Problems compiling with NVCC

[jhenning203]

Environment

• OS Version: 20.04
• RTX 4090
• ROS noetic
• gazebo-11
• CUDA 12.2
• In this specific case: math-6

Description

Hello there. I am working on a Simulation of a radar sensor using ROS and gazebo. For the acceleration of some calculations I want to use CUDA. CUDA-code and non-CUDA code are seperated in different files. But both of them contain thesame header file because of gazebo specifc data types that are passed to the kernels. While compiling I got the following error message:

/usr/include/ignition/math6/gz/math/graph/Graph.hh: In member function ‘EdgeType& ignition::math::v6::graph::Graph<V, E, EdgeType>::LinkEdge(const EdgeType&)’:
/usr/include/ignition/math6/gz/math/graph/Graph.hh:249:67: error: expected ‘;’ before ‘}’ token
  249 |       for (auto const &v : {edgeVertices.first, edgeVertices.second})
      |                                                                   ^
      |                                                                   ;
/usr/include/ignition/math6/gz/math/graph/Graph.hh:266:67: error: expected ‘;’ before ‘}’ token
  266 |       for (auto const &v : {edgeVertices.first, edgeVertices.second})
      |                                                                   ^
      |                                                                   ;
/usr/include/ignition/math6/gz/math/graph/Graph.hh: In member function ‘bool ignition::math::v6::graph::Graph<V, E, EdgeType>::RemoveEdge(const EdgeId&)’:
/usr/include/ignition/math6/gz/math/graph/Graph.hh:614:67: error: expected ‘;’ before ‘}’ token
  614 |       for (auto const &v : {edgeVertices.first, edgeVertices.second})

I think NVCC has problems with the syntax {edgeVertices.first, edgeVertices.second} in Graph.hh.

Steps to reproduce

1. Software as mentioned above
2. The following configuration in CMakeLists.txt:

set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CUDA_STANDARD 17)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g")

set(CUDA_NVCC_FLAGS "-arch=compute_89" CACHE STRING "nvcc flags" FORCE)
set(CUDA_NVCC_FLAGS "${CUDA_NVCC_FLAGS}; -std=c++17 --expt-relaxed-constexpr")
set(CUDA_NVCC_EXECUTABLE "/usr/local/cuda-12.2/bin/nvcc")
set(CMAKE_CUDA_COMPILER "${CUDA_NVCC_EXECUTABLE}")
set(CUDA_VERBOSE_BUILD ON CACHE BOOL "nvcc verbose" FORCE) 
set(LIB_TYPE STATIC)
add_library(somelibrary SHARED src/test.cpp)
target_include_directories(somelibrary PUBLIC ${GAZEBO_INCLUDE_DIRS})
target_link_libraries(somelibrary ${GAZEBO_LIBRARIES})

cuda_add_library(cuda_lib ${LIB_TYPE} src/test.cu OPTIONS -Xcompiler -fPIC)

target_include_directories(cuda_lib PUBLIC ${CUDA_INCLUDE_DIRS})

target_link_libraries(cuda_lib  
  ${catkin_LIBRARIES}
  ${CUDA_LIBRARIES}
  somelibrary
)

add_executable(Testexe src/test.cpp)
add_dependencies(somelibrary  ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(Testexe  ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(Testexe somelibrary cuda_lib) 

Output

I am not sure why this error occurs, becuse gcc has no problems compiling my non-CUDA code where math-6 is also included.
It might be a faulty CMakeLists.txt or a bug in NVCC itself.

Possible solution?

I "fixed" the problem by updating Grph.hh. I know it is not the best and recomandable way but in my case it works.

std::vector<decltype(edgeVertices.first)>temp = {edgeVertices.first, edgeVertices.second};

for (auto const &v : temp)
{
if (this->vertices.find(v) == this->vertices.end())
return EdgeType::NullEdge;
}

Is there any other possibility to fix this Problem?

[azeey]

I'm not sure how to fix this since this is valid code (initializer list in a range-for loop) and compiles on all of our supported platforms. I think it's best to ask in https://robotics.stackexchange.com/. I'll go ahead and close this since it's not a big in gz-math.