Compile in Ubuntu 22.04, 24.04 & C++17

[lucasw]

Work-in-progress, there are a couple of warnings I didn't eliminate- one requires rviz changes (OgreVector3.h includes), another in eigen:

In file included from /usr/include/eigen3/Eigen/Core:337,
                 from /usr/include/eigen3/Eigen/Dense:1,
                 from /home/lucasw/catkin_ws/src/fuse/fuse_viz/include/fuse_viz/mapped_covariance_visual.h:41,
                 from /home/lucasw/catkin_ws/src/fuse/fuse_viz/src/mapped_covariance_visual.cpp:30:
/usr/include/eigen3/Eigen/src/Core/products/SelfadjointMatrixVector.h: In function ‘static void Eigen::internal::selfadjoint_product_impl<Lhs, LhsMode, false, Rhs, 0, true>::run(Dest&, const Lhs&, const Rhs&, const Scalar&) [with Dest = Eigen::Block<Eigen::Matrix<double, 1, 1, 0, 1, 1>, -1, 1, false>; Lhs = Eigen::Block<Eigen::Matrix<double, 2, 2>, -1, -1, false>; int LhsMode = 17; Rhs = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 2, 1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 2, 2>, 2, 1, true>, -1, 1, false> >]’:
/usr/include/eigen3/Eigen/src/Core/products/SelfadjointMatrixVector.h:229:7: error: ‘result’ may be used uninitialized [-Werror=maybe-uninitialized]
  227 |     internal::selfadjoint_matrix_vector_product<Scalar, Index, (internal::traits<ActualLhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor,
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  228 |                                                 int(LhsUpLo), bool(LhsBlasTraits::NeedToConjugate), bool(RhsBlasTraits::NeedToConjugate)>::run
      |                                                 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  229 |       (
      |       ^
  230 |         lhs.rows(),                             // size
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  231 |         &lhs.coeffRef(0,0),  lhs.outerStride(), // lhs info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  232 |         actualRhsPtr,                           // rhs info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  233 |         actualDestPtr,                          // result info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  234 |         actualAlpha                             // scale factor
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  235 |       );
      |       ~
/usr/include/eigen3/Eigen/src/Core/products/SelfadjointMatrixVector.h:41:6: note: by argument 3 of type ‘const double*’ to ‘static void Eigen::internal::selfadjoint_matrix_vector_product<Scalar, Index, StorageOrder, UpLo, ConjugateLhs, ConjugateRhs, Version>::run(Index, const Scalar*, Index, const Scalar*, Scalar*, Scalar) [with Scalar = double; Index = long int; int StorageOrder = 0; int UpLo = 1; bool ConjugateLhs = false; bool ConjugateRhs = false; int Version = 0]’ declared here
   41 | void selfadjoint_matrix_vector_product<Scalar,Index,StorageOrder,UpLo,ConjugateLhs,ConjugateRhs,Version>::run(
      |      ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
cc1plus: all warnings being treated as errors

That looks like it's entirely in Eigen but I haven't looked closely.

Current workaround is to remove the fuse_viz Werror

[lucasw]

I'm trying to make this build in Ubuntu 22.10 but getting:

/home/lucasw/base_catkin_ws/src/other/fuse/fuse_graphs/include/fuse_graphs/hash_graph.h:426:21: error: ‘ceres::Problem::Options::local_parameterization_ownership’ is deprecated: Local Parameterizations are deprecated. Use Manifold and manifold_ownership instead. [-Werror=deprecated-declarations]
  426 |   archive & options.local_parameterization_ownership;

22.10 has ceres 2.1.0

[svwilliams]

I swear I've written this before, but I'm not seeing it in this PR history. So either this will be a repeat of a message you have seen before, or I never clicked "send". So apologies either way.

Ceres 2.1 has dramatically changed the implementation of what was previously called LocalParameterization and is now called a Manifold. Making fuse support Ceres 2.1 will require a significant time investment. It is something that I intend to support, but likely only in the ROS2 branch. If migrating all of the fuse LocalParameterization code into the new Manifold classes is something you want to tackle, we can create a noetic-22.10-devel branch or similar to hold those updates. But it is not something I can implement or maintain at this time.

[lucasw]

How about I peel out the commits that don't break ci, get those into another pr- probably just the hpp and maybe ogre.h includes- that'll reduce the diff noise with breaking changes here, make it easier for me to maintain a 22.04+ branch.

[svwilliams]

Sounds good. I did push a commit a couple of months ago to get fuse compiling on Ubuntu Jammy. That included some of these changes already.

[lucasw]

Right, #326 has the d045cc2 and 98dee7f changes, which only leaves these from b3da98f:

-#include <OgreVector3.h>
+#include <Ogre.h>

[lucasw]

I haven't tried restoring Werror here since rebasing these commits on latest, maybe it's not needed now?