build: add project C++ warning set and configure ruff lint rules

CMakeLists.txt

@@ -133,6 +133,13 @@ endif()
 # Build dependencies (OpenXR SDK, etc.)
 add_subdirectory(deps)
 
+# Project warning set. Deliberately after add_subdirectory(deps): directory-scope
+# compile options are inherited only by subdirectories added *after* this call, so
+# third-party trees keep their own flags while everything below (src/, examples/,
+# plugins) is held to ours. See cmake/CompilerWarnings.cmake.
+include(cmake/CompilerWarnings.cmake)
+isaac_teleop_enable_compiler_warnings()
+
 # Enable CTest at top level so tests from subdirectories are discoverable
 if(BUILD_TESTING)
     # Make sure to call this after `deps` is added so that Catch2 is available

cmake/CompilerWarnings.cmake

@@ -0,0 +1,67 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+# ==============================================================================
+# Compiler warnings for first-party code
+# ==============================================================================
+# isaac_teleop_enable_compiler_warnings() applies the project's warning set to the
+# CALLING directory scope, which CMake then inherits into every subdirectory added
+# after the call. The top-level CMakeLists.txt therefore calls it *after*
+# add_subdirectory(deps) so third-party trees (OpenXR SDK, yaml-cpp, pybind11,
+# mcap, flatbuffers, Catch2, ...) keep building with their own flags and are never
+# held to warning levels we do not control.
+#
+# Known gap: the OAK plugin (OFF by default) fetches DepthAI, and transitively XLink,
+# via FetchContent from inside src/plugins/, so that tree DOES inherit these flags. It
+# builds as long as warnings are not errors; with ISAAC_TELEOP_WARNINGS_AS_ERRORS=ON it
+# fails with 41 errors in xlink-src on GCC 13 (unused-parameter, stringop-truncation,
+# parentheses, ...). Note stringop-truncation is a GCC default rather than part of this
+# set, so plain -Werror would break XLink even with ISAAC_TELEOP_ENABLE_WARNINGS=OFF.
+# Turning warnings-as-errors on in CI therefore needs OAK excluded, or a -Wno-
+# suppression scoped to the fetched tree.
+#
+# The OGLO and Noitom plugins also fetch from inside src/plugins/, but neither
+# contributes third-party translation units — OGLO uses header-only nlohmann/json plus
+# the system libdbus, and Noitom links a prebuilt libMocapApi.so — so both build clean
+# under -Werror.
+
+option(ISAAC_TELEOP_ENABLE_WARNINGS "Enable the project warning set on first-party C++ targets" ON)
+option(ISAAC_TELEOP_WARNINGS_AS_ERRORS "Promote the project warning set to errors (-Werror / /WX)" OFF)
+
+function(isaac_teleop_enable_compiler_warnings)
+    if(NOT ISAAC_TELEOP_ENABLE_WARNINGS)
+        message(STATUS "Compiler warnings: disabled (ISAAC_TELEOP_ENABLE_WARNINGS=OFF)")
+        return()
+    endif()
+
+    set(_gnu_like
+        -Wall
+        -Wextra
+        # Deliberately off: C-style aggregate init of OpenXR/Vulkan structs (which
+        # zero-fill the tail on purpose) trips this on essentially every call site.
+        # The native_openxr example already suppressed it for the same reason.
+        -Wno-missing-field-initializers
+        # Bug classes worth failing a build over.
+        -Wnon-virtual-dtor       # deleting through a base pointer without a virtual dtor
+        -Woverloaded-virtual     # a derived overload silently hiding a base virtual
+        -Wimplicit-fallthrough   # unannotated switch fallthrough
+        -Wextra-semi             # stray ';' after a member function definition
+    )
+
+    set(_msvc
+        /W4
+        /permissive-
+    )
+
+    if(ISAAC_TELEOP_WARNINGS_AS_ERRORS)
+        list(APPEND _gnu_like -Werror)
+        list(APPEND _msvc /WX)
+    endif()
+
+    add_compile_options(
+        "$<$<AND:$<COMPILE_LANGUAGE:CXX>,$<CXX_COMPILER_ID:GNU,Clang,AppleClang>>:${_gnu_like}>"
+        "$<$<AND:$<COMPILE_LANGUAGE:CXX>,$<CXX_COMPILER_ID:MSVC>>:${_msvc}>"
+    )
+
+    message(STATUS "Compiler warnings: enabled (warnings as errors: ${ISAAC_TELEOP_WARNINGS_AS_ERRORS})")
+endfunction()

