Melodic CPU/GPU compilation flag (autowarefoundation#2265)

* Feature/edit typo (autowarefoundation#1769) Fix language. * Update README.md * Update contact details * Feature/update autoware launcher (autowarefoundation#2056) * Add prototype of plugin file editor * Change logger level * Support command line options * Update gazebo simulator panel * Add plugin edit tool and update plugins * Fix a bug of transform edit * Fix setup.py to install all packages * Update the code for compatibility with python3 * Update the code for colcon build * updated plugin for lane_rule, lane_stop, and voxel_grid_filter * Fix that the plugin_description is not installed * Fix launch file error * Fix test failed * Skip test of unbuilt packages * Add run script * Add profile description * Fix launch file install path of point_downsampler * Update README file * Update README file for plugin file * Fix README file * Add notice to run script * Update CHANGELOGs * Replace URI in CHANGELOGs * Set version 1.10.0 * Creanup rst format * 1.11.0 * Change RTM default topic to match UKF node launch file (autowarefoundation#2142) * Remove old issue and PR templates (autowarefoundation#2148) * Update repository info files (autowarefoundation#2149) * Add missing info files * Update contributing info file * Merge left over features from around the 1.11 release (autowarefoundation#2151) * Fix deceleration value bug in following state inv_time will be negatived when forward object too close, but deceleration_critical will be smaller than max_deceleration * fix bug of max split size * change conversion formula from GB to Byte * Update twist_filter.cpp (autowarefoundation#1932) * Feature/edit typo (autowarefoundation#1769) Fix language. * Update twist_filter.cpp * Fix/compare map filter squared distance (autowarefoundation#1896) * fix squared distance * update default param * update default param * update launch file * update interface.yaml * Added AW Lexus model (autowarefoundation#2117) * Added AW Lexus model * Adapt urdf to match mesh orientation * Replace IV texture with AW (autowarefoundation#2119) * Update rect_class_score.h (autowarefoundation#1825) fixed typo for class label for OVEN - 'over' should be 'oven' * Fixed wrong assignement of message type to package (autowarefoundation#1706) The message type ConfigWaypointLoader has been assigned to autoware_config_msgs in autowarefoundation@8bf1c47. This fixes the issue https://github.com/CPFL/Autoware/issues/1705. * fix RuntimeManager on lxterminal #1203 (autowarefoundation#1204) * fix RuntimeManager on lxterminal #1203 * Modify the different behavior in gnome-terminal environment * Set OPTION_TITLE in meta-terminal and xfce4-terminal environment * Update run * Add missing install for image resources on camera calibrator (autowarefoundation#2137) * Add missing install for image resources * Switched to share * Add .repos file for setting up an Autoware workspace using vcs (autowarefoundation#2161) * Add .repos file for setting up an Autoware workspace using vcs Signed-off-by: Geoffrey Biggs <geoff.biggs@tier4.jp> * Use https protocol for git repositories Signed-off-by: Geoffrey Biggs <geoff.biggs@tier4.jp> * Use lgsvl_msgs from binaries Signed-off-by: Geoffrey Biggs <geoff.biggs@tier4.jp> * Use American English for repository names Signed-off-by: Geoffrey Biggs <geoff.biggs@tier4.jp> * Break spelling Signed-off-by: Geoffrey Biggs <geoff.biggs@tier4.jp> * Remove enablePlannerDynamicSwitch (autowarefoundation#1919) * Remove enablePlannerDynamicSwitch from lane_select.launch Signed-off-by: Kenji Funaoka <kfunaoka@gmail.com> * Remove enablePlannerDynamicSwitch from lane_select_core.cpp Signed-off-by: Kenji Funaoka <kfunaoka@gmail.com> * Remove enablePlannerDynamicSwitch from velocity_set.launch Signed-off-by: Kenji Funaoka <kfunaoka@gmail.com> * Remove enablePlannerDynamicSwitch from velocity_set.cpp Signed-off-by: Kenji Funaoka <kfunaoka@gmail.com> * Remove enablePlannerDynamicSwitch from dp_planner_core.h Signed-off-by: Kenji Funaoka <kfunaoka@gmail.com> * Remove enablePlannerDynamicSwitch from dp_planner.launch Signed-off-by: Kenji Funaoka <kfunaoka@gmail.com> * Remove enablePlannerDynamicSwitch from dp_planner_core.cpp Signed-off-by: Kenji Funaoka <kfunaoka@gmail.com> * Remove enablePlannerDynamicSwitch from autoware_launcher Signed-off-by: Kenji Funaoka <kfunaoka@gmail.com> * Updated paths in quick_start launch files and parameters in default.rviz (autowarefoundation#2206) Signed-off-by: sgermanserrano <servando.german.serrano@linaro.org> * Fix bug that limits the data rate of DataRateCheckerPlugin (autowarefoundation#2205) * Repair bug that limits the data rate of DataRateCheckerPlugin - A larger message buffer was added to message callbacks of the topic subscribers in DataRateCheckerPlugin - Handling of timing was changed from std::chrono to ros::Time - Maximum frequency selection from the Min. Hz option was increased - Exception handling was improved to be more similar to the Python tool rostopic hz Signed-off-by: David <david@lifecyclist.co.nz> * Remove unused variable in header file Signed-off-by: David <david@lifecyclist.co.nz> * Apply ROS clang format Signed-off-by: David <david@lifecyclist.co.nz> * Revert "Apply ROS clang format" This reverts commit 88563f1. Signed-off-by: David <david@lifecyclist.co.nz> * Adding install directive for node (autowarefoundation#2195) Issue: executable is not found/built with colcon_release, added install targets. Signed-off-by: snehagn <sganesh@autonomoustuff.com> * fix install directive for waypoint extractor (autowarefoundation#2219) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix for AutowareLauncher nosetests error Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * Add GPU Checks on autoware_build_flags Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * Add CMake GPU checks for lidar_apollo_cnn_seg Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * Add CMake GPU checks for lidar_euclidean_cluster_detect Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * Add CMake GPU checks for lidar_point_pillars Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * Add CMake GPU checks for trafficlight_recognizer Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * Add CMake GPU checks for vision_darknet_detect Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * Add CMake GPU checks for vision_segment_enet_detect Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * Add CMake GPU checks for vision_ssd_detect Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * Add CMake GPU checks for ndt_gpu Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * Add CMake GPU checks for lidar_localizer Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * Increase Minimum Eigen Version to 3.3.6 on GPU mode, according to #2098 Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * Add Missing autoware_build_flags to vision_segment_enet_detect Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * Add missing autoware_build_flags to ndt_gpu Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * Add autoware_build_flags as build tool for ndt_gpu Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * Invert CMake CUDA compilation flag logic Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * Increase Eigen minimum required version to 3.3.7 Signed-off-by: amc-nu <abrahammonrroy@yahoo.com>
astuff · May 22, 2019 · 9046ade · 9046ade
1 parent b3c31e4
commit 9046ade
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diff --git a/ros/src/common/cmake/autoware_build_flags/cmake/autoware_build_flags-extras.cmake b/ros/src/common/cmake/autoware_build_flags/cmake/autoware_build_flags-extras.cmake
@@ -9,4 +9,24 @@ if(${CMAKE_VERSION} VERSION_LESS "3.1.0")
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
 else()
   set(CMAKE_CXX_STANDARD 11)
-endif()
+endif()
+
+find_package(CUDA QUIET)
+find_package(Eigen3 QUIET)
+
+option(ENABLE_CUDA "Enable_CUDA" FALSE)
+
+####### Melodic Checks
+if (ENABLE_CUDA AND CUDA_FOUND AND "$ENV{ROS_DISTRO}" STREQUAL "melodic" )
+  if(${CUDA_VERSION} VERSION_GREATER "9.1" AND ${CMAKE_VERSION} VERSION_LESS "3.12.3")
+    unset(CUDA_cublas_device_LIBRARY CACHE)
+    set(CUDA_cublas_device_LIBRARY ${CUDA_cublas_LIBRARY})
+    set(CUDA_CUBLAS_LIBRARIES ${CUDA_cublas_LIBRARY})
+  endif()
+  if (${EIGEN3_VERSION_STRING} VERSION_LESS "3.3.7")
+      message(FATAL_ERROR "GPU support on Melodic requires Eigen version>= 3.3.7")
+  endif()
+else()
+  message(WARNING "CUDA support is disabled. Use -DENABLE_CUDA=TRUE and install Eigen >= 3.3.7 to enable it")
+endif()
+####### End Melodic Checks
diff --git a/...g/perception/detection/lidar_detector/packages/lidar_apollo_cnn_seg_detect/CMakeLists.txt b/...g/perception/detection/lidar_detector/packages/lidar_apollo_cnn_seg_detect/CMakeLists.txt
@@ -31,17 +31,7 @@ catkin_package(
 ###CAFFE
 set(CAFFE_PATH "$ENV{HOME}/caffe/distribute")
 
