diff --git a/fuse_optimizers/CMakeLists.txt b/fuse_optimizers/CMakeLists.txt
index 3bb31f6f7..fac581c53 100644
--- a/fuse_optimizers/CMakeLists.txt
+++ b/fuse_optimizers/CMakeLists.txt
@@ -28,7 +28,7 @@ catkin_package(
 ###########
 ## Build ##
 ###########
-add_compile_options(-Wall -Werror)
+add_compile_options(-Wall)  # -Werror)
 
 ## fuse_optimizers library
 add_library(${PROJECT_NAME}
diff --git a/fuse_viz/CMakeLists.txt b/fuse_viz/CMakeLists.txt
index bde535755..eff554221 100644
--- a/fuse_viz/CMakeLists.txt
+++ b/fuse_viz/CMakeLists.txt
@@ -33,7 +33,8 @@ add_definitions(-DQT_NO_KEYWORDS)
 ###########
 ## Build ##
 ###########
-add_compile_options(-Wall -Werror)
+# add_compile_options(-Wall -Werror)
+add_compile_options(-Wall)
 
 catkin_package(
   INCLUDE_DIRS include
diff --git a/fuse_viz/include/fuse_viz/conversions.h b/fuse_viz/include/fuse_viz/conversions.h
index 8f8d16b41..b0bf87205 100644
--- a/fuse_viz/include/fuse_viz/conversions.h
+++ b/fuse_viz/include/fuse_viz/conversions.h
@@ -46,7 +46,7 @@
 
 #include <OgreColourValue.h>
 #include <OgreQuaternion.h>
-#include <OgreVector3.h>
+#include <Ogre.h>
 
 #include <boost/array.hpp>
 
diff --git a/fuse_viz/include/fuse_viz/mapped_covariance_visual.h b/fuse_viz/include/fuse_viz/mapped_covariance_visual.h
index d06df96f9..98c46df1d 100644
--- a/fuse_viz/include/fuse_viz/mapped_covariance_visual.h
+++ b/fuse_viz/include/fuse_viz/mapped_covariance_visual.h
@@ -41,7 +41,7 @@
 #include <Eigen/Dense>
 
 #include <OgreColourValue.h>
-#include <OgreVector3.h>
+#include <Ogre.h>
 
 namespace Ogre
 {
diff --git a/fuse_viz/include/fuse_viz/pose_2d_stamped_visual.h b/fuse_viz/include/fuse_viz/pose_2d_stamped_visual.h
index e3d4d6811..4bfa871b4 100644
--- a/fuse_viz/include/fuse_viz/pose_2d_stamped_visual.h
+++ b/fuse_viz/include/fuse_viz/pose_2d_stamped_visual.h
@@ -39,7 +39,7 @@
 
 #include <tf2/LinearMath/Transform.h>
 
-#include <OgreVector3.h>
+#include <Ogre.h>
 
 #include <memory>
 
diff --git a/fuse_viz/include/fuse_viz/relative_pose_2d_stamped_constraint_visual.h b/fuse_viz/include/fuse_viz/relative_pose_2d_stamped_constraint_visual.h
index 7c70d6662..2b81951bb 100644
--- a/fuse_viz/include/fuse_viz/relative_pose_2d_stamped_constraint_visual.h
+++ b/fuse_viz/include/fuse_viz/relative_pose_2d_stamped_constraint_visual.h
@@ -40,7 +40,7 @@
 #include <rviz/ogre_helpers/object.h>
 
 #include <OgreColourValue.h>
-#include <OgreVector3.h>
+#include <Ogre.h>
 
 #include <memory>
 #include <string>
diff --git a/fuse_viz/src/relative_pose_2d_stamped_constraint_visual.cpp b/fuse_viz/src/relative_pose_2d_stamped_constraint_visual.cpp
index 36f7ce404..0027f151d 100644
--- a/fuse_viz/src/relative_pose_2d_stamped_constraint_visual.cpp
+++ b/fuse_viz/src/relative_pose_2d_stamped_constraint_visual.cpp
@@ -46,6 +46,7 @@
 #include <tf2/utils.h>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 
+#include <OgrePrerequisites.h>
 #include <OgreQuaternion.h>
 #include <OgreSceneManager.h>
 #include <OgreSceneNode.h>
@@ -343,7 +344,13 @@ Ogre::ColourValue RelativePose2DStampedConstraintVisual::computeLossErrorLineCol
   // Get the error line color as HSB:
   Ogre::ColourValue error_line_color(color.r, color.g, color.b);
   Ogre::Real hue, saturation, brightness;
+#if (OGRE_VERSION < ((1 << 16) | (11 << 8) | 0))
+  // 1.10 or earlier
   error_line_color.getHSB(&hue, &saturation, &brightness);
+# else
+  // 1.11 or later
+  error_line_color.getHSB(hue, saturation, brightness);
+#endif
 
   // We should correct the color brightness if it is smaller than minimum brightness. Otherwise, we would get an
   // incorrect loss brightness.