diff --git a/.github/workflows/ros_ci.yml b/.github/workflows/ros_ci.yml
index 04fc0a82d..4595a358d 100644
--- a/.github/workflows/ros_ci.yml
+++ b/.github/workflows/ros_ci.yml
@@ -14,14 +14,14 @@ jobs:
           - {ROS_DISTRO: noetic}
           - {ROS_DISTRO: iron}
           - {ROS_DISTRO: humble}
-          #- {ROS_DISTRO: rolling, PRERELEASE: false}  # 2024-04-02: turn off prerelease until Noble is stable; turned off entirely until eigenpy is available
+          #- {ROS_DISTRO: rolling}
     env:
       #CCACHE_DIR: /github/home/.ccache # Enable ccache
       BUILDER: colcon
       PRERELEASE: true
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: recursive
       # This step will fetch/store the directory used by ccache before/after the ci run
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 5f0dd9777..ce17ca4b9 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -25,7 +25,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ### Fixed
 
-- Compiler warnings ([#601](https://github.com/humanoid-path-planner/hpp-fcl/pull/601))
+- Compiler warnings ([#601](https://github.com/humanoid-path-planner/hpp-fcl/pull/601), [#605](https://github.com/humanoid-path-planner/hpp-fcl/pull/605))
 - CMake: fix assimp finder
 - Don't define GCC7 Boost serialization hack when `HPP_FCL_SKIP_EIGEN_BOOST_SERIALIZATION` is defined ([#530](https://github.com/humanoid-path-planner/hpp-fcl/pull/530))
 - Default parameters for narrowphase algorithms (GJK and EPA); fixed assertion checks that were sometimes failing in GJK simplex projection and BVH `collide` ([#531](https://github.com/humanoid-path-planner/hpp-fcl/pull/531)).
diff --git a/INSTALL b/INSTALL
index 0f327aab5..1a315de79 100644
--- a/INSTALL
+++ b/INSTALL
@@ -5,7 +5,7 @@ Dependencies:
  - Eigen
  - Boost (thread, date_time, filesystem)
  - assimp
- - octomap (optional dependency, available at http://octomap.github.com)
+ - octomap (optional dependency, available at http://octomap.github.io)
  - Qhull (optional dependency, available at http://www.qhull.org)
 
 Boost and Eigen are mandatory dependencies. If Octomap is not found,
diff --git a/include/hpp/fcl/fwd.hh b/include/hpp/fcl/fwd.hh
index 1d51a4f40..cb756a84e 100644
--- a/include/hpp/fcl/fwd.hh
+++ b/include/hpp/fcl/fwd.hh
@@ -95,15 +95,32 @@
 #define HPP_FCL_COMPILER_DIAGNOSTIC_POP _Pragma("GCC diagnostic pop")
 #define HPP_FCL_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS \
   _Pragma("GCC diagnostic ignored \"-Wdeprecated-declarations\"")
+
+// GCC version 4.6 and higher supports -Wmaybe-uninitialized
+#if (defined(__GNUC__) && \
+     ((__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)))
+#define HPP_FCL_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED \
+  _Pragma("GCC diagnostic ignored \"-Wmaybe-uninitialized\"")
+// Use __has_warning with clang. Clang introduced it in 2024 (3.5+)
+#elif (defined(__clang__) && defined(__has_warning) && \
+       __has_warning("-Wmaybe-uninitialized"))
+#define HPP_FCL_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED \
+  _Pragma("clang diagnostic ignored \"-Wmaybe-uninitialized\"")
+#else
+#define HPP_FCL_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
+#endif
 #elif defined(WIN32)
 #define HPP_FCL_COMPILER_DIAGNOSTIC_PUSH _Pragma("warning(push)")
 #define HPP_FCL_COMPILER_DIAGNOSTIC_POP _Pragma("warning(pop)")
 #define HPP_FCL_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS \
   _Pragma("warning(disable : 4996)")
+#define HPP_FCL_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED \
+  _Pragma("warning(disable : 4700)")
 #else
 #define HPP_FCL_COMPILER_DIAGNOSTIC_PUSH
 #define HPP_FCL_COMPILER_DIAGNOSTIC_POP
 #define HPP_FCL_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS
+#define HPP_FCL_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
 #endif  // __GNUC__
 
 namespace hpp {
diff --git a/include/hpp/fcl/internal/traversal_node_setup.h b/include/hpp/fcl/internal/traversal_node_setup.h
index 76ed7e008..20b5c71db 100644
--- a/include/hpp/fcl/internal/traversal_node_setup.h
+++ b/include/hpp/fcl/internal/traversal_node_setup.h
@@ -682,9 +682,14 @@ bool initialize(MeshDistanceTraversalNode<BV, 0>& node,
   node.tri_indices2 =
       model2.tri_indices.get() ? model2.tri_indices->data() : NULL;
 
