Use c++11 for moveit plugin when available

[jonbinney]

This is needed to compile on kinetic. Otherwise you get shared_ptr errors in geometric_shapes headers, which get included by moveit headers. I've only tested this on xenial/kinetic; can someone make sure I haven't broken compile on indigo?

[de-vri-es]

I think it shouldn't break indigo, though it will cause compiling with C++11 enabled even for indigo if the compiler supports it (which is the case in Ubuntu 14.04). That shouldn't cause any problems as long as it's still ABI compatible, which I think should be the case.

GCC 5.1 did introduce a new C++11 ABI, but whether or not that is used is independent of actually compiling with or without C++11 support. [1]

We have actually been mixing C++11 and non C++11 objects with indigo for quite some time. The only problems we encountered were with the Ubuntu packaged version of PCL, so there should be no problems here.

Bottom line: Looks good to me :)

[1] https://gcc.gnu.org/onlinedocs/libstdc++/manual/using_dual_abi.html

[de-vri-es]

I suppose an alternative is to simple add add_compile_options(-std=c++11) on the kinetic branch. C++11 support is a requirement for kinetic, so in that case no check is needed.

However, there is something to be said for using the same code base across the branches as long as possible.

/edit: And of course, it is neater if the configure step detects lack of C++11 support rather than the compile step. However, most packages so far simply add the compile flags without checking.

[jonbinney]

Are there any other reasons to create a new branch for kinetic? If there are then I'd rather just put this fix into a kinetic branch. I think that moveit is close to being released, which was one of the last blockers for releasing this repo into kinetic (#240) so if a kinetic-devel branch is going to be created now would be the time.

[jonbinney]

It turns out that this should be fixed in geometric_shapes - that package shouldn't be using C++11 features in its API, and if it does, it should export the appropriate flags. There is discussion about how to fix it in a few places:

• Use std::shared_ptr for compatibility with FCL 0.5. moveit/geometric_shapes#47 (comment)
• C++11 error on ROS buildfarm for kinetic moveit/geometric_shapes#49
• Export C++11 compiler flag moveit/geometric_shapes#50

But however that gets resolved, the code in this repo shouldn't have to change. Closing this PR.

[jonbinney]

After much discussion, it was decided that each package which uses geometric_shapes will need to enable c++11 on its own: http://discourse.ros.org/t/std-shared-ptr-in-the-geometric-shapes-public-api/395/10

So I'm re-opening this.

[davetcoleman]

Can we branch for kinetic (kinetic-devel) now for this repo? Seems like this C++11 flag is only needed for that use case.

[shaun-edwards]

@davetcoleman, do you just want a kinetic branch OR do you want a kinect release. #281 is possibly an issue with Kinetic (although not a build issue).

[davetcoleman]

I think there should be a kinetic-devel branch. I'm working with this repo now and am finding lots of warnings from deprecated things from MoveIt! in the *_moveit_config packages.

[davetcoleman]

I'm attempting to standardize C++11 usage for ROS: ros-infrastructure/catkin_pkg#154

[shaun-edwards]

@jonbinney, since @davetcoleman (and others) have suggested using add_definitions(-std=c++11) to enable C++11, can you make this change? I've updated the PR to point to the kinetic-devel branch so no need for the compiler check.

[jonbinney]

@shaun-edwards will do.

[davetcoleman]

My PR just now to kinetic replaces this one: https://github.com/ros-industrial/universal_robot/pull/286/files#diff-e65d3e3f4d324f6d6b7def591c6e72c1R4

[jonbinney]

Ah, thanks @davetcoleman ! I'll close this PR then.