如何在ros2中使用cuda

孤独的幸存者

各位大佬好，现在有个问题，我自己用cmake写了一个cuda的静态库，用来加速处理图像，但是我用cmake编译没有问题，但是使用colcon buildi编译/usr/bin/ld就会报错：找不到静态库里的符号，请问各位大佬有思路解决吗？

Elysia

参考 colcon build 的使用帮助

Arguments for 'cmake' packages:
  --cmake-args [* [* ...]]
                        Pass arguments to CMake projects. Arguments matching other options must be
                        prefixed by a space,
                        e.g. --cmake-args " --help" (stdout might not be shown by default, e.g.
                        add `--event-handlers console_cohesion+`)
  --cmake-target CMAKE_TARGET
                        Build a specific target instead of the default target
  --cmake-target-skip-unavailable
                        Skip building packages which don't have the target passed to --cmake-
                        target
  --cmake-clean-cache   Remove CMake cache before the build (implicitly forcing CMake configure
                        step)
  --cmake-clean-first   Build target 'clean' first, then build (to only clean use '--cmake-target
                        clean')
  --cmake-force-configure
                        Force CMake configure step

Arguments for 'ros.ament_cmake' packages:
  --ament-cmake-args [* [* ...]]
                        Pass arguments to 'ament_cmake' packages. Arguments matching other options
                        must be prefixed by a space

Arguments for 'ros.catkin' packages:
  --catkin-cmake-args [* [* ...]]
                        Pass arguments to 'catkin' packages. Arguments matching other options must
                        be prefixed by a space
  --catkin-skip-building-tests
                        By default the 'tests' target of 'catkin' packages is invoked. If running
                        'colcon test' later isn't intended this can be skipped

比如：

$ colcon build  --ament-cmake-args -DTEST_PARAM="Test"
Starting >>> example_ros2_interfaces
Starting >>> example_cpp
--- stderr: example_cpp                                                                            
CMake Error at CMakeLists.txt:9 (message):
  Test param detected! Aborting,

使用了--ament-cmake-args 为cmake指定参数

Elysia

可以这样将参数传递给cmake