How to use CUDA with rosbuild

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Hi,

I am trying to integrate CUDA in my ros package (which is not catkinized) and have some problems. I believe, that I have to use cuda_add_library and cuda_add_executable in my CMakeLists.txt and after that target_link_libraries. If I do that, for some reason I get linking errors because the libraries have not been linked, it says it doesn't know about ros::spin for instance. If instead, I use rosbuild_add_library and rosbuild_add_executable, there is some CUDA related linking issue. I append the important bits of the CMakeLists file. If I compile without CUDA support, everything works. I would be grateful for any help.

if(SUPPORT_CUDA)
    find_package(CUDA QUIET REQUIRED)
    include_directories(${CUDA_TOOLKIT_ROOT_DIR}/samples/common/inc)
    add_definitions(-DCUDA_BUILD -DBT_USE_DOUBLE_PRECISION)
    list(APPEND  SOURCES bar.cu)
else()
    MESSAGE(STATUS "cuda not found")
endif()

if(SUPPORT_CUDA)
    cuda_add_library(${PROJECT_NAME} SHARED ${SOURCES})
    cuda_add_executable(main ${PROJECT_SOURCE_DIR}/src/main.cpp)  
else()
    rosbuild_add_library(${PROJECT_NAME} SHARED ${SOURCES})
    rosbuild_add_executable(main ${PROJECT_SOURCE_DIR}/src/main.cpp)
ENDIF()

target_link_libraries(${PROJECT_NAME} ${EXTERNAL_LIBS})
target_link_libraries(main ${PROJECT_NAME})