From e13dd7770e53eb8ac6be4022ff85e3835257aa21 Mon Sep 17 00:00:00 2001
From: Tony Najjar <tony.najjar@logivations.com>
Date: Fri, 17 Mar 2023 19:35:25 +0100
Subject: [PATCH] Check compile options (#3487)

(cherry picked from commit e7259030f834ff19599206ae80a1ed5d05cd32d2)
---
 nav2_mppi_controller/CMakeLists.txt | 16 +++++++++++++++-
 1 file changed, 15 insertions(+), 1 deletion(-)

diff --git a/nav2_mppi_controller/CMakeLists.txt b/nav2_mppi_controller/CMakeLists.txt
index 2b496d3d58..4abc9c7454 100644
--- a/nav2_mppi_controller/CMakeLists.txt
+++ b/nav2_mppi_controller/CMakeLists.txt
@@ -32,7 +32,21 @@ foreach(pkg IN LISTS dependencies_pkgs)
 endforeach()
 
 nav2_package()
-add_compile_options(-O3 -mavx2 -mfma -finline-limit=1000000 -ffp-contract=fast -ffast-math)
+
+include(CheckCXXCompilerFlag)
+
+check_cxx_compiler_flag("-mavx2" COMPILER_SUPPORTS_AVX2)
+check_cxx_compiler_flag("-mfma" COMPILER_SUPPORTS_FMA)
+
+if(COMPILER_SUPPORTS_AVX2)
+  add_compile_options(-mavx2)
+endif()
+
+if(COMPILER_SUPPORTS_FMA)
+  add_compile_options(-mfma)
+endif()
+
+add_compile_options(-O3 -finline-limit=1000000 -ffp-contract=fast -ffast-math)
 
 add_library(mppi_controller SHARED
   src/controller.cpp