GPU support on Melodic (autowarefoundation#2173)

* 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 CMake, CUDA, Eigen version checks for the CUDA accelerated nodes Add CUDA enabled CI Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * Remove deprecated vision_detector DPM Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * Switch CI to use colcon insead of catkin tools Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * Fix travis ci syntax file Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * switch from colcon to catkin tools on kinetic(not supported on industrial_ci) Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * CUDA CMake checks for lidar_localizer Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * CUDA CMake checks for lidar_apollo_cnn_seg_detect Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * CUDA CMake checks for vision_segment_enet_detect Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * CUDA CMake checks for vision_ssd_detect Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * CUDA CMake checks for lidar_point_pillars Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * 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 non-required Eigen check on lidar_apollo_cnn_seg_detect package Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * Add Driveworks check on ARM64/CUDA devices for autoware_driveworks_gmsl_interface package Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * Add Driveworks check on ARM64/CUDA devices for autoware_driveworks_interface package Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * 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> * Remove unnecesary gstreamer1.0-plugins-good dependency from pointgrey_drivers Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * fix install directive for waypoint extractor (autowarefoundation#2219) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
astuff · May 22, 2019 · b3c31e4 · b3c31e4
1 parent 0a057f3
commit b3c31e4
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Showing 91 changed files with 131 additions and 19,311 deletions.
diff --git a/.travis.yml b/.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
diff --git a/docs/quick_start/my_mission_planning.launch b/docs/quick_start/my_mission_planning.launch
@@ -17,7 +17,7 @@
 
   <!-- waypoint_loader -->
   <node pkg="rostopic" type="rostopic" name="config_waypoint_loader_rostopic"
-        args="pub -l /config/waypoint_loader autoware_config_msgs/ConfigWaypointLoader
+        args="pub -l /config/waypoint_loader autoware_config_msgs/ConfigWaypointReplanner
         '{multi_lane_csv: '$(env HOME)/.autoware/data/path/moriyama_path.txt', replanning_mode: false, velocity_max: 20.0, velocity_min: 4.0, accel_limit: 0.98, decel_limit: 0.98, radius_thresh: 20.0, radius_min: 6.0, resample_mode: true, resample_interval: 1.0, velocity_offset: 4, end_point_offset: 5}' "
   />
   <include file="$(find waypoint_maker)/launch/waypoint_loader.launch" />

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
@@ -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

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
@@ -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})

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
@@ -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)