Compiling ROS with OpenCL

asked 2016-08-19 02:23:43 -0600

dmeiicsh gravatar image

Hi there,

I am relatively new to ROS and OpenCL. I am using Linux Ubuntu 14.04, ROS Indigo and OpenCL is running on the NVIDIA computing SDK. I have a ROS publisher and subscriber, and the publisher is sending a bool to the the subscriber, compiling this using catkin_make works fine. Also, I have two OpenCL functions AddVec.cpp and AddVecKernel.cl, which add two vectors (without user input) in OpenCL. I can compile my openCL code using:

g++ -I ~/NVIDIA_GPU_Computing_SDK/OpenCL/common/inc -L ~/NVIDIA_GPU_Computing_SDK/OpenCL/common/lib/Linux64 -o addVec AddVec.cpp -lOpenCL

What I would like to do is insert/include the OpenCL part into the subscriber, such that when receiving the bool from the publisher, I want the subscriber to add the two vectors. However, I have not come up with a solution to compile this and receive the wanted result.

Has anybody experience in using OpenCL with ROS and can help me out? Many thanks in advance!

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Comments

1

ROS uses catkin to build nodes, which is basically CMake. You should be able to find lots of information on how to build OpenCL programs/fragments with CMake, which you could then directly use to do the same with catkin.

gvdhoorn gravatar image gvdhoorn  ( 2016-08-19 06:28:36 -0600 )edit