Cmake nvcc中间链路故障

我一直在努力修复使用CMake构建nvcc项目时出现的中间链接错误。我一直在升级以前的一个项目以利用CUDA，并且能够从主机代码中成功地调用该库中的函数。当我试图从设备代码调用该库的函数时，我得到了中间链接错误。我用

\uuuu device\uuuu

和

\uuu host\uuuu

描述符注释了所有函数

作为旁注，这是一个ROS项目，所以我使用了一些柳絮CMake函数

这是ParticleFilter代码的一个片段，用于调用主机和设备函数：

#include <cuda.h>
#include <cuda_runtime.h>
#include <device_launch_parameters.h>
#include <curand_kernel.h>
#include <iostream>
#include <davinci_kinematics_cuda/davinci_fwd_kinematics.cuh>

__host__
ParticleFilter::ParticleFilter(const unsigned int numParticles, const std::vector<double> &initialJointState, const unsigned int threads,
        const unsigned int blocks) {

    /* random other work here */
    
    // This works fine (compiles and runs), it is calling host code from the other file
    kinematics = davinci_kinematics_cuda::Forward();
    std::cout << kinematics.fwd_kin_solve(initialJointState.data()).translation() << std::endl;
}

__global__
void printParticlesKernel(double *particles, const unsigned int numParticles, const unsigned int dimensions, const size_t pitch) {
    int locationStart = blockIdx.x * blockDim.x + threadIdx.x;
    int stride = blockDim.x * gridDim.x;

    // This fails, will not link
    davinci_kinematics_cuda::Forward kinematics = davinci_kinematics_cuda::Forward(); 

    for (int n = locationStart; n < numParticles; n += stride) {
        double *particle = (double*) ((char*) particles + n * pitch);
        
        /* random other work here */

        // this fails, will not link
        auto translation = kinematics.fwd_kin_solve(particle).translation();
        printf("%f %f %f\n", translation[0], translation[1], translation[2]);
    }
}

这是来自CMake的错误：

/usr/bin/cmake -H/home/ethan/catkin_ws/src/cwru_davinci_tool_tracking/tool_tracking -B/home/ethan/catkin_ws/build/tool_tracking --check-build-system CMakeFiles/Makefile.cmake 0
/usr/bin/cmake -E cmake_progress_start /home/ethan/catkin_ws/build/tool_tracking/CMakeFiles /home/ethan/catkin_ws/build/tool_tracking/CMakeFiles/progress.marks
/usr/bin/make -f CMakeFiles/Makefile2 all
make[1]: Entering directory '/home/ethan/catkin_ws/build/tool_tracking'
/usr/bin/make -f CMakeFiles/test_particlefilter.dir/build.make CMakeFiles/test_particlefilter.dir/depend
make[2]: Entering directory '/home/ethan/catkin_ws/build/tool_tracking'
[ 20%] Building NVCC intermediate link file CMakeFiles/test_particlefilter.dir/test_particlefilter_intermediate_link.o
/usr/local/cuda-11.0/bin/nvcc -lcudadevrt -m64 -ccbin /usr/bin/cc -dlink /home/ethan/catkin_ws/build/tool_tracking/CMakeFiles/test_particlefilter.dir/src/./test_particlefilter_generated_ParticleFilter.cu.o /home/ethan/catkin_ws/build/tool_tracking/CMakeFiles/test_particlefilter.dir/src/./test_particlefilter_generated_Particle.cu.o -o /home/ethan/catkin_ws/build/tool_tracking/CMakeFiles/test_particlefilter.dir/./test_particlefilter_intermediate_link.o -Xcompiler -fPIC
nvlink error   : Undefined reference to '_ZN23davinci_kinematics_cuda7ForwardC1Ev' in '/home/ethan/catkin_ws/build/tool_tracking/CMakeFiles/test_particlefilter.dir/src/./test_particlefilter_generated_ParticleFilter.cu.o'
nvlink error   : Undefined reference to '_ZN23davinci_kinematics_cuda7Forward13fwd_kin_solveEPKdj' in '/home/ethan/catkin_ws/build/tool_tracking/CMakeFiles/test_particlefilter.dir/src/./test_particlefilter_generated_ParticleFilter.cu.o'
CMakeFiles/test_particlefilter.dir/build.make:1468: recipe for target 'CMakeFiles/test_particlefilter.dir/test_particlefilter_intermediate_link.o' failed
make[2]: Leaving directory '/home/ethan/catkin_ws/build/tool_tracking'
make[2]: *** [CMakeFiles/test_particlefilter.dir/test_particlefilter_intermediate_link.o] Error 255
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/test_particlefilter.dir/all' failed
make[1]: Leaving directory '/home/ethan/catkin_ws/build/tool_tracking'
make[1]: *** [CMakeFiles/test_particlefilter.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2

如何使用未定义的引用修复错误？似乎是链接错误，但我对编译/链接过程不够熟悉，无法进一步排除故障。如果我需要发布运动学文件中的CMake，我也可以。

这是关键问题，也是对其他读者最有帮助的部分。Catkin默认配置CMake构建共享库，但CUDA可分离编译和

nvlink

仅适用于静态库。您需要始终将CUDA库（在您的情况下，cwru_davinci_运动学中的库）设置为静态。您可以通过向

add_library

调用添加

STATIC

关键字来完成此操作，如中所示：

add_library(my_cuda_lib STATIC source1.cu ...)

