switch to c++17 for ubuntu 22.4 support

.github/workflows/build.yml

@@ -0,0 +1,60 @@
+name: Build ethzasl_msf
+on:
+  push:
+  schedule:
+    - cron: '0 0 * * 0' # every Sunday at midnight
+
+jobs:
+  build:
+    runs-on: [self-hosted, linux]
+    env:
+      rosdistro: ${{ matrix.ubuntu == '20.04' && 'noetic' || 'one' }}
+    strategy:
+      fail-fast: false
+      matrix:
+        gcc: [ '9', '10', '11' ]
+        ubuntu: [ '20.04', '22.04' ]
+    container:
+      image: omavteam/ubuntu-omav-ros:ros-desktop-${{ matrix.ubuntu }}
+      credentials:
+        username: ${{ secrets.DOCKER_USERNAME }}
+        password: ${{ secrets.DOCKER_PASSWORD }}
+    name: Ubuntu ${{ matrix.ubuntu }} - GCC ${{ matrix.gcc }}
+    steps:
+      - name: Install image-geometry
+        run: apt update && apt install -y ros-${{ env.rosdistro }}-image-geometry
+
+      - name: Switch GCC version
+        run: |
+          update-alternatives --set gcc /usr/bin/gcc-${{ matrix.gcc }}
+          update-alternatives --set g++ /usr/bin/g++-${{ matrix.gcc}}
+          gcc --version
+          g++ --version
+
+      - uses: actions/checkout@v4
+        name: Checkout catkin_simple
+        with:
+          repository: catkin/catkin_simple
+          path: catkin_ws/src/catkin_simple
+
+      - uses: actions/checkout@v4
+        name: Checkout glog_catkin
+        with:
+          repository: ethz-asl/glog_catkin
+          path: catkin_ws/src/glog_catkin
+
+      - uses: actions/checkout@v4
+        name: Checkout ethzasl_msf
+        with:
+          repository: ethz-asl/ethzasl_msf
+          path: catkin_ws/src/ethzasl_msf
+
+      - name: Build ethzasl_msf
+        run: source /opt/ros/${{ env.rosdistro }}/setup.bash && catkin build ethzasl_msf && source ${GITHUB_WORKSPACE}/catkin_ws/devel/setup.bash
+        working-directory: catkin_ws
+        shell: bash
+
+      - name: Run ethzasl_msf tests
+        run: source /opt/ros/${{ env.rosdistro }}/setup.bash && catkin run_tests msf_core msf_timing
+        working-directory: catkin_ws
+        shell: bash

msf_core/CMakeLists.txt

@@ -14,7 +14,7 @@ add_definitions(-DBOOST_NO_CXX11_VARIADIC_TEMPLATES)
 
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${PROJECT_SOURCE_DIR}/cmake/)
 
-find_package(catkin REQUIRED COMPONENTS sensor_msgs dynamic_reconfigure msf_timing tf glog_catkin cmake_modules)
+find_package(catkin REQUIRED COMPONENTS sensor_msgs dynamic_reconfigure msf_timing tf glog_catkin cmake_modules sensor_fusion_comm)
 find_package(Eigen REQUIRED)
 
 find_package(Doxygen)
@@ -31,9 +31,9 @@ include_directories(include ${Eigen_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
 
 SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wno-unused-parameter")
 if (CMAKE_COMPILER_IS_GNUCC)
-SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
+SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17")
 else()
-SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17")
 endif()
 
 # Enable timing the core

msf_core/cmake/export_flags.cmake

@@ -1,7 +1,7 @@
 if (CMAKE_COMPILER_IS_GNUCC)
-SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
+SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17")
 else()
-SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17")
 endif()
 SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wno-unused-parameter")
 

msf_core/package.xml

@@ -24,11 +24,13 @@
   <build_depend>tf</build_depend>
   <build_depend>glog_catkin</build_depend>
   <build_depend>cmake_modules</build_depend>
+  <build_depend>sensor_fusion_comm</build_depend>
   <run_depend>roscpp</run_depend>
   <run_depend>sensor_msgs</run_depend>
   <run_depend>nav_msgs</run_depend>
   <run_depend>dynamic_reconfigure</run_depend>
   <run_depend>msf_timing</run_depend>
   <run_depend>tf</run_depend>
   <run_depend>glog_catkin</run_depend>
+  <run_depend>sensor_fusion_comm</run_depend>
 </package>

msf_eval/CMakeLists.txt

@@ -17,7 +17,7 @@ ptam_com)
 
 include_directories(include ${catkin_INCLUDE_DIRS})
 
-SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
+SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17")
 
 catkin_package(
     DEPENDS opencv2

msf_timing/CMakeLists.txt

@@ -16,9 +16,9 @@ include_directories(include)
 find_package(catkin REQUIRED COMPONENTS roscpp)
 
 if (CMAKE_COMPILER_IS_GNUCC)
-SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
+SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17")
 else()
-SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17")
 endif()
 
 catkin_package(

msf_timing/cmake/export_flags.cmake

@@ -1,2 +1,2 @@
-SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -std=c++0x")
+SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -std=c++17")
 

msf_updates/CMakeLists.txt

@@ -11,6 +11,7 @@ set(CMAKE_BUILD_TYPE Release)
 
 #build with boost 1.6x
 add_definitions(-DBOOST_NO_CXX11_VARIADIC_TEMPLATES)
+SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17")
 
 find_package(catkin REQUIRED COMPONENTS roscpp msf_core geometry_msgs sensor_fusion_comm)