GPU support on Melodic

.travis.yml

@@ -1,20 +1,15 @@
 language: generic
 services:
   - docker
-cache:
-  directories:
-    - $HOME/.ccache
-env:
-  global:
-    - CCACHE_DIR=$HOME/.ccache
+
+env:  
   matrix:
     - ROS_DISTRO="kinetic" _GUARD_INTERVAL=10 CATKIN_PARALLEL_JOBS='-p2' ROS_PARALLEL_JOBS='-j2' NOT_TEST_BUILD='true' NOT_TEST_INSTALL='true'
-    - ROS_DISTRO="melodic" _GUARD_INTERVAL=10 CATKIN_PARALLEL_JOBS='-p2' ROS_PARALLEL_JOBS='-j2' NOT_TEST_BUILD='true' NOT_TEST_INSTALL='true'
-matrix:
-  allow_failures:
-    - env: ROS_DISTRO="melodic" _GUARD_INTERVAL=10 CATKIN_PARALLEL_JOBS='-p2' ROS_PARALLEL_JOBS='-j2' NOT_TEST_BUILD='true' NOT_TEST_INSTALL='true'
+    - ROS_DISTRO="kinetic" _GUARD_INTERVAL=10 CATKIN_PARALLEL_JOBS='-p2' ROS_PARALLEL_JOBS='-j2' NOT_TEST_BUILD='true' NOT_TEST_INSTALL='true' DOCKER_BASE_IMAGE=nvidia/cuda:9.0-cudnn7-devel-ubuntu16.04
+    - ROS_DISTRO="melodic" _GUARD_INTERVAL=10 CATKIN_PARALLEL_JOBS='-p2' ROS_PARALLEL_JOBS='-j2' NOT_TEST_BUILD='true' NOT_TEST_INSTALL='true' BUILDER=colcon
+    - ROS_DISTRO="melodic" _GUARD_INTERVAL=10 CATKIN_PARALLEL_JOBS='-p2' ROS_PARALLEL_JOBS='-j2' NOT_TEST_BUILD='true' NOT_TEST_INSTALL='true' DOCKER_BASE_IMAGE=nvidia/cuda:10.0-cudnn7-devel-ubuntu18.04 BUILDER=colcon
 
 install:
-  - git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci.git .industrial_ci
+  - git clone --branch colcon --quiet --depth 1 https://github.com/ipa-mdl/industrial_ci.git .industrial_ci
 script:
   - .industrial_ci/travis.sh

ros/src/computing/perception/detection/lidar_detector/packages/lidar_apollo_cnn_seg_detect/CMakeLists.txt

@@ -28,17 +28,25 @@ catkin_package(
         autoware_msgs
 )
 
-IF (CUDA_FOUND)
+###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}")
     include_directories(${CUDA_INCLUDE_DIRS})
 
     IF ("${CMAKE_SYSTEM_PROCESSOR}" MATCHES "^arm")
         link_directories(/usr/lib/arm-linux-gnueabihf/tegra)
     endif ()
-ENDIF ()
-###CAFFE
-set(CAFFE_PATH "$ENV{HOME}/caffe/distribute")
-
-if (EXISTS "${CAFFE_PATH}")
 
     include_directories(
             include

ros/src/computing/perception/detection/lidar_detector/packages/lidar_euclidean_cluster_detect/CMakeLists.txt

@@ -64,7 +64,22 @@ add_executable(lidar_euclidean_cluster_detect
         nodes/lidar_euclidean_cluster_detect/cluster.cpp)
 
 find_package(CUDA)
-if (${CUDA_FOUND})
+find_package(Eigen3 QUIET)
+####### Melodic Checks
+SET (CPU_ONLY FALSE)
+if (CUDA_FOUND AND "$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)
     message("-- USING ACCELERATED CLUSTERING --")
     message("Version: " ${CUDA_VERSION})

ros/src/computing/perception/detection/lidar_detector/packages/lidar_point_pillars/CMakeLists.txt

@@ -4,13 +4,24 @@ project(lidar_point_pillars)
 # set flags for CUDA availability
 option(CUDA_AVAIL "CUDA available" OFF)
 find_package(CUDA)
-if (CUDA_FOUND)
+
+####### 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)
   message("CUDA is available!")
   message("CUDA Libs: ${CUDA_LIBRARIES}")
   message("CUDA Headers: ${CUDA_INCLUDE_DIRS}")
   set(CUDA_AVAIL ON)
 else()
-  message("CUDA NOT FOUND")
+  message("CUDA NOT FOUND OR INCOMPATIBLE CMAKE VERSION FOUND")
   set(CUDA_AVAIL OFF)
 endif (CUDA_FOUND)