如果您在CMake中与CUDA“链接”到共享库，它将忽略它。这实际上是

nvcc

的记录行为。请看这里：

设备链接器能够读取静态主机库格式（Linux和Mac OS X上为

.a

，Windows上为

.lib

）。它忽略任何动态（

.so

或

.dll

）库

---

这里的另一个重要教训是，将CMake设置为一个古老的版本必然会导致问题。在复制您的问题时，我被迫从源代码构建OpenCV 3（它不在Ubuntu20.04 LTS中），并且在版本3.12之前，没有好的方法覆盖特定包的搜索路径，该版本引入了

升级您的最低CMake版本。理想情况下，您可以升级到软件存储库中提供的最新版本，并将文件的最小值设置为该值。与早于~3.5的CMake版本兼容没有任何好处，我认为它可以扩展到3.16（Ubuntu 20.04 LTS中的版本）。因为您使用的是CUDA，所以3.18是最合适的。更糟糕的是，您的许多项目设置的最低值低于2.8.12；CMake将很快删除与此版本的兼容性

---

下面是我为了让它在Ubuntu 20.04 LTS上构建所做的具体更改。我使用了以下构建脚本，放置在ROS工作区中并从中执行：

#!/usr/bin/bash

source /opt/ros/noetic/setup.bash

export CUDACXX=/usr/local/cuda/bin/nvcc
export OpenCV_ROOT=$(readlink -f opencv-install)

[ -f "$CUDACXX" ] || { echo "Invalid CUDACXX: $CUDACXX"; exit; }
[ -d "$OpenCV_ROOT" ] || { echo "Invalid OpenCV_ROOT: $OpenCV_ROOT"; exit; }

rm -rf build devel
catkin build tool_tracking --cmake-args \
    -Wno-dev \
    -DCMAKE_POLICY_DEFAULT_CMP0074=NEW \
    -DCMAKE_CUDA_ARCHITECTURES=75

目录

opencv安装

是通过构建我自己的opencv3创建的（因为Ubuntu 20.04只有v4）。这方面的步骤是：

$ git clone -b 3.4.14 git@github.com:opencv/opencv.git
$ git clone -b 3.4.14 git@github.com:opencv/opencv_contrib.git
$ cmake -G Ninja -S opencv -B opencv-build/ -DOPENCV_EXTRA_MODULES_PATH=$(readlink -f opencv_contrib)/modules -DBUILD_opencv_cnn_3dobj=OFF -DBUILD_opencv_face=OFF -DBUILD_opencv_hdf=OFF -DBUILD_opencv_hfs=OFF -DBUILD_opencv_julia=OFF -DBUILD_opencv_matlab=OFF -DBUILD_opencv_ovis=OFF -DBUILD_opencv_reg=OFF -DBUILD_opencv_sfm=OFF -DBUILD_opencv_text=OFF -DBUILD_opencv_wechat_qrcode=OFF -DBUILD_opencv_ximgproc=OFF
$ cmake --build opencv-build
$ cmake --install opencv-build --prefix opencv-install

这将禁用具有重要/不相关依赖项的额外模块

该脚本设置环境变量

OpenCV\u ROOT

，以将CMake定向到此本地安装的OpenCV版本。由于文件中指定的CMake的最低版本太低，我还必须设置

CMake\u POLICY\u DEFAULT\u CMP0074=NEW

，以便遵守

OpenCV\u ROOT

以下是我对您的CMake代码所做的更改：

src/cwru_davinci_运动学/CMakeLists.txt 这里的重点是：

  add_library(davinci_kinematics_cuda STATIC src/davinci_fwd_kinematics.cu)
  add_library(davinci_kinematics_definitions_cuda STATIC src/davinci_kinematic_definitions.cu)

我还在这里更新了CMake代码，因为内置的CUDA语言支持已经相当先进

src/cwru_davinci_tool_tracking/tool_tracking/CMakeLists.txt 我还在这里更新了CMake代码，因为内置的CUDA语言支持已经相当先进