+  HPP_FCL_COMPILER_DIAGNOSTIC_PUSH
+  HPP_FCL_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
+
   relativeTransform(tf1.getRotation(), tf1.getTranslation(), tf2.getRotation(),
                     tf2.getTranslation(), node.RT.R, node.RT.T);
 
+  HPP_FCL_COMPILER_DIAGNOSTIC_POP
+
   return true;
 }
 
diff --git a/include/hpp/fcl/serialization/fwd.h b/include/hpp/fcl/serialization/fwd.h
index 0075ac064..abb1943fc 100644
--- a/include/hpp/fcl/serialization/fwd.h
+++ b/include/hpp/fcl/serialization/fwd.h
@@ -18,6 +18,7 @@
 #include <boost/serialization/shared_ptr.hpp>
 #include <boost/serialization/export.hpp>
 
+#include "hpp/fcl/fwd.hh"
 #include "hpp/fcl/serialization/eigen.h"
 
 #define HPP_FCL_SERIALIZATION_SPLIT(Type)                                \
@@ -74,7 +75,10 @@ struct cast_register_initializer {
   void init(std::false_type) const {}
 
   cast_register_initializer const& init() const {
-    BOOST_STATIC_WARNING((std::is_base_of<Base, Derived>::value));
+    HPP_FCL_COMPILER_DIAGNOSTIC_PUSH
+    _Pragma("GCC diagnostic ignored \"-Wconversion\"")
+        BOOST_STATIC_WARNING((std::is_base_of<Base, Derived>::value));
+    HPP_FCL_COMPILER_DIAGNOSTIC_POP
     init(std::is_base_of<Base, Derived>());
     return *this;
   }
diff --git a/src/narrowphase/support_functions.cpp b/src/narrowphase/support_functions.cpp
index 5b39f152f..3b632abb9 100644
--- a/src/narrowphase/support_functions.cpp
+++ b/src/narrowphase/support_functions.cpp
@@ -570,13 +570,15 @@ void getShapeSupportSet(const TriangleP* triangle, SupportSet& support_set,
     }
   }
 }
-getShapeSupportSetTplInstantiation(TriangleP);
+// clang-format off
+getShapeSupportSetTplInstantiation(TriangleP)
 
 // ============================================================================
 template <int _SupportOptions>
 void getShapeSupportSet(const Box* box, SupportSet& support_set,
                         int& hint /*unused*/, ShapeSupportData& support_data,
                         size_t /*unused*/, FCL_REAL tol) {
+  // clang-format on
   assert(tol > 0);
   Vec3f support;
   const Vec3f& support_dir = support_set.getNormal();
@@ -612,7 +614,8 @@ void getShapeSupportSet(const Box* box, SupportSet& support_set,
   }
   computeSupportSetConvexHull(polygon, support_set.points());
 }
-getShapeSupportSetTplInstantiation(Box);
+// clang-format off
+getShapeSupportSetTplInstantiation(Box)
 
 // ============================================================================
 template <int _SupportOptions>
@@ -620,6 +623,7 @@ void getShapeSupportSet(const Sphere* sphere, SupportSet& support_set,
                         int& hint /*unused*/,
                         ShapeSupportData& support_data /*unused*/,
                         size_t /*unused*/, FCL_REAL /*unused*/) {
+  // clang-format on
   support_set.points().clear();
 
   Vec3f support;
@@ -628,13 +632,15 @@ void getShapeSupportSet(const Sphere* sphere, SupportSet& support_set,
                                    support_data);
   support_set.addPoint(support);
 }
-getShapeSupportSetTplInstantiation(Sphere);
+// clang-format off
+getShapeSupportSetTplInstantiation(Sphere)
 
 // ============================================================================
 template <int _SupportOptions>
 void getShapeSupportSet(const Ellipsoid* ellipsoid, SupportSet& support_set,
                         int& hint, ShapeSupportData& support_data /*unused*/,
                         size_t /*unused*/, FCL_REAL /*unused*/) {
+  // clang-format on
   support_set.points().clear();
 
