using cmake, I got a ploblem compile made by gpu coder static library(.a)

I wannna compile including static library(.a) function made by gpu coder in jetson xavier and execute code on ROS.

I already successed making static library using gpu coder.

I think that in CMakeLists, setting library path is well.

but I got a ploblem when complile .cpp file through cmake in Xavier.

I attach error code and CMakeLists file.

help me!!!!!

/home/nvidia/catkin_ws/src/realtime_inpainting/src/wrapper/wrapper.a(wrapper.o): In function `__sti____cudaRegisterAll()':

tmpxft_00002175_00000000-5_wrapper.cudafe1.cpp:(.text.startup+0x20): undefined reference to `__cudaRegisterLinkedBinary_42_tmpxft_00002175_00000000_6_wrapper_cpp1_ii_96e8f507'

/home/nvidia/catkin_ws/src/realtime_inpainting/src/wrapper/wrapper.a(introsort.o): In function `__sti____cudaRegisterAll()':

tmpxft_0000244e_00000000-5_introsort.cudafe1.cpp:(.text.startup+0x20): undefined reference to `__cudaRegisterLinkedBinary_44_tmpxft_0000244e_00000000_6_introsort_cpp1_ii_5da2a824'

/home/nvidia/catkin_ws/src/realtime_inpainting/src/wrapper/wrapper.a(insertionsort.o): In function `__sti____cudaRegisterAll()':

tmpxft_000024cb_00000000-5_insertionsort.cudafe1.cpp:(.text.startup+0x20): undefined reference to `__cudaRegisterLinkedBinary_48_tmpxft_000024cb_00000000_6_insertionsort_cpp1_ii_54501cbc'

/home/nvidia/catkin_ws/src/realtime_inpainting/src/wrapper/wrapper.a(heapsort.o): In function `__sti____cudaRegisterAll()':

tmpxft_00002530_00000000-5_heapsort.cudafe1.cpp:(.text.startup+0x20): undefined reference to `__cudaRegisterLinkedBinary_43_tmpxft_00002530_00000000_6_heapsort_cpp1_ii_6b1ad24e'

/home/nvidia/catkin_ws/src/realtime_inpainting/src/wrapper/wrapper.a(wrapper_emxutil.o): In function `__sti____cudaRegisterAll()':

tmpxft_0000259e_00000000-5_wrapper_emxutil.cudafe1.cpp:(.text.startup+0x20): undefined reference to `__cudaRegisterLinkedBinary_50_tmpxft_0000259e_00000000_6_wrapper_emxutil_cpp1_ii_74fbff25'

/home/nvidia/catkin_ws/src/realtime_inpainting/src/wrapper/wrapper.a(MWLaunchParametersUtilities.o): In function `__sti____cudaRegisterAll()':

tmpxft_000026fb_00000000-5_MWLaunchParametersUtilities.cudafe1.cpp:(.text.startup+0x20): undefined reference to `__cudaRegisterLinkedBinary_62_tmpxft_000026fb_00000000_6_MWLaunchParametersUtilities_cpp1_ii_3d5deff9'

/home/nvidia/catkin_ws/src/realtime_inpainting/src/wrapper/wrapper.a(wrapper_data.o): In function `__sti____cudaRegisterAll()':

tmpxft_000020c9_00000000-5_wrapper_data.cudafe1.cpp:(.text.startup+0x20): undefined reference to `__cudaRegisterLinkedBinary_47_tmpxft_000020c9_00000000_6_wrapper_data_cpp1_ii_7c19101b'

/home/nvidia/catkin_ws/src/realtime_inpainting/src/wrapper/wrapper.a(wrapper_initialize.o): In function `__sti____cudaRegisterAll()':

tmpxft_0000210a_00000000-5_wrapper_initialize.cudafe1.cpp:(.text.startup+0x20): undefined reference to `__cudaRegisterLinkedBinary_53_tmpxft_0000210a_00000000_6_wrapper_initialize_cpp1_ii_9c24d7b2'

[ 84%] Built target stereoimageproc_exe

collect2: error: ld returned 1 exit status

realtime_inpainting/CMakeFiles/inpainting_cuda.dir/build.make:137: recipe for target '/home/nvidia/catkin_ws/devel/lib/realtime_inpainting/inpainting_cuda' failed

make[2]: *** [/home/nvidia/catkin_ws/devel/lib/realtime_inpainting/inpainting_cuda] Error 1

CMakeFiles/Makefile2:7382: recipe for target 'realtime_inpainting/CMakeFiles/inpainting_cuda.dir/all' failed

make[1]: *** [realtime_inpainting/CMakeFiles/inpainting_cuda.dir/all] Error 2

make[1]: *** Waiting for unfinished jobs....

[ 86%] Built target tf2_ros_static_transform_publisher

[ 87%] Built target kinect2_bridge

[ 87%] Built target image_rotate

[ 93%] Built target depth_image_proc

[ 94%] Built target kinect2_bridge_nodelet

Makefile:140: recipe for target 'all' failed

make: *** [all] Error 2

Invoking "make -j8 -l8" failed

Answer 1

[Chao Luo]

Hi DaHoon,

The static library created by GPU Coder contains reallocatable CUDA device code, that can only be linked by nvcc. g++ cannot link CUDA device code. To fix this issue, you can use nvcc instead of g++ to link. Or use GPU Coder to create a dynamic library (.so), where the device code has already been linked by nvcc, that you can use g++ to link.

Chao

[DaHoon Jeong]

gpu coder generate target option : NVIDIA JETSON only available .a or .exe

so, I only can select static library. How do I link .a file by nvcc??

I already search google etc and try link nvcc but, I can't compile again.

I'm sorry but I need your answer for linked by nvcc.

[Chao Luo]

Could you try this:

link the device code in static library to a device code obj dlink.o using nvcc:

nvcc -arch=sm_35 -dlink wrapper.a -o dlink.o

add dlink.o before warpper.a in your final link command:

g++ ... dlink.o wrapper.a ...

You may need to replace -arch=sm_35 to the compute compability you used in generating the wrapper.a.

[Vlasov Aleksandr]

Hello, I'm also trying to build a static library from alexnet, only with ROS.

half a year trying to find the source of the error: nvcc fatal: Don't know what to do with '/usr/lib/x86_64-linux-gnu/libconsole_bridge.so.0.4'

I set flags like this:

set (CMAKE_C_COMPILER $ {CUDA_NVCC_EXECUTABLE})

set (CMAKE_CXX_COMPILER $ {CUDA_NVCC_EXECUTABLE})

# Eliminate GCC Specific Compiler Flags

set (CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS "")

set (CMAKE_EXECUTABLE_RUNTIME_CXX_FLAG "")

please tell me where is the source of the problem

[Chao Luo]

Hi Vlasov,

NVCC may not understand a library with version number, like libconsole_bridge.so.0.4. There are two possible solutions.

1. Create a symbolic link to the library, for example, libconsole_bridge.so -> libconsole_bridge.so.0.4, and link to the symbolic link using NVCC.
2. Pass the library directly to the host linker by prepending "-Xlinker", for example, nvcc -Xlinker libconsole_bridge.so.0.4 ...

Chao

[Vlasov Aleksandr]

Could you give an example of how to write this in CmakeList.txt?

[Chao Luo]

Hi Vlasov,

I am not experienced with cmake. And I don't see how libconsole_bridge.so.0.4 was added in your cmake.

One thing you can try:

Search libconsole_bridge.so.0.4 in your cmake, and replace it with libconsole_bridge.so. I assume there is already a soft link from libconsole_bridge.so to libconsole_bridge.so.0.4.

Chao

[Vlasov Aleksandr]

Excuse me, I don't understand how to link to libconsole_bridge.so. I can't find anything useful on the Internet, could you tell me which command can do this?