如何使用ros实现cuda的单独编译?

默认情况下,除非允许单独编译/链接设备代码,否则CUDA要求在单个翻译/编译单元中编译所有设备代码。

但是我如何在一个cmakelist.txt中为ros(或者更一般的camke)启用它呢?

以下是我当前的cmakelist文件:

cmake_minimum_required(VERSION 2.8.3)
project(edt)
set(ROS_BUILD_TYPE Debug)
set(CMAKE_BUILD_TYPE Debug)

# Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
    roscpp
    rospy
    std_msgs
    )

FIND_PACKAGE(CUDA REQUIRED)
SET(CUDA_NVCC_FLAGS "-arch=sm_61;-g;-G" CACHE STRING "nvcc flags" FORCE)
SET (CUDA_VERBOSE_BUILD ON CACHE BOOL "nvcc verbose" FORCE)


catkin_package(
    INCLUDE_DIRS include
    CATKIN_DEPENDS roscpp rospy std_msgs message_runtime
    )

include_directories(
    include
    ${catkin_INCLUDE_DIRS}
    ${ZED_INCLUDE_DIRS}
    )

cuda_add_executable(
    ${PROJECT_NAME}_node
    src/main.cpp
    src/test.cu
    src/test2.cu
    )

add_dependencies(
    ${PROJECT_NAME}_node
    ${${PROJECT_NAME}_EXPORTED_TARGETS}
    ${catkin_EXPORTED_TARGETS}
    )

## Specify libraries to link a library or executable target against
target_link_libraries(
    ${PROJECT_NAME}_node
    ${catkin_LIBRARIES}
    ${ZED_LIBRARIES}
    )

这个 test2.cu定义了在test.cu中调用的函数 (见 cuda_add_可执行文件 在cmakelist中),它当前给出的错误是不能创建.o文件。