杂项变动 我在所有其他地方将CMake的最低版本从

2.8.x

提升到

3.0.2

，以抑制警告。我还将版本号

3

添加到所有

find\u包（OpenCV…

调用中，这些调用都没有版本号

Boost不再有

python3

包；现在是python。我对src/vision\u opencv/cv\u bridge/CMakeLists.txt进行了以下更改：

--- a/src/vision_opencv/cv_bridge/CMakeLists.txt
+++ b/src/vision_opencv/cv_bridge/CMakeLists.txt
@@ -1,18 +1,15 @@
-cmake_minimum_required(VERSION 2.8)
+cmake_minimum_required(VERSION 3.0.2)
 project(cv_bridge)
 
 find_package(catkin REQUIRED COMPONENTS rosconsole sensor_msgs)
 
 if(NOT ANDROID)
   find_package(PythonLibs)
-  if(PYTHONLIBS_VERSION_STRING VERSION_LESS 3)
-    find_package(Boost REQUIRED python)
-  else()
-    find_package(Boost REQUIRED python3)
-  endif()
+  find_package(Boost REQUIRED python)
 else()
-find_package(Boost REQUIRED)
+  find_package(Boost REQUIRED)
 endif()
+
 find_package(OpenCV 3 REQUIRED
   COMPONENTS
     opencv_core

---

如果你能在本地发布重现错误所需的一切，包括任何（虚拟/编辑的）源文件，我将很乐意为你提供帮助。很高兴，我明天会为你准备好一切。太好了！我明天有时间。我真的希望我能帮上忙。这应该适用于软件包：您需要安装CUDA 11.0和ROS melodic。您需要更改

catkin_stackoverflow/src/cwru_davinci_kinetics/include/davinci_kinetics_cuda/davinci_fwd_kinetics.cuh中的第29行以引用您的本地路径，因为我必须使用Eigen的devel分支。如果
柳絮构建cwru\u davinci\u运动学
成功完成，则您的环境良好。然后尝试一下catkinbuildtool_tracking查看我遇到的错误。你知道在Ubuntu 20.04 LTS上安装melodic是否可行吗？在我看来，只有noetic会起作用；可以吗？今天测试一下，非常感谢你的工作。一旦我在我的系统上验证了它的有效性，我就会标记它！编译仍然存在问题，我用详细的输出为上面的问题添加了一个编辑。它正在正确链接文件（
../cwru\u davinci\u kinetics/include
显示在nvcc命令中），但现在出现了一个ptxas致命错误。是否删除了生成目录和专用目录？我在测试时遇到了类似的问题，因为共享库仍然存在，catkin的CMake优先为共享库调用find_库。我确实删除了构建库，但没有删除私有库。有没有删除私有目录的好方法？在我的工作区中，我将
devel/.private
视为一个目录，最终包含
libdavinci\u kin
--- a/src/cwru_davinci_kinematics/CMakeLists.txt
+++ b/src/cwru_davinci_kinematics/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.10)
+cmake_minimum_required(VERSION 3.18)
 project(cwru_davinci_kinematics)
 
 #This is needed as part of the migration to ros jade and later
@@ -26,18 +26,16 @@ find_package(catkin REQUIRED COMPONENTS roscpp roslib roslint tf tf2 tf2_eigen)
 
 SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -std=gnu++0x")
 
-# https://stackoverflow.com/questions/25748039/add-cuda-to-ros-package
-find_package(CUDA) 
-message(STATUS "CUDA_FOUND=${CUDA_FOUND}")
-if(CUDA_FOUND)
-       message(STATUS "Found CUDA, setting nvcc compilation flags")
-       
-       # set CUDA_NVCC_FLAGS as you would do with CXX/C FLAGS         
-       set(CUDA_NVCC_FLAGS CACHE STRING "nvcc flags" FORCE)
-       set(CUDA_VERBOSE_BUILD ON CACHE BOOL "nvcc verbose" FORCE)
+include(CheckLanguage)
+check_language(CUDA)
+if (CMAKE_CUDA_COMPILER)
+  enable_language(CUDA)
+
        # fPIC fixes some linker issues with nvcc code / objects
-       set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${CURAND_FLAGS} -fPIC")
-       set(CUDA_SEPARABLE_COMPILATION ON)
+       set(CMAKE_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} -fPIC")
+       set(CMAKE_CUDA_SEPARABLE_COMPILATION ON)
+
+  find_package(CUDAToolkit REQUIRED)
 endif()
 
 include_directories(
@@ -48,7 +46,7 @@ include_directories(
   ${YAML_CPP_INCLUDE_DIRS}
 )
 
-if (CUDA_FOUND)
+if (CMAKE_CUDA_COMPILER)
        catkin_package(
                DEPENDS ${Eigen3_DEP}
                LIBRARIES 
@@ -82,14 +80,17 @@ target_link_libraries(davinci_kinematics
   davinci_kinematic_definitions
   )
 