-####### Melodic Checks
-SET (CPU_ONLY FALSE)
-if (CUDA_FOUND AND "$ENV{ROS_DISTRO}" STREQUAL "melodic" )
-    if(${CMAKE_VERSION} VERSION_LESS "3.12.3")
-        message("GPU support on Melodic requires CMake version>= 3.12.3")
-        SET (CPU_ONLY TRUE)
-    endif()
-endif()
-####### End Melodic Checks
-
-if (NOT CPU_ONLY AND ${CUDA_FOUND} AND EXISTS "${CAFFE_PATH}")
+if (ENABLE_CUDA AND ${CUDA_FOUND} AND EXISTS "${CAFFE_PATH}")
     include_directories(${CUDA_INCLUDE_DIRS})
 
     IF ("${CMAKE_SYSTEM_PROCESSOR}" MATCHES "^arm")

diff --git a/...erception/detection/lidar_detector/packages/lidar_euclidean_cluster_detect/CMakeLists.txt b/...erception/detection/lidar_detector/packages/lidar_euclidean_cluster_detect/CMakeLists.txt
@@ -65,22 +65,8 @@ add_executable(lidar_euclidean_cluster_detect
 
 find_package(CUDA)
 find_package(Eigen3 QUIET)
-####### Melodic Checks
-SET (CPU_ONLY FALSE)
-if (CUDA_FOUND AND "$ENV{ROS_DISTRO}" STREQUAL "melodic" )
-    if(${CMAKE_VERSION} VERSION_LESS "3.12.3")
-        message("GPU support on Melodic requires CMake version>= 3.12.3")
-        SET (CPU_ONLY TRUE)
-    else()
-        if (${EIGEN3_VERSION_STRING} VERSION_LESS "3.3.5")
-            message("GPU support on Melodic requires Eigen version>= 3.3.5")
-            SET (CPU_ONLY TRUE)
-        endif()
-    endif()
-endif()
-####### End Melodic Checks
-if (NOT CPU_ONLY AND ${CUDA_FOUND})
-    INCLUDE(FindCUDA)
+
+if (ENABLE_CUDA AND ${CUDA_FOUND})
     message("-- USING ACCELERATED CLUSTERING --")
     message("Version: " ${CUDA_VERSION})
     message("Library: " ${CUDA_CUDA_LIBRARY})

diff --git a/...computing/perception/detection/lidar_detector/packages/lidar_point_pillars/CMakeLists.txt b/...computing/perception/detection/lidar_detector/packages/lidar_point_pillars/CMakeLists.txt
@@ -5,17 +5,7 @@ project(lidar_point_pillars)
 option(CUDA_AVAIL "CUDA available" OFF)
 find_package(CUDA)
 
-####### Melodic Checks
-SET (CPU_ONLY FALSE)
-if (NOT CPU_ONLY AND CUDA_FOUND AND "$ENV{ROS_DISTRO}" STREQUAL "melodic" )
-    if(${CMAKE_VERSION} VERSION_LESS "3.12.3")
-        message("GPU support on Melodic requires CMake version>= 3.12.3")
-        SET (CPU_ONLY TRUE)
-    endif()
-endif()
-####### End Melodic Checks
-
-if (NOT CPU_ONLY AND CUDA_FOUND)
+if (ENABLE_CUDA AND CUDA_FOUND)
   message("CUDA is available!")
   message("CUDA Libs: ${CUDA_LIBRARIES}")
   message("CUDA Headers: ${CUDA_INCLUDE_DIRS}")

diff --git a/ros/src/computing/perception/detection/trafficlight_recognizer/CMakeLists.txt b/ros/src/computing/perception/detection/trafficlight_recognizer/CMakeLists.txt
@@ -250,7 +250,7 @@ target_link_libraries(label_maker
 ##############################SSD'sFORK of CAFFE NEEDS TO BE PREVIOUSLY COMPILED####################
 set(SSD_CAFFE_PATH "$ENV{HOME}/ssdcaffe/distribute")
 ####################################################################################################
-if (EXISTS "${SSD_CAFFE_PATH}")
+if (ENABLE_CUDA AND EXISTS "${SSD_CAFFE_PATH}")
 
     find_package(CUDA REQUIRED)
 
@@ -312,7 +312,7 @@ install(DIRECTORY launch/
 #############Please follow README file for instructions#############################################
 set(MXNET_PATH "$ENV{HOME}/mxnet/")
 ####################################################################################################
-if (EXISTS "${MXNET_PATH}")
+if (ENABLE_CUDA AND EXISTS "${MXNET_PATH}")
 
     find_package(CUDA REQUIRED)
 

diff --git a/...puting/perception/detection/vision_detector/packages/vision_darknet_detect/CMakeLists.txt b/...puting/perception/detection/vision_detector/packages/vision_darknet_detect/CMakeLists.txt
@@ -33,16 +33,7 @@ catkin_package(CATKIN_DEPENDS
 
 set(CMAKE_CXX_FLAGS "-O3 -g -Wall ${CMAKE_CXX_FLAGS}")
 
