# Revision history [back]

I managed to compile and run with success, but I discourage this approach, do I will not close the question until I found a better way to solve the problem. A normal system update will ruin this, and I'm not sure if this will not have any consequences in the future when I need to use BOOST library. Anyway, here's my approach:

As I said, in the first place you need to add this line in the beginning of your code:

    #define __CUCACC__
#include <ros/ros.h>

A normal catkin_make would give two errors with this approach. For the first one:

sudo nano /usr/include/boost/type_traits/is_floating_point.hpp

Replace this line:

#if defined(BOOST_HAS_FLOAT128)

with:

#if defined(BOOST_HAS_FLOAT128) && !defined(__PGI)

For the following errors:

sudo nano /usr/include/boost/core/swap.hpp

Comment all the line with:

BOOST_GPU_ENABLED

There should be 3 lines.

With this I compiled and run the code. I added a pi generator example to test the speed in CPU and GPU. If someone wants to test..:

#define __CUDACC__
#include <ros/ros.h>
#include <iostream>
#include "std_msgs/String.h"
#include <sstream>

#define N 2000000000
#define vl 1024

int main(int argc, char **argv)
{

ros::init(argc, argv, "pgi_test_node");

ros::NodeHandle n;

ros::Rate loop_rate(10);

int count = 0;
while (ros::ok())
{

std_msgs::String msg;

std::stringstream ss;
ss << "hello world " << count;
msg.data = ss.str();

ROS_INFO("%s", msg.data.c_str());

double pi = 0.0f;
long long i;

#pragma acc parallel vector_length(vl)
#pragma acc loop reduction(+:pi)
for (i=0; i<N; i++) {
double t= (double)((i+0.5)/N);
pi +=4.0/(1.0+t*t);
}

printf("pi=%11.10f\n", pi/N);

chatter_pub.publish(msg);

ros::spinOnce();

loop_rate.sleep();
++count;
}

return 0;
}


Timers are not even necessary, if you just comment the pragmas, the loop will run on CPU and you can clearly see the difference.

I managed to compile and run with success, but I discourage this approach, do I will not close the question until I found a better way to solve the problem. A normal system update will ruin this, and I'm not sure if this will not have any consequences in the future when I need to use BOOST library. Anyway, here's my approach:

As I said, in the first place you need to add this line in the beginning of your code:

    #define __CUCACC__
#include <ros/ros.h>


A normal catkin_make would give two errors with this approach. For the first one: one:

    sudo nano /usr/include/boost/type_traits/is_floating_point.hpp


Replace this line: line:

    #if defined(BOOST_HAS_FLOAT128)

with:



with:

    #if defined(BOOST_HAS_FLOAT128) && !defined(__PGI)


For the following errors: errors:

    sudo nano /usr/include/boost/core/swap.hpp


Comment all the line with: with:

    BOOST_GPU_ENABLED


There should be 3 lines. lines.

With this I compiled and run the code. I added a pi generator example to test the speed in CPU and GPU. If someone wants to test..: test..:

#define __CUDACC__
#include <ros/ros.h>
#include <iostream>
#include "std_msgs/String.h"
#include <sstream>

#define N 2000000000
#define vl 1024

int main(int argc, char **argv)
{

ros::init(argc, argv, "pgi_test_node");

ros::NodeHandle n;

ros::Rate loop_rate(10);

int count = 0;
while (ros::ok())
{

std_msgs::String msg;

std::stringstream ss;
ss << "hello world " << count;
msg.data = ss.str();

ROS_INFO("%s", msg.data.c_str());

double pi = 0.0f;
long long i;

#pragma acc parallel vector_length(vl)
#pragma acc loop reduction(+:pi)
for (i=0; i<N; i++) {
double t= (double)((i+0.5)/N);
pi +=4.0/(1.0+t*t);
}

printf("pi=%11.10f\n", pi/N);

chatter_pub.publish(msg);

ros::spinOnce();

loop_rate.sleep();
++count;
}

return 0;
}


Timers are not even necessary, if you just comment the pragmas, the loop will run on CPU and you can clearly see the difference.

I managed to compile and run with success, but I discourage this approach, do so I will not close the question until I found a better way to solve the problem. A normal system update will ruin this, and I'm not sure if this will not have any consequences in the future when I need to use BOOST library. Anyway, here's my approach:

As I said, in the first place you need to add this line in the beginning of your code:

    #define __CUCACC__
#include <ros/ros.h>


A normal catkin_make would give two errors with this approach. For the first one:

    sudo nano /usr/include/boost/type_traits/is_floating_point.hpp


Replace this line:

    #if defined(BOOST_HAS_FLOAT128)


with:

    #if defined(BOOST_HAS_FLOAT128) && !defined(__PGI)


For the following errors:

    sudo nano /usr/include/boost/core/swap.hpp


Comment all the line with:

    BOOST_GPU_ENABLED


There should be 3 lines.

With this I compiled and run the code. I added a pi generator example to test the speed in CPU and GPU. If someone wants to test..:

#define __CUDACC__
#include <ros/ros.h>
#include <iostream>
#include "std_msgs/String.h"
#include <sstream>

#define N 2000000000
#define vl 1024

int main(int argc, char **argv)
{

ros::init(argc, argv, "pgi_test_node");

ros::NodeHandle n;

ros::Rate loop_rate(10);

int count = 0;
while (ros::ok())
{

std_msgs::String msg;

std::stringstream ss;
ss << "hello world " << count;
msg.data = ss.str();

ROS_INFO("%s", msg.data.c_str());

double pi = 0.0f;
long long i;

#pragma acc parallel vector_length(vl)
#pragma acc loop reduction(+:pi)
for (i=0; i<N; i++) {
double t= (double)((i+0.5)/N);
pi +=4.0/(1.0+t*t);
}

printf("pi=%11.10f\n", pi/N);

chatter_pub.publish(msg);

ros::spinOnce();

loop_rate.sleep();
++count;
}

return 0;
}


Timers are not even necessary, if you just comment the pragmas, the loop will run on CPU and you can clearly see the difference.