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dbrt getting started doesn't work for kinetic
Hey the dbrt_getting_started repo does not work for kinectic (I couldn't find a kinetic specific branch). You just need to change some of the urdf specifications. I created a separate repo for people who are using kinetic: https://github.com/amichlee/dbrt_getting_started
I can't access the MPI git so can't do a pull request. Hopefully someone can add this branch to the existing code.
GPU Compilation Not Working
Hello Jan,
Sorry to bother you, but I've had problems for a while getting the code to compile with the GPU flag set to On. I have installed CUDA 8.0 correctly on my machine (Ubuntu 16.04) and have even tested that it works with sample CUDA code. However, when I try to compule dbot/dbot_ros using CUDA and ROS, I am getting the following:
[ 87%] Linking CXX executable /home/lev/projects/tracking/devel/lib/dbot_ros/interactive_markers_initializer_node
/home/lev/projects/tracking/devel/lib/libdbot.so: undefined reference to `cudaGraphicsUnregisterResource'
/home/lev/projects/tracking/devel/lib/libdbot.so: undefined reference to `cudaGetLastError'
/home/lev/projects/tracking/devel/lib/libdbot.so: undefined reference to `cudaGraphicsSubResourceGetMappedArray'
/home/lev/projects/tracking/devel/lib/libdbot.so: undefined reference to `cudaGraphicsMapResources'
/home/lev/projects/tracking/devel/lib/libdbot.so: undefined reference to `cudaGraphicsUnmapResources'
/home/lev/projects/tracking/devel/lib/libdbot.so: undefined reference to `cudaGraphicsGLRegisterImage'
/home/lev/projects/tracking/devel/lib/libdbot.so: undefined reference to `cudaGetErrorString'
collect2: error: ld returned 1 exit status
dbot_ros/CMakeFiles/interactive_markers_initializer_node.dir/build.make:414: recipe for target '/home/lev/projects/tracking/devel/lib/dbot_ros/interactive_markers_initializer_node' failed
make[2]: *** [/home/lev/projects/tracking/devel/lib/dbot_ros/interactive_markers_initializer_node] Error 1
CMakeFiles/Makefile2:11674: recipe for target 'dbot_ros/CMakeFiles/interactive_markers_initializer_node.dir/all' failed
make[1]: *** [dbot_ros/CMakeFiles/interactive_markers_initializer_node.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 87%] Linking CXX executable /home/lev/projects/tracking/devel/lib/dbot_ros/object_tracker_controller_service
/home/lev/projects/tracking/devel/lib/libdbot.so: undefined reference to `cudaGraphicsUnregisterResource'
/home/lev/projects/tracking/devel/lib/libdbot.so: undefined reference to `cudaGetLastError'
/home/lev/projects/tracking/devel/lib/libdbot.so: undefined reference to `cudaGraphicsSubResourceGetMappedArray'
/home/lev/projects/tracking/devel/lib/libdbot.so: undefined reference to `cudaGraphicsMapResources'
/home/lev/projects/tracking/devel/lib/libdbot.so: undefined reference to `cudaGraphicsUnmapResources'
/home/lev/projects/tracking/devel/lib/libdbot.so: undefined reference to `cudaGraphicsGLRegisterImage'
/home/lev/projects/tracking/devel/lib/libdbot.so: undefined reference to `cudaGetErrorString'
collect2: error: ld returned 1 exit status
dbot_ros/CMakeFiles/object_tracker_controller_service.dir/build.make:414: recipe for target '/home/lev/projects/tracking/devel/lib/dbot_ros/object_tracker_controller_service' failed
make[2]: *** [/home/lev/projects/tracking/devel/lib/dbot_ros/object_tracker_controller_service] Error 1
CMakeFiles/Makefile2:13032: recipe for target 'dbot_ros/CMakeFiles/object_tracker_controller_service.dir/all' failed
make[1]: *** [dbot_ros/CMakeFiles/object_tracker_controller_service.dir/all] Error 2
[ 90%] Linking CXX executable /home/lev/projects/tracking/devel/lib/dbot_ros/pcd2binvox
[ 93%] Linking CXX executable /home/lev/projects/tracking/devel/lib/dbot_ros/gaussian_tracker
[ 93%] Built target pcd2binvox
/usr/bin/ld: /home/lev/projects/tracking/devel/lib/dbot_ros/gaussian_tracker: hidden symbol `cudaGraphicsUnregisterResource' in /usr/local/cuda/lib64/libcudart_static.a(libcudart_static.a.o) is referenced by DSO
/usr/bin/ld: final link failed: Bad value
collect2: error: ld returned 1 exit status
dbot_ros/CMakeFiles/gaussian_tracker.dir/build.make:414: recipe for target '/home/lev/projects/tracking/devel/lib/dbot_ros/gaussian_tracker' failed
make[2]: *** [/home/lev/projects/tracking/devel/lib/dbot_ros/gaussian_tracker] Error 1
CMakeFiles/Makefile2:11754: recipe for target 'dbot_ros/CMakeFiles/gaussian_tracker.dir/all' failed
make[1]: *** [dbot_ros/CMakeFiles/gaussian_tracker.dir/all] Error 2
[ 93%] Linking CXX executable /home/lev/projects/tracking/devel/lib/dbot_ros/pcl_example
[ 93%] Built target pcl_example
[ 96%] Linking CXX executable /home/lev/projects/tracking/devel/lib/dbot_ros/object_tracker_service
[100%] Linking CXX executable /home/lev/projects/tracking/devel/lib/dbot_ros/particle_tracker
/usr/bin/ld: /home/lev/projects/tracking/devel/lib/dbot_ros/object_tracker_service: hidden symbol `cudaGraphicsUnregisterResource' in /usr/local/cuda/lib64/libcudart_static.a(libcudart_static.a.o) is referenced by DSO
/usr/bin/ld: final link failed: Bad value
collect2: error: ld returned 1 exit status
dbot_ros/CMakeFiles/object_tracker_service.dir/build.make:414: recipe for target '/home/lev/projects/tracking/devel/lib/dbot_ros/object_tracker_service' failed
make[2]: *** [/home/lev/projects/tracking/devel/lib/dbot_ros/object_tracker_service] Error 1
CMakeFiles/Makefile2:11714: recipe for target 'dbot_ros/CMakeFiles/object_tracker_service.dir/all' failed
make[1]: *** [dbot_ros/CMakeFiles/object_tracker_service.dir/all] Error 2
/usr/bin/ld: /home/lev/projects/tracking/devel/lib/dbot_ros/particle_tracker: hidden symbol `cudaGraphicsUnregisterResource' in /usr/local/cuda/lib64/libcudart_static.a(libcudart_static.a.o) is referenced by DSO
/usr/bin/ld: final link failed: Bad value
collect2: error: ld returned 1 exit status
dbot_ros/CMakeFiles/particle_tracker.dir/build.make:414: recipe for target '/home/lev/projects/tracking/devel/lib/dbot_ros/particle_tracker' failed
make[2]: *** [/home/lev/projects/tracking/devel/lib/dbot_ros/particle_tracker] Error 1
CMakeFiles/Makefile2:11794: recipe for target 'dbot_ros/CMakeFiles/particle_tracker.dir/all' failed
make[1]: *** [dbot_ros/CMakeFiles/particle_tracker.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j8 -l8" failed
Any help would be greatly appreciated!
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