From 4fd904d8332fc3b120cade357ae84905a079e0d1 Mon Sep 17 00:00:00 2001
From: Mikael Arguedas <mikael@osrfoundation.org>
Date: Thu, 7 Jun 2018 22:00:15 +0200
Subject: [PATCH] remove architecture specific definitions exported by PCL
 (#893)

* remove architecture specific definitions exported by PCL

This is an issue on PCL 1.8.X causing SIGILL, Illegal instruction crashes: https://github.com/ros-gbp/cartographer_ros-release/issues/10
Should be fixed in future PCL version with https://github.com/PointCloudLibrary/pcl/pull/2100
---
 cartographer_ros/CMakeLists.txt | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/cartographer_ros/CMakeLists.txt b/cartographer_ros/CMakeLists.txt
index dd2f2af..e8590a4 100644
--- a/cartographer_ros/CMakeLists.txt
+++ b/cartographer_ros/CMakeLists.txt
@@ -104,7 +104,12 @@ target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${LUA_INCLUDE_DIR})
 # PCL
 target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${PCL_INCLUDE_DIRS})
 target_link_libraries(${PROJECT_NAME} PUBLIC ${PCL_LIBRARIES})
+set(BLACKLISTED_PCL_DEFINITIONS " -march=native -msse4.2 -mfpmath=sse ")
 foreach(DEFINITION ${PCL_DEFINITIONS})
+  list (FIND BLACKLISTED_PCL_DEFINITIONS "${DEFINITION}" DEFINITIONS_INDEX)
+  if (${DEFINITIONS_INDEX} GREATER -1)
+    continue()
+  endif()
   set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${DEFINITION}")
 endforeach()