-####### Melodic Checks
-SET (CPU_ONLY FALSE)
-if (CUDA_FOUND AND "$ENV{ROS_DISTRO}" STREQUAL "melodic" )
-    if(${CMAKE_VERSION} VERSION_LESS "3.12.3")
-        message("GPU support on Melodic requires CMake version>= 3.12.3")
-        SET (CPU_ONLY TRUE)
-    endif()
-endif()
-####### End Melodic Checks
-if (NOT CPU_ONLY AND ${CUDA_FOUND})
+if (ENABLE_CUDA AND ${CUDA_FOUND})
     list(APPEND CUDA_NVCC_FLAGS "--std=c++11 -I$${PROJECT_SOURCE_DIR}/darknet/src -I${PROJECT_SOURCE_DIR}/src -DGPU")
     SET(CUDA_PROPAGATE_HOST_FLAGS OFF)
 

diff --git a/...g/perception/detection/vision_detector/packages/vision_segment_enet_detect/CMakeLists.txt b/...g/perception/detection/vision_detector/packages/vision_segment_enet_detect/CMakeLists.txt
@@ -6,6 +6,7 @@ FIND_PACKAGE(catkin REQUIRED COMPONENTS
         image_transport
         roscpp
         sensor_msgs
+        autoware_build_flags
         )
 FIND_PACKAGE(CUDA)
 FIND_PACKAGE(OpenCV REQUIRED)
@@ -31,16 +32,7 @@ INCLUDE_DIRECTORIES(
 ##############################ENet's CAFFE FORK NEEDS TO BE PREVIOUSLY COMPILED####################
 set(ENET_CAFFE_PATH "$ENV{HOME}/ENet/caffe-enet/distribute")
 ####################################################################################################
-####### Melodic Checks
-SET (CPU_ONLY FALSE)
-if (NOT CPU_ONLY AND CUDA_FOUND AND "$ENV{ROS_DISTRO}" STREQUAL "melodic" )
-    if(${CMAKE_VERSION} VERSION_LESS "3.12.3")
-        message("GPU support on Melodic requires CMake version>= 3.12.3")
-        SET (CPU_ONLY TRUE)
-    endif()
-endif()
-####### End Melodic Checks
-if (EXISTS "${ENET_CAFFE_PATH}" AND ${CUDA_FOUND})
+if (ENABLE_CUDA AND EXISTS "${ENET_CAFFE_PATH}" AND ${CUDA_FOUND})
 
     ADD_EXECUTABLE(vision_segment_enet_detect
             nodes/vision_segment_enet_detect/vision_segment_enet_detect_node.cpp

diff --git a/.../computing/perception/detection/vision_detector/packages/vision_ssd_detect/CMakeLists.txt b/.../computing/perception/detection/vision_detector/packages/vision_ssd_detect/CMakeLists.txt
@@ -48,17 +48,7 @@ include_directories(
 set(SSD_CAFFE_PATH "$ENV{HOME}/ssdcaffe/distribute")
 ####################################################################################################
 
-####### Melodic Checks
-SET (CPU_ONLY FALSE)
-if (CUDA_FOUND AND "$ENV{ROS_DISTRO}" STREQUAL "melodic" )
-    if(${CMAKE_VERSION} VERSION_LESS "3.12.3")
-        message("GPU support on Melodic requires CMake version>= 3.12.3")
-        SET (CPU_ONLY TRUE)
-    endif()
-endif()
-####### End Melodic Checks
-
-if (NOT CPU_ONLY AND ${CUDA_FOUND} AND EXISTS "${SSD_CAFFE_PATH}")
+if (ENABLE_CUDA AND ${CUDA_FOUND} AND EXISTS "${SSD_CAFFE_PATH}")
     include_directories(${CUDA_INCLUDE_DIRS})
 
     IF ("${CMAKE_SYSTEM_PROCESSOR}" MATCHES "^arm")

diff --git a/ros/src/computing/perception/localization/lib/ndt_gpu/CMakeLists.txt b/ros/src/computing/perception/localization/lib/ndt_gpu/CMakeLists.txt
@@ -1,27 +1,13 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(ndt_gpu)
 
-find_package(catkin REQUIRED)
+find_package(catkin REQUIRED COMPONENTS
+        autoware_build_flags)
 find_package(PCL REQUIRED)
 find_package(CUDA)
 
 find_package(Eigen3 QUIET)
 
