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There is currently no policy regarding this.
For most packages you can expect that they have no warning when you use the default warning level (since that will be what most people are using).
It would be great to have a policy on that but it will likely also take a lot of effort to get "all" ROS packages to comply with it. You could try to formalize a policy and suggest it to the ROS community (e.g. on ros-users@) and/or provide pull requests to the packages you care most about.
You might want to try to use include_directories(SYSTEM ...) (http://www.cmake.org/cmake/help/v2.8.12/cmake.html#command:include_directories) to avoid warning for external header files. But blindly suppressing them might also hide real problems so I wouldn't recommend it.
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