Fix compilation warnings

[chanfr]

The idea of this issues is to reference all the commits related to remove compilation warnings.

[lr-morales]

Hello,

Regarding this issue, I have found lots of deprecation warnings, that could be listed in two groups:

• Own deprecations: Most of warnings in this group come from the use of progeo.

• External / Standard library deprecations: These come from the usage of deprecated functions/classes/methods/... from external libraries or from the standard library.

About own ones, we should think about that if the tool using the library is also deprecated, in which case I would remove it from the master branch (maybe move them to another branch?) or if it is an active tool. In this last case, what is the progeo replacement?

About standard library ones, the most noticeable one is the deprecation of std::auto_ptr. I'm not sure if we are supporting C++ standards below C++11. If we aren't, the solution seems to use instead std::unique_ptr or std:shared_ptr. If we are, these aren't easily solvable, as the "correct" solution for each standard should be selected.

The external ones could be reviewed after checking the other two.

[fqez]

Hi @lr-morales you are right, most of our warnings come from deprecated code.

I am not aware about which instructions are deprecated in the progeo library or if it is the whole library problem itself (maybe @chanfr or @jmplaza knows better). In any case we should at least review our two progeo libs: the one you linked and the one that is inside geometry lib. I don't know if there is a replacement for the progeo library at the moment, but we could take advantage of this opportunity and "remake" it in C++ removing all the deprecations in the process.

About the C++ standard warnings, I would have to review each one, but we should ideally be supporting only C++11 standards as we are currently using the latest stable gcc and g++ versions (I think it's 5.4.0 in Ubuntu Xenial).

What do you think?

[lr-morales]

Confirming gcc versions of Xenial being 5.4.0 and Jessie being 4.9.2, both should support --std=c++11 with std::unique_ptr and std::shared_ptr, so I agree with the idea of supporting the C++11 standard. I'll wait other opinions regarding this point before assuming that standards below this one will not be supported.

After reviewing the progeo of geometry (I didn't remember it was there, thanks for pointing it out), it seems to be already the C++ version of the one deprecated. If this is correct, then the point moves to see if the libraries/tools using the old progeo should be deprecated too and at least removed from the main compilation chain. Again I'll wait to @chanfr, @jmplaza or someone working more actively with progeo to confirm this, as you suggested.

[lr-morales]

When the PR #886 is reviewed and merged, the remaining warnings should be (assuming gcc version in xenial):

• Our deprecated progeo.
• C++11 standard deprectated std::auto_ptr.
• Others, like
  • In kinect::KinectPlugin::LoadSensors, the call gazebo::physics::Base::GetChild(0) is reported as ambiguous (unsigned int / const string&).
  • XnCppWrapper.h has #pragma warning, which are reported as unknown by the compiler.

[jmplaza]

Hi,

good job @lr-morales with PR #886!

good to know the C++11 is supported on Jessie (gcc-4.9.2). Let's move forward jumping to stdC++11 and marking as deprecated (and so not-supported) previous releases.

Yes C release of progeo library is deprecated. It was marked as deprecated 4 months ago. It's time to remove it from the official code. The C++ progeo release is here

I don't know whether @eperdices uses this C++ progeo library for SDVL or another code is used there. In addition I don't know whether @chanfr uses this C++ progeo library for PeopleTracker application or another code is used there. There is code for similar functionality in OpenCV. Anyway AFAIK the C library can be safely removed.