From c255bc3dc83d6d594c47602f35d4cc71315fb570 Mon Sep 17 00:00:00 2001
From: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
Date: Mon, 26 Jun 2017 17:17:11 +0300
Subject: [PATCH] amcl: fix compilation with gcc7

Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
---
 ...001-amcl-fix-compilation-with-gcc-v7.patch | 48 +++++++++++++++++++
 recipes-ros/navigation/navigation.inc         |  3 +-
 2 files changed, 50 insertions(+), 1 deletion(-)
 create mode 100644 recipes-ros/navigation/files/0001-amcl-fix-compilation-with-gcc-v7.patch

diff --git a/recipes-ros/navigation/files/0001-amcl-fix-compilation-with-gcc-v7.patch b/recipes-ros/navigation/files/0001-amcl-fix-compilation-with-gcc-v7.patch
new file mode 100644
index 0000000..54c6768
--- /dev/null
+++ b/recipes-ros/navigation/files/0001-amcl-fix-compilation-with-gcc-v7.patch
@@ -0,0 +1,48 @@
+From bd789fc1fc201c3d180e9570af5065bd27e50338 Mon Sep 17 00:00:00 2001
+From: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
+Date: Fri, 16 Jun 2017 14:50:52 +0300
+Subject: [PATCH] amcl: fix compilation with gcc v7
+
+When building amcl with recent enough gcc v7 compilation fails with
+the error
+
+src/amcl/map/map_cspace.cpp: In function 'void enqueue(map_t*, unsigned int, unsigned int, unsigned int, unsigned int, std::priority_queue<CellData>&, CachedDistanceMap*, unsigned char*)':
+src/amcl/map/map_cspace.cpp:98:34: error: call of overloaded 'abs(unsigned int)' is ambiguous
+   unsigned int di = abs(i - src_i);
+
+Use `int abs(int)` flavour of the abs() function.
+
+Upstream-Status: Submitted [https://github.com/ros-planning/navigation/pull/587]
+---
+ amcl/src/amcl/map/map_cspace.cpp | 8 ++++----
+ 1 file changed, 4 insertions(+), 4 deletions(-)
+
+diff --git a/amcl/src/amcl/map/map_cspace.cpp b/amcl/src/amcl/map/map_cspace.cpp
+index 421f718..5b4cf9c 100644
+--- a/amcl/src/amcl/map/map_cspace.cpp
++++ b/amcl/src/amcl/map/map_cspace.cpp
+@@ -86,8 +86,8 @@ get_distance_map(double scale, double max_dist)
+   return cdm;
+ }
+ 
+-void enqueue(map_t* map, unsigned int i, unsigned int j, 
+-	     unsigned int src_i, unsigned int src_j,
++void enqueue(map_t* map, int i, int j,
++	     int src_i, int src_j,
+ 	     std::priority_queue<CellData>& Q,
+ 	     CachedDistanceMap* cdm,
+ 	     unsigned char* marked)
+@@ -95,8 +95,8 @@ void enqueue(map_t* map, unsigned int i, unsigned int j,
+   if(marked[MAP_INDEX(map, i, j)])
+     return;
+ 
+-  unsigned int di = abs(i - src_i);
+-  unsigned int dj = abs(j - src_j);
++  int di = abs(i - src_i);
++  int dj = abs(j - src_j);
+   double distance = cdm->distances_[di][dj];
+ 
+   if(distance > cdm->cell_radius_)
+-- 
+2.9.3
+
diff --git a/recipes-ros/navigation/navigation.inc b/recipes-ros/navigation/navigation.inc
index d856f20..6a88f53 100644
--- a/recipes-ros/navigation/navigation.inc
+++ b/recipes-ros/navigation/navigation.inc
@@ -2,7 +2,8 @@ SRC_URI = "https://github.com/ros-planning/${ROS_SPN}/archive/${PV}.tar.gz;downl
 SRC_URI[md5sum] = "d7a392da183b3c2a5fce063e90cbf1f2"
 SRC_URI[sha256sum] = "169f89a4a3a94437ffbf80a9b06b65471c17529169d1940a217e92d85481f18f"
 
-SRC_URI += "file://0001-address-gcc6-build-error.patch;patchdir=.."
+SRC_URI += "file://0001-address-gcc6-build-error.patch;patchdir=.. \
+            file://0001-amcl-fix-compilation-with-gcc-v7.patch;patchdir=.."
 
 S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"