examples/camera_viz/pipeline/runner.py

@@ -200,7 +200,7 @@ def _record_error(self, exc: BaseException, where: str) -> None:
         with self._error_lock:
             if self._error is None:
                 self._error = exc
-        logger.error("VizRunner %s thread failed: %s", where, exc, exc_info=True)
+        logger.error("VizRunner %s thread failed: %s", where, exc, exc_info=exc)
         self._stop.set()
         with self._data_cond:
             self._data_cond.notify_all()

examples/camera_viz/sources/oakd.py

@@ -30,7 +30,7 @@
 import threading
 import time
 from dataclasses import dataclass, field
-from typing import List, Optional
+from typing import ClassVar, List, Optional
 
 import numpy as np
 
@@ -120,7 +120,7 @@ class _OakdDevice:
     closes it.
     """
 
-    _SOCKET_MAP = {
+    _SOCKET_MAP: ClassVar[dict[str, str]] = {
         "RGB": "CAM_A",
         "CAM_A": "CAM_A",
         "LEFT": "CAM_B",

examples/camera_viz/sources/synthetic.py

@@ -234,27 +234,29 @@ def _produce_loop(self) -> None:
             diag_l = (x_grid_l + y_grid) / float(w + h)
             diag_r = (x_grid_r + y_grid) / float(w + h)
 
+            # Defined once, above the loop: taking phase as a parameter avoids
+            # rebuilding a closure over it on every generated frame.
+            def fill(buf, diag, phase):
+                r = (cp.sin((diag + phase) * 6.2831853) * 127.0 + 128.0).astype(
+                    cp.uint8
+                )
+                g = (
+                    cp.sin((diag + phase + 0.3333) * 6.2831853) * 127.0 + 128.0
+                ).astype(cp.uint8)
+                b = (
+                    cp.sin((diag + phase + 0.6667) * 6.2831853) * 127.0 + 128.0
+                ).astype(cp.uint8)
+                buf[..., 0] = r
+                buf[..., 1] = g
+                buf[..., 2] = b
+                buf[..., 3] = 255
+
             while not self._stop.is_set():
                 t = (time.monotonic_ns() - self._t0_ns) * 1e-9
                 phase = (t * self._hue_speed_hz) % 1.0
 
-                def fill(buf, diag):
-                    r = (cp.sin((diag + phase) * 6.2831853) * 127.0 + 128.0).astype(
-                        cp.uint8
-                    )
-                    g = (
-                        cp.sin((diag + phase + 0.3333) * 6.2831853) * 127.0 + 128.0
-                    ).astype(cp.uint8)
-                    b = (
-                        cp.sin((diag + phase + 0.6667) * 6.2831853) * 127.0 + 128.0
-                    ).astype(cp.uint8)
-                    buf[..., 0] = r
-                    buf[..., 1] = g
-                    buf[..., 2] = b
-                    buf[..., 3] = 255
-
-                fill(self._left[self._write_idx], diag_l)
-                fill(self._right[self._write_idx], diag_r)
+                fill(self._left[self._write_idx], diag_l, phase)
+                fill(self._right[self._write_idx], diag_r, phase)
                 cp.cuda.Stream.null.synchronize()
 
                 with self._lock:

examples/camera_viz/sources/zed.py

@@ -310,7 +310,7 @@ def _hint():
 