   Vec3f support;
@@ -643,7 +649,8 @@ void getShapeSupportSet(const Ellipsoid* ellipsoid, SupportSet& support_set,
                                    support_data);
   support_set.addPoint(support);
 }
-getShapeSupportSetTplInstantiation(Ellipsoid);
+// clang-format off
+getShapeSupportSetTplInstantiation(Ellipsoid)
 
 // ============================================================================
 template <int _SupportOptions>
@@ -651,6 +658,7 @@ void getShapeSupportSet(const Capsule* capsule, SupportSet& support_set,
                         int& hint /*unused*/,
                         ShapeSupportData& support_data /*unused*/,
                         size_t /*unused*/, FCL_REAL tol) {
+  // clang-format on
   assert(tol > 0);
   support_set.points().clear();
 
@@ -686,7 +694,8 @@ void getShapeSupportSet(const Capsule* capsule, SupportSet& support_set,
     }
   }
 }
-getShapeSupportSetTplInstantiation(Capsule);
+// clang-format off
+getShapeSupportSetTplInstantiation(Capsule)
 
 // ============================================================================
 template <int _SupportOptions>
@@ -694,6 +703,7 @@ void getShapeSupportSet(const Cone* cone, SupportSet& support_set,
                         int& hint /*unused*/,
                         ShapeSupportData& support_data /*unused*/,
                         size_t num_sampled_supports, FCL_REAL tol) {
+  // clang-format on
   assert(tol > 0);
   support_set.points().clear();
 
@@ -757,7 +767,8 @@ void getShapeSupportSet(const Cone* cone, SupportSet& support_set,
     }
   }
 }
-getShapeSupportSetTplInstantiation(Cone);
+// clang-format off
+getShapeSupportSetTplInstantiation(Cone)
 
 // ============================================================================
 template <int _SupportOptions>
@@ -765,6 +776,7 @@ void getShapeSupportSet(const Cylinder* cylinder, SupportSet& support_set,
                         int& hint /*unused*/,
                         ShapeSupportData& support_data /*unused*/,
                         size_t num_sampled_supports, FCL_REAL tol) {
+  // clang-format on
   assert(tol > 0);
   support_set.points().clear();
 
@@ -819,7 +831,8 @@ void getShapeSupportSet(const Cylinder* cylinder, SupportSet& support_set,
     }
   }
 }
-getShapeSupportSetTplInstantiation(Cylinder);
+// clang-format off
+getShapeSupportSetTplInstantiation(Cylinder)
 
 // ============================================================================
 template <int _SupportOptions>
@@ -827,6 +840,7 @@ void getShapeSupportSetLinear(const ConvexBase* convex, SupportSet& support_set,
                               int& hint /*unused*/,
                               ShapeSupportData& support_data, size_t /*unused*/,
                               FCL_REAL tol) {
+  // clang-format on
   assert(tol > 0);
   Vec3f support;
   const Vec3f& support_dir = support_set.getNormal();
@@ -943,7 +957,8 @@ void getShapeSupportSet(const ConvexBase* convex, SupportSet& support_set,
         convex, support_set, hint, support_data, num_sampled_supports, tol);
   }
 }
-getShapeSupportSetTplInstantiation(ConvexBase);
+// clang-format off
+getShapeSupportSetTplInstantiation(ConvexBase)
 
 // ============================================================================
 template <int _SupportOptions>
@@ -951,26 +966,32 @@ void getShapeSupportSet(const SmallConvex* convex, SupportSet& support_set,
                         int& hint /*unused*/,
                         ShapeSupportData& support_data /*unused*/,
                         size_t num_sampled_supports /*unused*/, FCL_REAL tol) {
+  // clang-format on
   getShapeSupportSetLinear<_SupportOptions>(
       reinterpret_cast<const ConvexBase*>(convex), support_set, hint,
       support_data, num_sampled_supports, tol);
 }
-getShapeSupportSetTplInstantiation(SmallConvex);
+// clang-format off
+getShapeSupportSetTplInstantiation(SmallConvex)
 
 // ============================================================================
 template <int _SupportOptions>
 void getShapeSupportSet(const LargeConvex* convex, SupportSet& support_set,
                         int& hint, ShapeSupportData& support_data,
                         size_t num_sampled_supports /*unused*/, FCL_REAL tol) {
+  // clang-format on
   getShapeSupportSetLog<_SupportOptions>(
       reinterpret_cast<const ConvexBase*>(convex), support_set, hint,
       support_data, num_sampled_supports, tol);
 }
-getShapeSupportSetTplInstantiation(LargeConvex);
+//clang-format off
+getShapeSupportSetTplInstantiation(LargeConvex)
+    // clang-format on
 
