[Bug] ndt_gpu not built using catkin_make_release/colcon_release on ros kinetic gpu desktop

[manikantarav]

I git cloned the autoware recent release. at last step, after ./calcon_release, ndt_gpu package could not built, giving error. i posted log here. same issue, if even use catkin_make_release

Bug

Expected Behavior

Autoware should have been bulit successfully.

Actual Behavior

ptxas info : Used 56 registers, 144 bytes smem, 448 bytes cmem[0]
ptxas info : Compiling entry function 'ZN3gpu20computePointHessian0EPfS0_S0_iPiiPdS2_S2_S2_S2_S2_S2_S2_S2_S2_S2_S2_S2_S2_S2_S2' for 'sm_52'
ptxas info : Function properties for ZN3gpu20computePointHessian0EPfS0_S0_iPiiPdS2_S2_S2_S2_S2_S2_S2_S2_S2_S2_S2_S2_S2_S2_S2
0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
ptxas info : Used 56 registers, 144 bytes smem, 496 bytes cmem[0]
ptxas info : Compiling entry function 'ZN3gpu22computePointGradients1EPfS0_S0_iPiiPdS2_S2_S2_S2' for 'sm_52'
ptxas info : Function properties for ZN3gpu22computePointGradients1EPfS0_S0_iPiiPdS2_S2_S2_S2
0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
ptxas info : Used 40 registers, 96 bytes smem, 408 bytes cmem[0]
ptxas info : Compiling entry function 'ZN3gpu22computePointGradients0EPfS0_S0_iPiiPdS2_S2_S2_S2_S2_S2_S2' for 'sm_52'
ptxas info : Function properties for ZN3gpu22computePointGradients0EPfS0_S0_iPiiPdS2_S2_S2_S2_S2_S2_S2
0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
ptxas info : Used 40 registers, 96 bytes smem, 432 bytes cmem[0]
/usr/include/pcl-1.7/pcl/point_cloud.h:586:100: error: template-id ‘getMapping’ used as a declarator
friend boost::shared_ptr& detail::getMapping(pcl::PointCloud &p);
^
/usr/include/pcl-1.7/pcl/point_cloud.h:586:100: error: ‘getMapping’ is neither function nor member function; cannot be declared friend
cc1plus: error: expected ‘;’ at end of member declaration
/usr/include/pcl-1.7/pcl/point_cloud.h:586:111: error: expected ‘)’ before ‘&’ token
CMake Error at ndt_gpu_generated_NormalDistributionsTransform.cu.o.cmake:266 (message):
Error generating file
/home/kpit/manikanta/Autoware/ros/build/ndt_gpu/CMakeFiles/ndt_gpu.dir/src/./ndt_gpu_generated_NormalDistributionsTransform.cu.o

make[2]: *** [CMakeFiles/ndt_gpu.dir/src/ndt_gpu_generated_NormalDistributionsTransform.cu.o] Error 1
CMakeFiles/ndt_gpu.dir/build.make:77: recipe for target 'CMakeFiles/ndt_gpu.dir/src/ndt_gpu_generated_NormalDistributionsTransform.cu.o' failed
CMakeFiles/Makefile2:259: recipe for target 'CMakeFiles/ndt_gpu.dir/all' failed
make[1]: *** [CMakeFiles/ndt_gpu.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2

Steps to Reproduce the Problem

1.clone Autoware
2. ./colcon_release or ./catkin_make_release

Specifications

• Ubuntu version: 16.04
• ROS version: ROS kinetic
• Autoware branch: 1.10.0
• NVIDIA Drivers: Driver Version: 418.43 CUDA Version: 10.1
• GPU: Geforce RTX 2080
  streams.log
  command.log
  stdout_stderr.log

[sgermanserrano]

@manikantarav colcon_release is supported from v1.11 and for the develop branch. For v1.10 you should build using catkin_make_release

[manikantarav]

Now i build using catkin_make_release. But same error. Here i shared the logs. please check and

---

[ 42%] Generating Javascript code from autoware_msgs/ImageRect.msg
[ 42%] Generating Lisp code from vector_map_msgs/SideWalk.msg
[ 42%] Generating Javascript code from vector_map_msgs/PointArray.msg
[ 42%] Generating Python from MSG vector_map_msgs/RoadMark
CMake Error at ndt_gpu_generated_NormalDistributionsTransform.cu.o.cmake:266 (message):
Error generating file
/home/kpit/manikanta/Autoware/ros/build/computing/perception/localization/lib/ndt_gpu/CMakeFiles/ndt_gpu.dir/src/./ndt_gpu_generated_NormalDistributionsTransform.cu.o

[ 42%] Generating EusLisp code from vector_map_msgs/Point.msg
computing/perception/localization/lib/ndt_gpu/CMakeFiles/ndt_gpu.dir/build.make:77: recipe for target 'computing/perception/localization/lib/ndt_gpu/CMakeFiles/ndt_gpu.dir/src/ndt_gpu_generated_NormalDistributionsTransform.cu.o' failed
make[2]: *** [computing/perception/localization/lib/ndt_gpu/CMakeFiles/ndt_gpu.dir/src/ndt_gpu_generated_NormalDistributionsTransform.cu.o] Error 1
CMakeFiles/Makefile2:2181: recipe for target 'computing/perception/localization/lib/ndt_gpu/CMakeFiles/ndt_gpu.dir/all' failed
make[1]: *** [computing/perception/localization/lib/ndt_gpu/CMakeFiles/ndt_gpu.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 42%] Generating C++ code from vector_map_msgs/StreetLight.msg
[ 42%] Generating C++ code from vector_map_msgs/FenceArray.msg
[ 42%] Generating C++ code from autoware_msgs/BrakeCmd.msg
[ 42%] Generating C++ code from vector_map_msgs/StreetLightArray.msg
[ 42%] Generating C++ code from autoware_msgs/ICPStat.msg
[ 42%] Generating C++ code from autoware_msgs/Signals.msg
[ 42%] Generating C++ code from autoware_msgs/AdjustXY.msg
[ 42%] Generating C++ code from autoware_msgs/StateCmd.msg
[ 42%] Generating Javascript code from autoware_msgs/DetectedObject.msg
[ 42%] Generating Javascript code from vector_map_msgs/CrossRoad.msg
[ 42%] Generating Lisp code from vector_map_msgs/WhiteLineArray.msg
[ 42%] Generating Python from MSG vector_map_msgs/CrossWalk
[ 42%] Generating EusLisp code from vector_map_msgs/Pole.msg
[ 42%] Generating Javascript code from vector_map_msgs/WhiteLine.msg
[ 42%] Generating C++ code from vector_map_msgs/RailCrossing.msg
[ 42%] Generating Lisp code from vector_map_msgs/Curb.msg
[ 42%] Generating Javascript code from autoware_msgs/VscanTracked.msg
[ 42%] Building CXX object sensing/drivers/lidar/packages/sick/ldmrs/sick_ldmrs_driver/src/driver/src/CMakeFiles/LDMRS_Example.dir/main.cpp.o
[ 42%] Linking CXX shared library /home/kpit/manikanta/Autoware/ros/devel/lib/libsick_ldmrs.so
[ 42%] Generating EusLisp code from vector_map_msgs/PointArray.msg
[ 42%] Generating EusLisp code from vector_map_msgs/CrossRoad.msg
[ 42%] Generating Javascript code from vector_map_msgs/WallArray.msg
[ 42%] Generating C++ code from vector_map_msgs/SideWalk.msg

---

CMakeError.log
CMakeOutput.log

[sgermanserrano]

we are currently resolving issues that arise with CUDA 10 (@amc-nu ) you need to use CUDA 9 for now

[amc-nu]

This is caused by your CUDA version. Downgrade to cuda 9.

[manikantarav]

CMakeError.log
CMakeOutput.log

Thank you for quick reply. now i Downgraded it to CUDA 9. still couldnot build. can you check once. @amc-nu @sgermanserrano

---

[ 1%] Linking CXX executable /home/kpit/manikanta/Autoware/ros/devel/lib/adi_driver/adis16470_node
[ 1%] Built target _lgsvl_msgs_generate_messages_check_deps_Detection2D
[ 1%] Built target adxl345_node
Scanning dependencies of target cuda_binary
Scanning dependencies of target _autoware_can_msgs_generate_messages_check_deps_CANData
Scanning dependencies of target _autoware_can_msgs_generate_messages_check_deps_CANPacket
[ 1%] Generating GPU_function.cubin
nvcc fatal : Value 'sm_75' is not defined for option 'gpu-architecture'
computing/perception/detection/vision_detector/libs/dpm_ttic/CMakeFiles/cuda_binary.dir/build.make:60: recipe for target 'computing/perception/detection/vision_detector/libs/dpm_ttic/GPU_function.cubin' failed
make[2]: *** [computing/perception/detection/vision_detector/libs/dpm_ttic/GPU_function.cubin] Error 1
CMakeFiles/Makefile2:15712: recipe for target 'computing/perception/detection/vision_detector/libs/dpm_ttic/CMakeFiles/cuda_binary.dir/all' failed
make[1]: *** [computing/perception/detection/vision_detector/libs/dpm_ttic/CMakeFiles/cuda_binary.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 1%] Built target _autoware_can_msgs_generate_messages_check_deps_CANData
[ 1%] Built target _autoware_can_msgs_generate_messages_check_deps_CANPacket
[ 1%] Built target adis16470_node
[ 1%] Linking CXX executable /home/kpit/manikanta/Autoware/ros/devel/lib/hexacam/hexacam_node
[ 1%] Built target hexacam_node
[ 1%] Linking CXX executable /home/kpit/manikanta/Autoware/ros/devel/lib/fake_drivers/fake_camera
[ 1%] Linking CXX shared library /home/kpit/manikanta/Autoware/ros/devel/lib/libfastvirtualscan.so
[ 1%] Built target fastvirtualscan
[ 1%] Linking CXX executable /home/kpit/manikanta/Autoware/ros/devel/lib/vectacam/vectacam_node
[ 1%] Built target fake_camera
[ 1%] Built target vectacam_node
ptxas info : 0 bytes gmem
ptxas info : Compiling entry function '_ZN3gpu12convertInputIN3pcl8PointXYZEEEvPT_PfS5_S5_i' for 'sm_52'
ptxas info : Function properties for _ZN3gpu12convertInputIN3pcl8PointXYZEEEvPT_PfS5_S5_i
0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
ptxas info : Used 14 registers, 356 bytes cmem[0]
ptxas info : Compiling entry function '_ZN3gpu12convertInputIN3pcl9PointXYZIEEEvPT_PfS5_S5_i' for 'sm_52'
ptxas info : Function properties for _ZN3gpu12convertInputIN3pcl9PointXYZIEEEvPT_PfS5_S5_i
0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
ptxas info : Used 14 registers, 356 bytes cmem[0]
[ 1%] Linking CXX executable /home/kpit/manikanta/Autoware/ros/devel/lib/image_processor/image_rotator
[ 1%] Built target image_rotator
[ 1%] Linking CXX executable /home/kpit/manikanta/Autoware/ros/devel/lib/laser_scan_converter/laser_scan_converter_node
[ 1%] Linking CXX executable /home/kpit/manikanta/Autoware/ros/devel/lib/image_processor/image_rectifier
[ 1%] Built target laser_scan_converter_node
[ 1%] Built target image_rectifier
[ 1%] Linking CXX executable /home/kpit/manikanta/Autoware/ros/devel/lib/garmin/garmin_gps_18x_lvc
[ 1%] Built target garmin_gps_18x_lvc
[ 2%] Linking CXX executable /home/kpit/manikanta/Autoware/ros/devel/lib/hokuyo/hokuyo_3d
[ 2%] Built target hokuyo_3d
[ 2%] Linking CXX shared library /home/kpit/manikanta/Autoware/ros/devel/lib/libndt_cpu.so
[ 2%] Built target ndt_cpu
ptxas info : 0 bytes gmem
ptxas info : Compiling entry function '_ZN3gpu6gpuSumIiEEvPT_ii' for 'sm_52'
ptxas info : Function properties for _ZN3gpu6gpuSumIiEEvPT_ii
0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
ptxas info : Used 10 registers, 336 bytes cmem[0]
ptxas info : Compiling entry function '_ZN3gpu6gpuSumIdEEvPT_ii' for 'sm_52'
ptxas info : Function properties for _ZN3gpu6gpuSumIdEEvPT_ii
0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
ptxas info : Used 10 registers, 336 bytes cmem[0]
ptxas info : Compiling entry function '_ZN3gpu12gpuTransformEPfS0_S0_S0_S0_S0_iNS_12MatrixDeviceE' for 'sm_52'
ptxas info : Function properties for _ZN3gpu12gpuTransformEPfS0_S0_S0_S0_S0_iNS_12MatrixDeviceE
0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
ptxas info : Used 40 registers, 400 bytes cmem[0]
ptxas info : Compiling entry function '_ZN3gpu8sumScoreEPdii' for 'sm_52'
ptxas info : Function properties for _ZN3gpu8sumScoreEPdii
0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
ptxas info : Used 12 registers, 336 bytes cmem[0]
ptxas info : Compiling entry function '_ZN3gpu9matrixSumEPdiiiii' for 'sm_52'
ptxas info : Function properties for _ZN3gpu9matrixSumEPdiiiii
0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
ptxas info : Used 13 registers, 348 bytes cmem[0]
ptxas info : Compiling entry function '_ZN3gpu20computeHessianListS2EPfS0_S0_PiS1_S1_iPdS2_S2_dS2_S2_S2_S2_S2_S2_S2_S2_S2_S2_S2_S2_i' for 'sm_52'
ptxas info : Function properties for _ZN3gpu20computeHessianListS2EPfS0_S0_PiS1_S1_iPdS2_S2_dS2_S2_S2_S2_S2_S2_S2_S2_S2_S2_S2_S2_i
0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
ptxas info : Used 40 registers, 508 bytes cmem[0]
ptxas info : Compiling entry function '_ZN3gpu20computeHessianListS1EPfS0_S0_PiS1_S1_iPdS2_S2_ddS2_S2_S2_S2_S2_i' for 'sm_52'
ptxas info : Function properties for _ZN3gpu20computeHessianListS1EPfS0_S0_PiS1_S1_iPdS2_S2_ddS2_S2_S2_S2_S2_i
0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
ptxas info : Used 53 registers, 460 bytes cmem[0]
ptxas info : Compiling entry function '_ZN3gpu20computeHessianListS0EPfS0_S0_PiS1_S1_iPdS2_S2_S2_S2_S2_S2_S2_S2_S2_S2_S2_S2_S2_i' for 'sm_52'
ptxas info : Function properties for _ZN3gpu20computeHessianListS0EPfS0_S0_PiS1_S1_iPdS2_S2_S2_S2_S2_S2_S2_S2_S2_S2_S2_S2_S2_i
0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
ptxas info : Used 32 registers, 492 bytes cmem[0]
ptxas info : Compiling entry function '_ZN3gpu15computeCovDxdPiEPiS0_S0_iPdiddS1_S1_i' for 'sm_52'
ptxas info : Function properties for _ZN3gpu15computeCovDxdPiEPiS0_S0_iPdiddS1_S1_i
0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
ptxas info : Used 32 registers, 404 bytes cmem[0]
ptxas info : Compiling entry function '_ZN3gpu12updateExCovXEPddi' for 'sm_52'
ptxas info : Function properties for _ZN3gpu12updateExCovXEPddi
0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
ptxas info : Used 8 registers, 340 bytes cmem[0]
ptxas info : Compiling entry function 'ZN3gpu13computeExCovXEPfS0_S0_PiS1_S1_iPdS2_S2_ddS2_S2_S2_S2_S2_S2_S2_S2_S2_S2' for 'sm_52'
ptxas info : Function properties for ZN3gpu13computeExCovXEPfS0_S0_PiS1_S1_iPdS2_S2_ddS2_S2_S2_S2_S2_S2_S2_S2_S2_S2
0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
ptxas info : Used 32 registers, 496 bytes cmem[0], 112 bytes cmem[2]
ptxas info : Compiling entry function 'ZN3gpu24computeScoreGradientListEPfS0_S0_PiS1_S1_iPdS2_S2_iS2_S2_diS2' for 'sm_52'
ptxas info : Function properties for ZN3gpu24computeScoreGradientListEPfS0_S0_PiS1_S1_iPdS2_S2_iS2_S2_diS2
0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
ptxas info : Used 40 registers, 448 bytes cmem[0]
ptxas info : Compiling entry function 'ZN3gpu16computeScoreListEPiS0_iPddS1' for 'sm_52'
ptxas info : Function properties for ZN3gpu16computeScoreListEPiS0_iPddS1
0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
ptxas info : Used 32 registers, 368 bytes cmem[0]
ptxas info : Compiling entry function 'ZN3gpu20computePointHessian2EPfS0_S0_iPiiPdS2_S2_S2' for 'sm_52'
ptxas info : Function properties for ZN3gpu20computePointHessian2EPfS0_S0_iPiiPdS2_S2_S2
0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
ptxas info : Used 32 registers, 72 bytes smem, 400 bytes cmem[0]
ptxas info : Compiling entry function 'ZN3gpu20computePointHessian1EPfS0_S0_iPiiPdS2_S2_S2_S2_S2_S2_S2_S2_S2' for 'sm_52'
ptxas info : Function properties for ZN3gpu20computePointHessian1EPfS0_S0_iPiiPdS2_S2_S2_S2_S2_S2_S2_S2_S2
0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
ptxas info : Used 56 registers, 144 bytes smem, 448 bytes cmem[0]
ptxas info : Compiling entry function 'ZN3gpu20computePointHessian0EPfS0_S0_iPiiPdS2_S2_S2_S2_S2_S2_S2_S2_S2_S2_S2_S2_S2_S2_S2' for 'sm_52'
ptxas info : Function properties for ZN3gpu20computePointHessian0EPfS0_S0_iPiiPdS2_S2_S2_S2_S2_S2_S2_S2_S2_S2_S2_S2_S2_S2_S2
0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
ptxas info : Used 56 registers, 144 bytes smem, 496 bytes cmem[0]
ptxas info : Compiling entry function 'ZN3gpu22computePointGradients1EPfS0_S0_iPiiPdS2_S2_S2_S2' for 'sm_52'
ptxas info : Function properties for ZN3gpu22computePointGradients1EPfS0_S0_iPiiPdS2_S2_S2_S2
0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
ptxas info : Used 40 registers, 96 bytes smem, 408 bytes cmem[0]
ptxas info : Compiling entry function 'ZN3gpu22computePointGradients0EPfS0_S0_iPiiPdS2_S2_S2_S2_S2_S2_S2' for 'sm_52'
ptxas info : Function properties for ZN3gpu22computePointGradients0EPfS0_S0_iPiiPdS2_S2_S2_S2_S2_S2_S2
0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
ptxas info : Used 40 registers, 96 bytes smem, 432 bytes cmem[0]
[ 2%] Linking CXX shared library /home/kpit/manikanta/Autoware/ros/devel/lib/libpcl_omp_registration.so
[ 2%] Built target pcl_omp_registration
Scanning dependencies of target ndt_gpu
[ 2%] Linking CXX shared library /home/kpit/manikanta/Autoware/ros/devel/lib/libndt_gpu.so
[ 2%] Built target ndt_gpu
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j20 -l20" failed

[amc-nu]

@manikantarav Your GPU architecture (sm_75) RTX20x0, is not supported by CUDA 9.0. In this case you'll need to use CUDA 10.0. However, we will support it until the release of autowarefoundation/autoware#2032

In the meantime, probably you can try to use nvidia-docker. Please have a look at the docker version of Autoware. I don't have an RTX to test, so I can'T be sure if the virtualization will work, if you can test and report us back, that would be awesome.

[manikantarav]

@amc-nu now i switched to Cuda 10, and compiled using catkin_make_release. Now everything working fine.

About docker, i tried it one week back. i didnt save any logs. But rviz was not working that time, then i switched to source installation.

Thank you for help anyway.

[amc-nu]

@manikantarav very probably you were using nvidia-docker 2, the docker image for Autoware <= v1.10 requires nvidia-docker v1. autowarefoundation/autoware#1946 will bring support for it on 1.11.

Thanks for reporting back the result.

[leon0417]

@manikantarav I met the same problem, and now, I use RTX 2080ti. Please tell me which branch you used in Autoware, and which version for the nvidia driver and CUDA.

[gbiggs]

Thanks for using Autoware and for your question. However the issue tracker is for posting confirmed bugs and feature requests.

We ask that you please ask questions on the Autoware Discourse category following our support guidelines: https://github.com/CPFL/Autoware/wiki/Support-guidelines. Please pay particular attention to the information we ask you to provide.

[valgur]

I also encountered this bug in melodic with PCL 1.8 and CUDA 10.1. It's not ideal, but I found that as a temporary workaround you can simply comment out / remove the

friend boost::shared_ptr& detail::getMapping(pcl::PointCloud &p);

line and make _mapping public in pcl/point_cloud.h.