         # Pyzed Mats are pitched GPU buffers — one per eye, reused every
         # grab() / retrieve_image() pair.
-        for eye, slot in self._slots.items():
+        for slot in self._slots.values():
             slot.zed_mat = sl.Mat()
 
         self._camera = camera

examples/camera_viz/transports/rtp_h264_sender.py

@@ -252,7 +252,7 @@ def _send_loop(self) -> None:
                     raise RuntimeError(
                         f"RtpH264Sender: encode failed {consecutive_encode_failures} "
                         f"times in a row; surfacing to supervisor for full restart"
-                    )
+                    ) from e
                 continue
 
             for pkt in packets:

examples/cloudxr_mujoco_teleop/visualize_hands_mujoco_example.py

@@ -37,6 +37,7 @@
 import isaacteleop.deviceio as deviceio
 import isaacteleop.oxr as oxr
 from isaacteleop.cloudxr import CloudXRLauncher
+import itertools
 
 
 # Route MuJoCo warnings to stderr instead of writing MUJOCO_LOG.TXT in CWD.
@@ -74,7 +75,7 @@ def _mujoco_warning(msg) -> None:
 def _finger_chain(root: int, joints: tuple) -> list:
     """[(root,j0), (j0,j1), (j1,j2), ...] — adjacent-pair bone segments."""
     chain = [(root, joints[0])]
-    for a, b in zip(joints[:-1], joints[1:]):
+    for a, b in itertools.pairwise(joints):
         chain.append((a, b))
     return chain
 

examples/native_openxr/xdev_list/main.cpp

@@ -7,6 +7,7 @@
 #include <openxr/openxr.h>
 
 #include <XR_MNDX_xdev_space.h>
+#include <cstring>
 #include <exception>
 #include <iostream>
 #include <stdexcept>
@@ -92,13 +93,6 @@ std::vector<XrXDevIdMNDX> enumerate_xdevs(const OpenXRBundle& openxr_bundle, XrX
     return xdevIds;
 }
 
-/*!
- * Print information about available XDevs using XR_MNDX_xdev_space extension
- */
-static void print_xdev_info(const OpenXRBundle& openxr_bundle)
-{
-}
-
 /*!
  * XDev List Application - Prints information about available XDevs
  */
@@ -156,7 +150,10 @@ class XDevListApp : public HeadlessApp
                 throw std::runtime_error("Failed to get properties for XDev " + std::to_string(xdevId));
             }
 
-            std::string serial_str = properties.serial ? properties.serial : "";
+            // serial is a fixed char[256], never a pointer, so a null check would always be true.
+            // Bound the length so a runtime that fills the array without a terminator cannot
+            // walk past it.
+            std::string serial_str(properties.serial, ::strnlen(properties.serial, sizeof(properties.serial)));
             if (serial_str == "Head Device (0)" || serial_str == "Head Device (1)")
             {
                 std::cout << "[CREATE HAND] XDev ID=" << xdevId << " Name=\"" << properties.name << "\""
@@ -168,7 +165,7 @@ class XDevListApp : public HeadlessApp
             else
             {
                 std::cout << "[SKIP] XDev ID=" << xdevId << " Name=\"" << properties.name << "\""
-                          << " Serial=\"" << (properties.serial ? properties.serial : "") << "\"" << std::endl;
+                          << " Serial=\"" << serial_str << "\"" << std::endl;
             }
         }
 
@@ -179,7 +176,7 @@ class XDevListApp : public HeadlessApp
     }
 };
 
-int main(int argc, char* argv[])
+int main(int /*argc*/, char* argv[])
 try
 {
     XDevListApp app;

examples/noitom/noitom_retargeting.py

@@ -1264,7 +1264,7 @@ def compute_robot_reference_positions(
     parsed = _parse_upper_body(frame)
     if parsed is None:
         return {}
-    torso, left, right, _pelvis_world = parsed
+    _torso, left, right, _pelvis_world = parsed
     yaw_delta = _resolve_yaw_delta(current_yaw - calib.body_yaw_isaac, settings)
     anchor = settings.robot_pelvis_world.astype(np.float64)
     positions: dict[int, np.ndarray] = {int(BodyJoint.PELVIS): anchor.copy()}
@@ -1754,7 +1754,7 @@ def _solve_wrist_target(
     yaw_delta = _resolve_yaw_delta(_compute_torso_yaw(torso) - calib_yaw, settings)
 