-####### Melodic Checks
-SET (CPU_ONLY FALSE)
-if (CUDA_FOUND AND "$ENV{ROS_DISTRO}" STREQUAL "melodic" )
-    if(${CMAKE_VERSION} VERSION_LESS "3.12.3")
-        message("GPU support on Melodic requires CMake version>= 3.12.3")
-        SET (CPU_ONLY TRUE)
-    else()
-        if (${EIGEN3_VERSION_STRING} VERSION_LESS "3.3.5")
-            message("GPU support on Melodic requires Eigen version>= 3.3.5")
-            SET (CPU_ONLY TRUE)
-        endif()
-    endif()
-endif()
-####### End Melodic Checks
-
 if (NOT EIGEN3_FOUND)
     # Fallback to cmake_modules
     find_package(cmake_modules REQUIRED)
@@ -33,7 +19,7 @@ else ()
     set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
 endif ()
 
-if (NOT CPU_ONLY AND CUDA_FOUND)
+if (ENABLE_CUDA AND CUDA_FOUND)
     set_directory_properties(PROPERTIES COMPILE_DEFINITIONS "")
 
     if(CMAKE_CROSSCOMPILING)

diff --git a/ros/src/computing/perception/localization/lib/ndt_gpu/package.xml b/ros/src/computing/perception/localization/lib/ndt_gpu/package.xml
@@ -7,6 +7,7 @@
     <maintainer email="anh@ertl.jp">Anh Viet Nguyen</maintainer>
     <license>Apache 2</license>
     <buildtool_depend>catkin</buildtool_depend>
+    <buildtool_depend>autoware_build_flags</buildtool_depend>
 
     <build_depend>libpcl-all-dev</build_depend>
 

diff --git a/ros/src/computing/perception/localization/packages/lidar_localizer/CMakeLists.txt b/ros/src/computing/perception/localization/packages/lidar_localizer/CMakeLists.txt
@@ -16,22 +16,7 @@ endif ()
 find_package(CUDA)
 find_package(Eigen3 QUIET)
 
-####### Melodic Checks
-SET (CPU_ONLY FALSE)
-if (CUDA_FOUND AND "$ENV{ROS_DISTRO}" STREQUAL "melodic" )
-    if(${CMAKE_VERSION} VERSION_LESS "3.12.3")
-        message("GPU support on Melodic requires CMake version>= 3.12.3")
-        SET (CPU_ONLY TRUE)
-    else()
-        if (${EIGEN3_VERSION_STRING} VERSION_LESS "3.3.5")
-            message("GPU support on Melodic requires Eigen version>= 3.3.5")
-            SET (CPU_ONLY TRUE)
-        endif()
-    endif()
-endif()
-####### End Melodic Checks
-
-if (NOT CPU_ONLY AND CUDA_FOUND)
+if (ENABLE_CUDA AND CUDA_FOUND)
     add_definitions(-DCUDA_FOUND)
     list(APPEND PCL_OPENMP_PACKAGES ndt_gpu)
 endif ()
@@ -105,7 +90,7 @@ add_executable(ndt_mapping nodes/ndt_mapping/ndt_mapping.cpp)
 target_link_libraries(ndt_mapping ${catkin_LIBRARIES})
 add_dependencies(ndt_mapping ${catkin_EXPORTED_TARGETS})
 
-if (NOT CPU_ONLY AND CUDA_FOUND)
+if (ENABLE_CUDA AND CUDA_FOUND)
     target_include_directories(ndt_matching PRIVATE ${CUDA_INCLUDE_DIRS})
     target_include_directories(ndt_mapping PRIVATE ${CUDA_INCLUDE_DIRS})
 endif ()

diff --git a/ros/src/util/packages/autoware_launcher/plugins/refs/native_motion_predict.yaml b/ros/src/util/packages/autoware_launcher/plugins/refs/native_motion_predict.yaml
@@ -4,12 +4,13 @@ args:
 - {name: interval_sec, type: real, default: 0.1}
 - {name: num_prediction, type: int, default: 10}
 - {name: sensor_height, type: real, default: 2.0}
+- {name: filter_out_close_object_threshold, type: real, default: 1.5}
 - {name: input_topic, type: str, default: /detection/objects}
-
 panel:
   widget: node.panel
   frames:
   - {target: args.interval_sec, widget: basic.real}
   - {target: args.num_prediction, widget: basic.int}
   - {target: args.sensor_height, widget: basic.real}
+  - {target: args.filter_out_close_object_threshold, widget: basic.real}
   - {target: args.input_topic, widget: basic.text}