[ros-o] jsk_pcl_ros/CMakeLists.txt, support c++17, skip src/extract_c…

…uboid_particles_top_n_nodelet.cpp, due to undefined reference to 'pcl::FilterIndices<pcl::tracking::ParticleCuboid>::applyFilter(pcl::PointCloud<pcl::tracking::ParticleCuboid>&)'

jsk_pcl_ros/CMakeLists.txt

@@ -11,10 +11,13 @@ endif()
 
 # check c++11 / c++0x
 include(CheckCXXCompilerFlag)
+check_cxx_compiler_flag("-std=c++17" COMPILER_SUPPORTS_CXX17)
 check_cxx_compiler_flag("-std=c++14" COMPILER_SUPPORTS_CXX14)
 check_cxx_compiler_flag("-std=c++11" COMPILER_SUPPORTS_CXX11)
 check_cxx_compiler_flag("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
-if(COMPILER_SUPPORTS_CXX14)
+if(COMPILER_SUPPORTS_CXX17)
+  set(CMAKE_CXX_FLAGS "-std=c++17")
+elseif(COMPILER_SUPPORTS_CXX14)
   set(CMAKE_CXX_FLAGS "-std=c++14")
 elseif(COMPILER_SUPPORTS_CXX11)
   set(CMAKE_CXX_FLAGS "-std=c++11")
@@ -57,6 +60,7 @@ find_package(PkgConfig)
 pkg_check_modules(ml_classifiers ml_classifiers QUIET)
 # only run in hydro
 find_package(PCL REQUIRED)
+message(STATUS "PCL_VERSION : ${PCL_VERSION}")
 find_package(OpenMP)
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
@@ -180,8 +184,12 @@ jsk_pcl_nodelet(src/moving_least_square_smoothing_nodelet.cpp "jsk_pcl/MovingLea
 jsk_pcl_nodelet(src/fisheye_sphere_publisher_nodelet.cpp "jsk_pcl/FisheyeSpherePublisher" "fisheye_sphere_publisher")
 jsk_pcl_nodelet(src/plane_supported_cuboid_estimator_nodelet.cpp
   "jsk_pcl/PlaneSupportedCuboidEstimator" "plane_supported_cuboid_estimator")
+if(${PCL_VERSION} VERSION_LESS "1.12.0")
+  # Could not compile on PCL-1.12.0
+  # undefined reference to `pcl::FilterIndices<pcl::tracking::ParticleCuboid>::applyFilter(pcl::PointCloud<pcl::tracking::ParticleCuboid>&)'
 jsk_pcl_nodelet(src/extract_cuboid_particles_top_n_nodelet.cpp
   "jsk_pcl/ExtractCuboidParticlesTopN" "extract_cuboid_particles_top_n")
+endif()
 jsk_pcl_nodelet(src/interactive_cuboid_likelihood_nodelet.cpp
   "jsk_pcl/InteractiveCuboidLikelihood" "interactive_cuboid_likelihood")
 jsk_pcl_nodelet(src/image_rotate_nodelet.cpp
@@ -577,7 +585,9 @@ if (CATKIN_ENABLE_TESTING)
     add_rostest(test/test_edgebased_cube_finder.test)
     add_rostest(test/test_environment_plane_modeling.test)
     add_rostest(test/test_euclidean_segmentation.test)
-    add_rostest(test/test_extract_cuboid_particles_top_n.test)
+    if(${PCL_VERSION} VERSION_LESS "1.12.0")
+      add_rostest(test/test_extract_cuboid_particles_top_n.test)
+    endif()
     add_rostest(test/test_extract_top_polygon_likelihood.test)
     add_rostest(test/test_feature_registration.test)
     add_rostest(test/test_find_object_on_plane.test)