Using openCL in ROS

roscpp

asked 2011-11-24 04:54:20 -0500

Daniel Canelhas
465 ●9 ●13 ●20

updated 2014-01-28 17:10:52 -0500

ngrennan
1 ●1 ●1

Hi,

I've been using openMP to get some multi-core parallelism going in ROS but I'd like to try to use the GPU for this instead. Can someone please instruct me on how to edit my CMakeLists.txt to get ROS to compile a node so that it can use openCL? Typically, I'd go about compiling an openCL program is like this:

gcc -c -I /path-to-the-include-dir-with-cl.h/ main.c -o main.o
gcc -L /path-to-the-lib-folder-with-OpenCL-libfile/ -l OpenCL main.o -o host

I know there is a CUDA package somewhere, but it's not an option due to the ATI hardware (plus, cross-platform is nice, right?)

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answered 2011-11-24 15:28:09 -0500

Martin Peris
5625 ●34 ●83 ●98 http://www.linkedin.co...

Hi Daniel,

You could try adding the following lines to your CMakeLists.txt:

include_directories(/path-to-the-include-dir-with-cl.h)
rosbuild_add_executable(main path-to-main-cpp/main.cpp)
target_link_libraries(main /path-to-the-lib-folder-with-OpenCL-libfile/libOpenCL.so)

For more details you can find the documentation of CMake here. I hope this could help you.

Martin.