-if (CUDA_FOUND)
-       cuda_add_library(davinci_kinematics_cuda src/davinci_fwd_kinematics.cu)
-       cuda_add_library(davinci_kinematics_definitions_cuda src/davinci_kinematic_definitions.cu)
-       
-       target_link_libraries(davinci_kinematics_cuda
-               ${catkin_LIBRARIES}
-               davinci_kinematics_definitions_cuda
-       )
+if (CMAKE_CUDA_COMPILER)
+  add_library(davinci_kinematics_cuda STATIC src/davinci_fwd_kinematics.cu)
+  add_library(davinci_kinematics_definitions_cuda STATIC src/davinci_kinematic_definitions.cu)
+
+  target_link_libraries(
+    davinci_kinematics_cuda
+    PRIVATE
+      CUDA::curand
+      ${catkin_LIBRARIES}
+      davinci_kinematics_definitions_cuda
+  )
 endif()
 
 # Examples

  add_library(davinci_kinematics_cuda STATIC src/davinci_fwd_kinematics.cu)
  add_library(davinci_kinematics_definitions_cuda STATIC src/davinci_kinematic_definitions.cu)

--- a/src/cwru_davinci_tool_tracking/tool_tracking/CMakeLists.txt
+++ b/src/cwru_davinci_tool_tracking/tool_tracking/CMakeLists.txt
@@ -1,18 +1,11 @@
-cmake_minimum_required(VERSION 2.8.10)
-project(tool_tracking LANGUAGES CUDA CXX)
+cmake_minimum_required(VERSION 3.18)
+project(tool_tracking LANGUAGES C CXX CUDA)
 
-# https://stackoverflow.com/questions/25748039/add-cuda-to-ros-package
-find_package(CUDA REQUIRED) 
+set(CMAKE_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} -fPIC")
+set(CMAKE_CUDA_SEPARABLE_COMPILATION ON)
 
-# set CUDA_NVCC_FLAGS as you would do with CXX/C FLAGS
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${CURAND_FLAGS} -fPIC")
-set(CUDA_SEPARABLE_COMPILATION ON)
+find_package(OpenCV 3 REQUIRED)
 
-#find_package(catkin_simple REQUIRED)
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(OpenCV REQUIRED)
 find_package(catkin REQUIRED COMPONENTS
        message_generation
        roscpp
@@ -28,11 +21,12 @@ find_package(catkin REQUIRED COMPONENTS
        tool_segmentation
 )
 
+find_package(CUDAToolkit REQUIRED)
 
 catkin_package(
        INCLUDE_DIRS
                include
-       LIBRARIES 
+       LIBRARIES
                tool_tracking_particle
        CATKIN_DEPENDS
                message_runtime
@@ -47,13 +41,7 @@ catkin_package(
                tf
 )
 
-include_directories(SYSTEM ${OpenCV_INCLUDE_DIRS})
-include_directories(include ${catkin_INCLUDE_DIRS} tool_model_lib )
-
-#cuda_add_library(tool_tracking_particle src/ParticleFilter.cu src/Particle.cu)
-#add_executable(particle src/tracking_particle.cpp)
-#target_link_libraries(particle tool_tracking_particle ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} davinci_kinematics_cuda 
-#                      davinci_kinematics_definitions_cuda)
-
-cuda_add_executable(test_particlefilter src/ParticleFilter.cu src/Particle.cu)
-target_link_libraries(test_particlefilter tool_tracking_particle ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} ${CUDA_LIBRARIES})
+add_executable(test_particlefilter src/ParticleFilter.cu src/Particle.cu)
+target_include_directories(test_particlefilter SYSTEM PRIVATE ${OpenCV_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
+target_include_directories(test_particlefilter PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include)
+target_link_libraries(test_particlefilter PRIVATE ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} CUDA::curand)

--- a/src/vision_opencv/cv_bridge/CMakeLists.txt
+++ b/src/vision_opencv/cv_bridge/CMakeLists.txt
@@ -1,18 +1,15 @@
-cmake_minimum_required(VERSION 2.8)
+cmake_minimum_required(VERSION 3.0.2)
 project(cv_bridge)
 
 find_package(catkin REQUIRED COMPONENTS rosconsole sensor_msgs)
 
 if(NOT ANDROID)
   find_package(PythonLibs)
-  if(PYTHONLIBS_VERSION_STRING VERSION_LESS 3)
-    find_package(Boost REQUIRED python)
-  else()
-    find_package(Boost REQUIRED python3)
-  endif()
+  find_package(Boost REQUIRED python)
 else()
-find_package(Boost REQUIRED)
+  find_package(Boost REQUIRED)
 endif()
+
 find_package(OpenCV 3 REQUIRED
   COMPONENTS
     opencv_core