how to catkin_make cuda code

Question

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.

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Originally posted by moyashi on ROS Answers with karma: 721 on 2014-05-07

Post score: 2

Answer 1

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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Originally posted by Wolf with karma: 7555 on 2014-05-08

This answer was ACCEPTED on the original site

Post score: 2

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Original comments

Comment by barovehicles on 2018-03-18:
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