Pfthb

I would like to use cuda within a ros package. Has anyone a simple example for me?

I tried to built a static library with the cuda function and add this library to my package, but I get always a linking error: Undefined reference cuda...

I have built a executable instead of the library and it works.

Please help!

I found a solution myself:

CMakeLists.txt:

cmake_minimum_required(VERSION 2.8.3)
PROJECT (beginner_tutorials)
FIND_PACKAGE(CUDA REQUIRED)

find_package(catkin REQUIRED COMPONENTS
 roscpp
 rospy
 std_msgs
)

SET(CUDA_NVCC_FLAGS "-arch=sm_13" CACHE STRING "nvcc flags" FORCE)
SET (CUDA_VERBOSE_BUILD ON CACHE BOOL "nvcc verbose" FORCE)
SET(LIB_TYPE STATIC) 
CUDA_ADD_LIBRARY(TestLib $LIB_TYPE src/helloWorld.cu)

catkin_package(
)
include_directories(
 $catkin_INCLUDE_DIRS
)

ADD_EXECUTABLE(beginner_tutorials_node src/main.cpp)
ADD_DEPENDENCIES(beginner_tutorials_node TestLib)
TARGET_LINK_LIBRARIES(beginner_tutorials_node
 $catkin_LIBRARIES
 $PCL_LIBRARIES
 TestLib
)

main.cpp:

int testmain();

int main()

testmain();
return 0;

helloWorld.cu:

#include <stdio.h>

#include <cuda.h>
#include <cuda_runtime.h>

const int N = 7;
const int blocksize = 7;

__global__
void hello(char *a, int *b)

 a[threadIdx.x] += b[threadIdx.x];


int testmain()

 char a[N] = "Hello ";
 int b[N] = 15, 10, 6, 0, -11, 1, 0;

 char *ad;
 int *bd;
 const int csize = N*sizeof(char);
 const int isize = N*sizeof(int);

 printf("%s", a);

 cudaMalloc( (void**)&ad, csize );
 cudaMalloc( (void**)&bd, isize );
 cudaMemcpy( ad, a, csize, cudaMemcpyHostToDevice );
 cudaMemcpy( bd, b, isize, cudaMemcpyHostToDevice );

 dim3 dimBlock( blocksize, 1 );
 dim3 dimGrid( 1, 1 );
 hello<<<dimGrid, dimBlock>>>(ad, bd);
 cudaMemcpy( a, ad, csize, cudaMemcpyDeviceToHost );
 cudaFree( ad );

 printf("%sn", a);
 return EXIT_SUCCESS;