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CUDA catkin/cmake - undefined reference to `curandCreateGenerator`

I've got an issue with what I believe is a linker error when compiling a CUDA project with catkin. A snippet of the source code is below. When I try to run catkin build I get an error:

error

In function `curand_init(double*, int, int):
./src/cwru_cuda.cu undefined reference to `curandCreateGenerator'
./src/cwru_cuda.cu undefined reference to `curandSetPseudoRandomGeneratorSeed'

I checked the verbose build output and it is using c++ to link the file, it is passing the appropriate flags like I defined in CURAND_FLAGS. I'm not sure what else might be the issue here? I'm not very knowledgeable about build tools.

CURAND reference

cwru_cuda.h

#include <cuda.h>
#include <cuda_runtime.h>
#include <curand.h>
#include <helper_cuda.h>
#include <device_launch_parameters.h>

void curand_init(double*, int, int);

cwru_cuda.cu

#include <cwru_cuda.h>

curandGenerator_t __curand_gen;
double* __curand_float_address;
size_t __curand_float_size;
int __curand_num_elems;

void curand_init(double* address, int numElements, int seed = 1234) {
    curandCreateGenerator(&__curand_gen, CURAND_RNG_PSEUDO_DEFAULT);
    curandSetPseudoRandomGeneratorSeed(__curand_gen, seed);
    __curand_num_elems = numElements;
    __curand_float_size = numElements * sizeof(double);
    cudaMallocManaged(&__curand_float_address, __curand_float_size);
}

CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(cwru_cuda)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  std_msgs
)

# https://stackoverflow.com/questions/25748039/add-cuda-to-ros-package

find_package(CUDA REQUIRED) 

# set CUDA_NVCC_FLAGS as you would do with CXX/C FLAGS         
set(CUDA_NVCC_FLAGS CACHE STRING "nvcc flags" FORCE)
set(CUDA_VERBOSE_BUILD ON CACHE BOOL "nvcc verbose" FORCE)
set(CURAND_FLAGS "-lcurand_static -lculibos -lcudart_static -lpthread -ldl -I /usr/local/cuda/include -L /usr/local/cuda/lib64")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${CURAND_FLAGS}")
set(LIB_TYPE STATIC) 
cuda_add_library(cuda_vector_lib ${LIB_TYPE} src/cwru_cuda.cu)

catkin_package(
  INCLUDE_DIRS include
  LIBRARIES cuda_vector_lib
#  CATKIN_DEPENDS roscpp std_msgs
#  DEPENDS system_lib
)

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
)

add_executable(cuda_vector_test src/tests.cpp src/Timer.cpp)

add_dependencies(cuda_vector_test cuda_vector_lib)

TARGET_LINK_LIBRARIES(cuda_vector_test
    ${catkin_LIBRARIES}
    cuda_vector_lib
)

Building with catkin build cwru_cuda --verbose

build output

make[2]: Entering directory '/home/ethan/catkin_ws/build/cwru_cuda'
[ 60%] Linking CXX executable /home/ethan/catkin_ws/devel/.private/cwru_cuda/lib/cwru_cuda/cuda_vector_test
/usr/bin/cmake -E cmake_link_script CMakeFiles/cuda_vector_test.dir/link.txt --verbose=1
/usr/bin/c++   -lcurand_static -lculibos -lcudart_static -lpthread -ldl -I /usr/local/cuda/include -L /usr/local/cuda/lib64  -rdynamic CMakeFiles/cuda_vector_test.dir/src/tests.cpp.o CMakeFiles/cuda_vector_test.dir/src/Timer.cpp.o  -o /home/ethan/catkin_ws/devel/.private/cwru_cuda/lib/cwru_cuda/cuda_vector_test -Wl,-rpath,/opt/ros/melodic/lib /opt/ros/melodic/lib/libroscpp.so -lboost_filesystem /opt/ros/melodic/lib/librosconsole.so /opt/ros/melodic/lib/librosconsole_log4cxx.so /opt/ros/melodic/lib/librosconsole_backend_interface.so -llog4cxx -lboost_regex /opt/ros/melodic/lib/libxmlrpcpp.so /opt/ros/melodic/lib/libroscpp_serialization.so /opt/ros/melodic/lib/librostime.so /opt/ros/melodic/lib/libcpp_common.so -lboost_system -lboost_thread -lboost_chrono -lboost_date_time -lboost_atomic -lpthread /usr/lib/x86_64-linux-gnu/libconsole_bridge.so.0.4 libcuda_vector_lib.a /usr/local/cuda-11.0/lib64/libcudart_static.a -lpthread -ldl -lrt 
libcuda_vector_lib.a(cuda_vector_lib_generated_cwru_cuda.cu.o): In function `curand_init(double*, int, int)':
/home/ethan/catkin_ws/src/cwru_cuda/src/cwru_cuda.cu:23: undefined reference to `curandCreateGenerator'
/home/ethan/catkin_ws/src/cwru_cuda/src/cwru_cuda.cu:24: undefined reference to `curandSetPseudoRandomGeneratorSeed'
libcuda_vector_lib.a(cuda_vector_lib_generated_cwru_cuda.cu.o): In function `generate_uniform_double()':
/home/ethan/catkin_ws/src/cwru_cuda/src/cwru_cuda.cu:31: undefined reference to `curandGenerateUniformDouble'
collect2: error: ld returned 1 exit status
CMakeFiles/cuda_vector_test.dir/build.make:141: recipe for target '/home/ethan/catkin_ws/devel/.private/cwru_cuda/lib/cwru_cuda/cuda_vector_test' failed
Solution

  • Robert Crovella answered this question in the comments above.

    I was able to use target_link_libraries() to set -lcurand and -lcublas which satisfied the dependencies. So I added the following line to my CMakeLists.txt

    target_link_libraries(cuda_vector_lib -lcublas -lcurand)