how to catkin_make cuda code

asked 2014-05-07 14:27:33 -0500

721 ●54 ●64 ●71

Hi, everyone.
I'd like to know how to write CMakesLists.txt for cuda code.
Are there any good references for it ??

Code is as the following, very simple.


// hello.cu
#include <cuda.h>
#include <cuda_runtime.h>

__global__ kernel()
{
}

int main(int argc, char** argv)
{
  ros::init(argc, argv, "hello");
  ros::NodeHandle nh;

  kernel<<<1, 1>>>()
  ROS_INFO_STREAM("Hello, world.");

  return 0;
}

Thanks in advance.

answered 2014-05-08 01:24:46 -0500

Wolf

7555 ●71 ●105 ●162

in your CMakeLists.txt:

    find_package( CUDA REQUIRED 

 # set CUDA_NVCC_FLAGS as you would do with CXX/C FLAGS                        
  set(CUDA_NVCC_FLAGS "${CUDA_NVCC_FLAGS} -DMY_DEF=1")
  set( CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DMY_DEF=1" )
  set( CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -DMY_DEF=1" )

 # only necessary if you wish to create a lib
  set(CUDA_ATTACH_VS_BUILD_RULE_TO_CUDA_FILE OFF)
  set(BUILD_SHARED_LIBS ON)

# cuda compile GPU_CODE for executable
  cuda_compile(  HELLO_CU_O src/hello.cu )

## create an executable
## can add other (none CUDA) cpp files here
  cuda_add_executable( hello_exec ${LINE_PROFILER_CU_O} )
  target_link_libraries( hello_exec ${catkin_LIBRARIES} )
  add_dependencies( hello_lib ${PROJECT_NAME}_generate_messages_cpp  ${LINE_PROFILER_CU_O} )

## if message headers needed 
  add_dependencies( hello_lib ${PROJECT_NAME}_generate_messages_cpp )

### or create a lib 
  cuda_add_library( ${PROJECT_NAME} src/lib_cuda_code.cu src/libe_none_cuda_code.cpp )
  target_link_libraries( ${PROJECT_NAME} ${catkin_LIBRARIES}  )

## if message headers needed 
  add_dependencies( ${PROJECT_NAME} ${PROJECT_NAME}_generate_messages_cpp )

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Comments

The question is: if i want to add a ros.h this code don't work.. because i can't to include the ros.h in the compilation of hello.cu

barovehicles ( 2018-03-18 11:32:28 -0500 )edit

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