-// ============================================================================
-HPP_FCL_DLLAPI void computeSupportSetConvexHull(SupportSet::Polygon& cloud,
-                                                SupportSet::Polygon& cvx_hull) {
+    // ============================================================================
+    HPP_FCL_DLLAPI
+    void computeSupportSetConvexHull(SupportSet::Polygon& cloud,
+                                     SupportSet::Polygon& cvx_hull) {
   cvx_hull.clear();
 
   if (cloud.size() <= 2) {
diff --git a/test/collision.cpp b/test/collision.cpp
index d672e95da..5b70aae4b 100644
--- a/test/collision.cpp
+++ b/test/collision.cpp
@@ -43,7 +43,15 @@
 #include <fstream>
 #include <boost/assign/list_of.hpp>
 
+#include <hpp/fcl/fwd.hh>
+
+HPP_FCL_COMPILER_DIAGNOSTIC_PUSH
+HPP_FCL_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS
+
 #include <hpp/fcl/collision.h>
+
+HPP_FCL_COMPILER_DIAGNOSTIC_POP
+
 #include <hpp/fcl/BV/BV.h>
 #include <hpp/fcl/shape/geometric_shapes.h>
 #include <hpp/fcl/narrowphase/narrowphase.h>
@@ -300,6 +308,9 @@ struct traits<KDOP<N>, Oriented, recursive> : base_traits {
   enum { IS_IMPLEMENTED = false };
 };
 
+HPP_FCL_COMPILER_DIAGNOSTIC_PUSH
+HPP_FCL_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS
+
 struct mesh_mesh_run_test {
   mesh_mesh_run_test(const std::vector<Transform3f>& _transforms,
                      const CollisionRequest _request)
@@ -319,6 +330,8 @@ struct mesh_mesh_run_test {
 
   int indent;
 
+  HPP_FCL_COMPILER_DIAGNOSTIC_POP
+
   const char* getindent() {
     assert(indent < 9);
     static const char* t[] = {"",
@@ -628,11 +641,16 @@ BOOST_AUTO_TEST_CASE(mesh_mesh) {
             << transforms[i].getQuatRotation().coeffs().format(f));
   }
 
+  HPP_FCL_COMPILER_DIAGNOSTIC_PUSH
+  HPP_FCL_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS
+
   // Request all contacts and check that all methods give the same result.
   mesh_mesh_run_test runner(
       transforms, CollisionRequest(CONTACT, (size_t)num_max_contacts));
   runner.enable_statistics = true;
   boost::mpl::for_each<BVs_t, wrap<boost::mpl::placeholders::_1> >(runner);
+
+  HPP_FCL_COMPILER_DIAGNOSTIC_POP
 }
 
 BOOST_AUTO_TEST_CASE(mesh_mesh_benchmark) {
diff --git a/test/normal_and_nearest_points.cpp b/test/normal_and_nearest_points.cpp
index 696dd0269..a3ef2a696 100644
--- a/test/normal_and_nearest_points.cpp
+++ b/test/normal_and_nearest_points.cpp
@@ -240,7 +240,7 @@ void test_normal_and_nearest_points(
   }
 }
 
-template <size_t VecSize>
+template <int VecSize>
 Eigen::Matrix<FCL_REAL, VecSize, 1> generateRandomVector(FCL_REAL min,
                                                          FCL_REAL max) {
   typedef Eigen::Matrix<FCL_REAL, VecSize, 1> VecType;
diff --git a/test/serialization.cpp b/test/serialization.cpp
index c8a0231b0..46177408c 100644
--- a/test/serialization.cpp
+++ b/test/serialization.cpp
@@ -36,6 +36,11 @@
 #include <fstream>
 #include <boost/test/included/unit_test.hpp>
 
+#include <hpp/fcl/fwd.hh>
+
+HPP_FCL_COMPILER_DIAGNOSTIC_PUSH
+HPP_FCL_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS
+
 #include <hpp/fcl/collision.h>
 #include <hpp/fcl/contact_patch.h>
 #include <hpp/fcl/distance.h>
@@ -584,3 +589,5 @@ BOOST_AUTO_TEST_CASE(test_memory_footprint) {
   BOOST_CHECK(static_cast<size_t>(m1.memUsage(false)) ==
               computeMemoryFootprint(m1));
 }
+
+HPP_FCL_COMPILER_DIAGNOSTIC_POP