diff --git a/src/calibration/calibraiton_helper.cpp b/src/calibration/calibraiton_helper.cpp
index 4a2879f..c96c74b 100644
--- a/src/calibration/calibraiton_helper.cpp
+++ b/src/calibration/calibraiton_helper.cpp
@@ -46,8 +46,12 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <opengv/relative_pose/methods.hpp>
 
 #include <opengv/sac/Ransac.hpp>
+
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wunused-parameter"
 #include <opengv/sac_problems/absolute_pose/AbsolutePoseSacProblem.hpp>
 #include <opengv/sac_problems/relative_pose/CentralRelativePoseSacProblem.hpp>
+#pragma GCC diagnostic pop
 
 #include <opencv2/calib3d/calib3d.hpp>
 
diff --git a/src/utils/keypoints.cpp b/src/utils/keypoints.cpp
index 8625996..b66c08e 100644
--- a/src/utils/keypoints.cpp
+++ b/src/utils/keypoints.cpp
@@ -43,7 +43,11 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <opengv/relative_pose/CentralRelativeAdapter.hpp>
 #include <opengv/relative_pose/methods.hpp>
 #include <opengv/sac/Ransac.hpp>
+
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wunused-parameter"
 #include <opengv/sac_problems/relative_pose/CentralRelativePoseSacProblem.hpp>
+#pragma GCC diagnostic pop
 
 namespace basalt {
 
diff --git a/thirdparty/CMakeLists.txt b/thirdparty/CMakeLists.txt
index 24bcf5d..f715be7 100644
--- a/thirdparty/CMakeLists.txt
+++ b/thirdparty/CMakeLists.txt
@@ -79,6 +79,16 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" AND CMAKE_CXX_COMPILER_VERSION VERSION
   target_compile_options(pangolin PRIVATE "-Wno-defaulted-function-deleted")
 endif()
 
+# fix pangolin: clang >= 10.0
+if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" AND CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL 10.0.0)
+  target_compile_options(pangolin PRIVATE "-Wno-deprecated-copy")
+endif()
+
+# fix pangolin: GCC >= 9.0
+if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" AND CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL 9.0)
+  target_compile_options(pangolin PRIVATE "-Wno-stringop-truncation;-Wno-deprecated-copy")
+endif()
+
 # check here the directories for the pangolin and opengv targets, and
 # confirm that the eigen-related include dirs match.
 foreach(_target opengv pangolin)
diff --git a/thirdparty/ros/CMakeLists.txt b/thirdparty/ros/CMakeLists.txt
index 7709a5f..f684b89 100644
--- a/thirdparty/ros/CMakeLists.txt
+++ b/thirdparty/ros/CMakeLists.txt
@@ -1,8 +1,12 @@
 cmake_minimum_required(VERSION 3.2)
 
 
-SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")
-SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fPIC")
+SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC -Wno-unused-parameter -Wno-deprecated-declarations")
+SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fPIC -Wno-deprecated-declarations")
+
+if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU" AND CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL 9)
+    SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-catch-value")
+endif()
 
 #find_package(catkin REQUIRED COMPONENTS cpp_common roscpp_serialization roscpp_traits rostime roslz4)
 find_package(Boost REQUIRED COMPONENTS date_time filesystem program_options regex)