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When you find a compiler problem like this, please open a defect ticket for the appropriate ROS component (in this case geometry). Mention the exact system version and compiler (i.e. gcc --version) you use.
In this case, constexpr is a new feature of the recent C++11 standard, which is not supported for any current ROS distribution. As REP-0003 states:
C++[0|1]x or tr1 features are only allowed if support for that feature is checked at compile time, and equivalent functionality exists without requiring C++[0|1]x code. A wholesale jump to C++[0|1]x will not happen until all commonly used OS platforms fully support it."So, while you should submit your patch with the defect ticket, the full solution will need to be somewhat different, to support all the other ROS platforms.
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