     if settings.use_posture_based_arms:
-        shoulder_robot, elbow_robot, wrist_robot = _arm_fk_robot_blended(
+        _shoulder_robot, elbow_robot, wrist_robot = _arm_fk_robot_blended(
             arm, neutral, settings, yaw_delta, is_left
         )
         forearm = wrist_robot - elbow_robot

examples/oxr/cpp/oxr_session_sharing.cpp

@@ -11,7 +11,7 @@
 #include <memory>
 #include <thread>
 
-int main(int argc, char** argv)
+int main(int /*argc*/, char** argv)
 try
 {
     std::cout << "OpenXR Session Sharing Example" << std::endl;

examples/oxr/cpp/oxr_simple_api_demo.cpp

@@ -20,7 +20,7 @@
  * Internal lifecycle methods (initialize, update, cleanup) are hidden!
  */
 
-int main(int argc, char** argv)
+int main(int /*argc*/, char** argv)
 try
 {
     std::cout << "OpenXR Simple API Demo" << std::endl;

examples/retargeting/python/wuji_hand_retargeter_demo.py

@@ -54,6 +54,7 @@
 import signal
 import sys
 import time
+from typing import ClassVar
 
 import numpy as np
 
@@ -147,7 +148,7 @@ class _ReplayUnpickler(pickle.Unpickler):
     recording may have been produced elsewhere or shared.
     """
 
-    _ALLOWED = {
+    _ALLOWED: ClassVar[set[tuple[str, str]]] = {
         ("numpy", "ndarray"),
         ("numpy", "dtype"),
         ("numpy.core.multiarray", "_reconstruct"),  # numpy < 2

examples/schemaio/full_body_printer.cpp

@@ -73,7 +73,7 @@ void print_body_pose(const core::FullBodyPoseT& data, size_t sample_count)
 
 } // namespace
 
-int main(int argc, char** argv)
+int main(int /*argc*/, char** argv)
 try
 {
     std::cout << "Full Body Printer (XR_BD_body_tracking)" << std::endl;

examples/schemaio/pedal_printer.cpp

@@ -37,7 +37,7 @@ void print_pedal_data(const core::Generic3AxisPedalOutputT& data, size_t sample_
     std::cout << std::endl;
 }
 
-int main(int argc, char** argv)
+int main(int /*argc*/, char** argv)
 try
 {
     std::cout << "Pedal Printer (collection: " << COLLECTION_ID << ")" << std::endl;

examples/schemaio/pedal_pusher.cpp

@@ -67,7 +67,7 @@ class Generic3AxisPedalPusher
     core::SchemaPusher m_pusher;
 };
 
-int main(int argc, char** argv)
+int main(int /*argc*/, char** argv)
 try
 {
     std::cout << "Schema Pusher (collection: " << COLLECTION_ID << ")" << std::endl;

examples/teleop/python/joint_space_device_example.py

@@ -108,7 +108,7 @@ def build_pipeline(
     head = retargeter.connect(
         {JointStateRetargeter.JOINTS: source.output(JointStateSource.JOINTS)}
     )
-    action_labels = _POSE_LABELS + ["gripper_value"]
+    action_labels = [*_POSE_LABELS, "gripper_value"]
     reorderer = TensorReorderer(
         input_config={"ee_pose": _POSE_LABELS, "gripper_command": ["gripper_value"]},
         output_order=action_labels,

examples/teleop_session_manager/python/message_channel_example.py

@@ -30,7 +30,9 @@ def _positive_int(value: str) -> int:
     try:
         n = int(value)
     except ValueError:
-        raise argparse.ArgumentTypeError(f"expected a positive integer, got {value!r}")
+        raise argparse.ArgumentTypeError(
+            f"expected a positive integer, got {value!r}"
+        ) from None
     if n <= 0:
         raise argparse.ArgumentTypeError(f"must be a positive integer, got {n}")
     return n
@@ -44,7 +46,7 @@ def _parse_uuid_bytes(uuid_text: str) -> bytes:
         raise argparse.ArgumentTypeError(
             f"--channel-uuid: invalid UUID {uuid_text!r} (expected canonical form, "
             "e.g. 550e8400-e29b-41d4-a716-446655440000)"
-        )
+        ) from None
 
 
 def _enqueue_outbound_message(sink, payload: bytes) -> None: