catkin_make error

[iason-r]

/usr/bin/ld: cannot find -lCUDA::cublas /usr/bin/ld: cannot find -lCUDA::cudart /usr/bin/ld: cannot find -lCUDA::cusolver /usr/bin/ld: cannot find -lCUDA::cusparse collect2: error: ld returned 1 exit status

What should I do to solve this problem

[SunZezhou]

In my personal experience, this is because the USE_CUDA parameter is turned on when compiling Ceres. Setting USE_CUDA to OFF in CMakeLists of Ceres and then re-install it may solve this problem.

[mz7790]

The solution I encountered was similar to yours. I'm using Ceres 2.2.0. When compiling Ceres 2.2.0, everything goes smoothly. However, when compiling ALOAM, I encounter the same error as you. I found that copying the CUDA-related commands from the CMakeLists.txt file in the Ceres library resolved the issue.

Here's the content I copied: ··· option(USE_CUDA "Enable use of CUDA linear algebra solvers." ON) if (USE_CUDA) if (CMAKE_VERSION VERSION_LESS 3.17)

On older versions of CMake (20.04 default is 3.16) FindCUDAToolkit was

# not available, but FindCUDA was deprecated. To avoid special-case handling
# elsewhere, emulate the effects of FindCUDAToolkit locally in terms of the
# expected CMake imported targets and defined variables. This can be removed
# from as soon as the min CMake version is >= 3.17.
find_package(CUDA QUIET)
if (CUDA_FOUND)
  message("-- Found CUDA version ${CUDA_VERSION} installed in: "
    "${CUDA_TOOLKIT_ROOT_DIR} via legacy (< 3.17) CMake module. "
    "Using the legacy CMake module means that any installation of "
    "Ceres will require that the CUDA libraries be installed in a "
    "location included in the LD_LIBRARY_PATH.")
  enable_language(CUDA)

  macro(DECLARE_IMPORTED_CUDA_TARGET COMPONENT)
    add_library(CUDA::${COMPONENT} INTERFACE IMPORTED)
    target_include_directories(
      CUDA::${COMPONENT} INTERFACE ${CUDA_INCLUDE_DIRS})
    target_link_libraries(
      CUDA::${COMPONENT} INTERFACE ${CUDA_${COMPONENT}_LIBRARY} ${ARGN})
  endmacro()

  declare_imported_cuda_target(cublas)
  declare_imported_cuda_target(cusolver)
  declare_imported_cuda_target(cusparse)
  declare_imported_cuda_target(cudart ${CUDA_LIBRARIES})

  set(CUDAToolkit_BIN_DIR ${CUDA_TOOLKIT_ROOT_DIR}/bin)

else (CUDA_FOUND)
  message("-- Did not find CUDA, disabling CUDA support.")
  update_cache_variable(USE_CUDA OFF)
endif (CUDA_FOUND)

else (CMAKE_VERSION VERSION_LESS 3.17) find_package(CUDAToolkit QUIET) if (CUDAToolkit_FOUND) message("-- Found CUDA version ${CUDAToolkit_VERSION} installed in: " "${CUDAToolkit_TARGET_DIR}") set(CUDAToolkit_DEPENDENCY "find_dependency(CUDAToolkit ${CUDAToolkit_VERSION})") enable_language(CUDA) if (CMAKE_VERSION VERSION_GREATER_EQUAL "3.18")

Support Maxwell, Pascal, Volta, Turing, and Ampere GPUs.

    set(CMAKE_CUDA_ARCHITECTURES "50;60;70;80")
    message("-- Setting CUDA Architecture to ${CMAKE_CUDA_ARCHITECTURES}")
  endif()
  list(APPEND CERES_CUDA_LIBRARIES
    CUDA::cublas
    CUDA::cudart
    CUDA::cusolver
    CUDA::cusparse)
  set(CMAKE_CUDA_RUNTIME_LIBRARY NONE)
else (CUDAToolkit_FOUND)
  message("-- Did not find CUDA, disabling CUDA support.")
  update_cache_variable(USE_CUDA OFF)
endif (CUDAToolkit_FOUND)

endif (CMAKE_VERSION VERSION_LESS 3.17) endif (USE_CUDA)

[MoMansa]

where did you copy the commend line in the Ceres library ?

[mz7790]

where did you copy the commend line in the Ceres library ? He is located in CMakeLists.txt under the Ceres solver root directory. As shown in the following figure：