add free_memory to header

Author: hmoyen

gazebo/dave_gz_multibeam_sonar/multibeam_sonar/CMakeLists.txt

@@ -2,21 +2,22 @@ cmake_minimum_required(VERSION 3.11.0 FATAL_ERROR)
 
 # Suppress developer warnings for the entire workspace.
 set(CMAKE_SUPPRESS_DEVELOPER_WARNINGS TRUE CACHE BOOL "Suppress developer warnings" FORCE)
-# Set CMP0144 to NEW to ensure find_package uses upper-case <PACKAGENAME>_ROOT variables.
 cmake_policy(SET CMP0144 NEW)
 
 project(multibeam_sonar)
 
+set(CUDA_ARCHITECTURE "60" CACHE STRING "Target CUDA SM version")
+
 find_package(ament_cmake REQUIRED)
 find_package(CUDAToolkit QUIET)
 
-if(CUDAToolkit_FOUND)
+if(BUILD_WITH_CUDA AND CUDAToolkit_FOUND)
+
   enable_language(CUDA)
   find_package(CUDA REQUIRED)
   message(STATUS "CUDA found, enabling CUDA support.")
   include_directories(${CUDA_INCLUDE_DIRS})
-  set(CUDA_NVCC_FLAGS "${CUDA_NVCC_FLAGS} -arch=sm_60")
-
+  set(CUDA_NVCC_FLAGS "${CUDA_NVCC_FLAGS} -arch=sm_${CUDA_ARCHITECTURE}")
   find_package(gz-cmake3 REQUIRED)
   find_package(gz-sim8 REQUIRED)
   find_package(gz-sensors8 REQUIRED)
@@ -36,7 +37,6 @@ if(CUDAToolkit_FOUND)
   link_directories(${PCL_LIBRARY_DIRS})
   add_definitions(${PCL_DEFINITIONS})
 
-  # Set version variables
   set(GZ_MSGS_VER ${gz-msgs10_VERSION_MAJOR})
   set(GZ_RENDERING_VER ${gz-rendering8_VERSION_MAJOR})
   set(GZ_SENSORS_VER ${gz-sensors8_VERSION_MAJOR})
@@ -62,7 +62,9 @@ if(CUDAToolkit_FOUND)
   )
 
   set_target_properties(${PROJECT_NAME}
-                          PROPERTIES CUDA_SEPARABLE_COMPILATION ON)
+    PROPERTIES
+    CUDA_SEPARABLE_COMPILATION ON
+  )
 
   target_include_directories(${PROJECT_NAME}
     PUBLIC
@@ -75,12 +77,17 @@ if(CUDAToolkit_FOUND)
   )
 
   find_library(CUBLAS_LIB cublas
-  HINTS ${CUDAToolkit_LIBRARY_DIR} /usr/local/cuda/lib64 /usr/lib/x86_64-linux-gnu /usr/lib)
+    HINTS ${CUDAToolkit_LIBRARY_DIR} /usr/local/cuda/lib64 /usr/lib/x86_64-linux-gnu /usr/lib)
   if(NOT CUBLAS_LIB)
     message(FATAL_ERROR "cuBLAS not found")
   endif()
 
-  target_link_libraries(${PROJECT_NAME} ${PCL_LIBRARIES} ${CUDA_LIBRARIES} ${CUDA_CUFFT_LIBRARIES} ${CUBLAS_LIB})
+  target_link_libraries(${PROJECT_NAME}
+    ${PCL_LIBRARIES}
+    ${CUDA_LIBRARIES}
+    ${CUDA_CUFFT_LIBRARIES}
+    ${CUBLAS_LIB}
+  )
 
   install(TARGETS ${PROJECT_NAME}
     DESTINATION lib/${PROJECT_NAME}
@@ -103,14 +110,12 @@ if(CUDAToolkit_FOUND)
     cv_bridge
   )
 
-
-  # Environment hooks
   ament_environment_hooks(
     "${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in"
   )
 
 else()
-  message(STATUS "CUDA Toolkit not found: Skipping CUDA-specific targets")
+  message(STATUS "CUDA Toolkit not found or disabled: Skipping CUDA-specific targets")
 endif()
 
 ament_package()

gazebo/dave_gz_multibeam_sonar/multibeam_sonar/sonar_calculation_cuda.cuh

@@ -40,6 +40,9 @@ typedef std::valarray<CArray> CArray2D;
 /// \brief CUDA Device Check Function Wrapper
 void check_cuda_init_wrapper(void);
 
+/// \brief CUDA Free Memory Function
+void free_cuda_memory();
+
 /// \brief Sonar Claculation Function Wrapper
 CArray2D sonar_calculation_wrapper(
   const cv::Mat & depth_image, const cv::Mat & normal_image, const cv::Mat & rand_image,