diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8e8ea146e64..9d49eef2632 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -110,7 +110,12 @@ endif()
 # ---[ Unix/Darwin/Windows specific flags
 if(CMAKE_COMPILER_IS_GNUCXX)
   if("${CMAKE_CXX_FLAGS}" STREQUAL "${CMAKE_CXX_FLAGS_DEFAULT}")
-    set(CMAKE_CXX_FLAGS "-Wabi -Wall -Wextra -Wno-unknown-pragmas -fno-strict-aliasing -Wno-format-extra-args -Wno-sign-compare -Wno-invalid-offsetof -Wno-conversion ${SSE_FLAGS_STR}")
+    if (CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 7)
+      set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wabi=11")
+    else()
+      set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wabi")
+    endif()
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wno-unknown-pragmas -fno-strict-aliasing -Wno-format-extra-args -Wno-sign-compare -Wno-invalid-offsetof -Wno-conversion ${SSE_FLAGS_STR}")
   endif()
 
   if("${CMAKE_SHARED_LINKER_FLAGS}" STREQUAL "" AND NOT CMAKE_SYSTEM_NAME STREQUAL "Darwin")
diff --git a/common/src/print.cpp b/common/src/print.cpp
index 8f7946b661a..24fcdeff792 100644
--- a/common/src/print.cpp
+++ b/common/src/print.cpp
@@ -126,7 +126,7 @@ pcl::console::change_text_color (FILE *stream, int attribute, int fg, int bg)
   HANDLE h = GetStdHandle ((stream == stdout) ? STD_OUTPUT_HANDLE : STD_ERROR_HANDLE);
   SetConsoleTextAttribute (h, convertAttributesColor (attribute, fg, bg));
 #else
-  char command[13];
+  char command[40];
   // Command is the control command to the terminal
   sprintf (command, "%c[%d;%d;%dm", 0x1B, attribute, fg + 30, bg + 40);
   fprintf (stream, "%s", command);
@@ -143,7 +143,7 @@ pcl::console::change_text_color (FILE *stream, int attribute, int fg)
   HANDLE h = GetStdHandle ((stream == stdout) ? STD_OUTPUT_HANDLE : STD_ERROR_HANDLE);
   SetConsoleTextAttribute (h, convertAttributesColor (attribute, fg));
 #else
-  char command[13];
+  char command[17];
   // Command is the control command to the terminal
   sprintf (command, "%c[%d;%dm", 0x1B, attribute, fg + 30);
   fprintf (stream, "%s", command);
diff --git a/filters/include/pcl/filters/impl/crop_hull.hpp b/filters/include/pcl/filters/impl/crop_hull.hpp
index 63d8c0a902c..8a2ed36351a 100644
--- a/filters/include/pcl/filters/impl/crop_hull.hpp
+++ b/filters/include/pcl/filters/impl/crop_hull.hpp
@@ -241,7 +241,7 @@ pcl::CropHull<PointT>::isPointIn2DPolyWithVertIndices (
   bool in_poly = false;
   double x1, x2, y1, y2;
 
-  const int nr_poly_points = static_cast<const int>(verts.vertices.size ());
+  const int nr_poly_points = static_cast<int>(verts.vertices.size ());
   double xold = cloud[verts.vertices[nr_poly_points - 1]].getVector3fMap ()[PlaneDim1];
   double yold = cloud[verts.vertices[nr_poly_points - 1]].getVector3fMap ()[PlaneDim2];
   for (int i = 0; i < nr_poly_points; i++)
diff --git a/filters/src/crop_box.cpp b/filters/src/crop_box.cpp
index 8588c8341e8..a473cdffa03 100644
--- a/filters/src/crop_box.cpp
+++ b/filters/src/crop_box.cpp
@@ -80,7 +80,7 @@ pcl::CropBox<pcl::PCLPointCloud2>::applyFilter (PCLPointCloud2 &output)
     // Get local point
     int point_offset = ((*indices_)[index] * input_->point_step);
     int offset = point_offset + input_->fields[x_idx_].offset;
-    memcpy (&local_pt, &input_->data[offset], sizeof (float)*3);
+    memcpy (local_pt.data (), &input_->data[offset], sizeof (float)*3);
 
     // Check if the point is invalid
     if (!std::isfinite (local_pt.x ()) ||
@@ -170,7 +170,7 @@ pcl::CropBox<pcl::PCLPointCloud2>::applyFilter (std::vector<int> &indices)
     // Get local point
     int point_offset = ((*indices_)[index] * input_->point_step);
     int offset = point_offset + input_->fields[x_idx_].offset;
-    memcpy (&local_pt, &input_->data[offset], sizeof (float)*3);
+    memcpy (local_pt.data (), &input_->data[offset], sizeof (float)*3);
 
     // Transform point to world space
     if (!transform_matrix_is_identity)
diff --git a/io/src/hdl_grabber.cpp b/io/src/hdl_grabber.cpp
index 69708c227c6..75304ce3f6f 100644
--- a/io/src/hdl_grabber.cpp
+++ b/io/src/hdl_grabber.cpp
@@ -691,7 +691,7 @@ pcl::HDLGrabber::readPacketsFromPcap ()
 
   struct timeval lasttime;
 
-  lasttime.tv_sec = 0;
+  lasttime.tv_sec = lasttime.tv_usec = 0;
 
   int32_t returnValue = pcap_next_ex (pcap, &header, &data);
 
diff --git a/octree/include/pcl/octree/impl/octree_pointcloud.hpp b/octree/include/pcl/octree/impl/octree_pointcloud.hpp
index f6bfdf4c15a..95c0dc2ba44 100644
--- a/octree/include/pcl/octree/impl/octree_pointcloud.hpp
+++ b/octree/include/pcl/octree/impl/octree_pointcloud.hpp
@@ -221,7 +221,7 @@ pcl::octree::OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeT>
   float norm = direction.norm ();
   direction.normalize ();
 
-  const float step_size = static_cast<const float> (resolution_) * precision;
+  const float step_size = static_cast<float> (resolution_) * precision;
   // Ensure we get at least one step for the first voxel.
   const int nsteps = std::max (1, static_cast<int> (norm / step_size));
 
@@ -232,7 +232,7 @@ pcl::octree::OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeT>
   // Walk along the line segment with small steps.
   for (int i = 0; i < nsteps; ++i)
   {
-    Eigen::Vector3f p = origin + (direction * step_size * static_cast<const float> (i));
+    Eigen::Vector3f p = origin + (direction * step_size * static_cast<float> (i));
 
     PointT octree_p;
     octree_p.x = p.x ();
diff --git a/octree/include/pcl/octree/octree_key.h b/octree/include/pcl/octree/octree_key.h
index 85c85872de3..11562494854 100644
--- a/octree/include/pcl/octree/octree_key.h
+++ b/octree/include/pcl/octree/octree_key.h
@@ -69,6 +69,8 @@ namespace pcl
         memcpy(key_, source.key_, sizeof(key_));
       }
 
+      OctreeKey& operator=(const OctreeKey&) = default;
+
       /** \brief Operator== for comparing octree keys with each other.
        *  \return "true" if leaf node indices are identical; "false" otherwise.
        * */