpp::Node::get_logger(), "clearing errors");
     srv_clear_errors_evt_.set();
 }
@@ -251,7 +251,7 @@ void ODriveCanNode::request_state_callback() {
 }
 
 void ODriveCanNode::request_clear_errors_callback() {
-    struct can_frame frame;
+    struct can_frame frame = {};
     frame.can_id = node_id_ << 5 | CmdId::kClearErrors;
     write_le<uint8_t>(0, frame.data);
     frame.can_dlc = 1;