From 084ae3842e43df49e578c64b4411c7bb2950ffa4 Mon Sep 17 00:00:00 2001 From: Esteve Fernandez Date: Mon, 3 Mar 2025 10:07:08 +0100 Subject: [PATCH 1/4] refactor: add autoware_cuda_dependency_meta Signed-off-by: Esteve Fernandez --- .../CMakeLists.txt | 6 ++++++ common/autoware_cuda_dependency_meta/README.md | 5 +++++ .../autoware_cuda_dependency_meta/package.xml | 17 +++++++++++++++++ .../package.xml | 1 + .../package.xml | 1 + .../autoware_lidar_centerpoint/package.xml | 1 + .../autoware_tensorrt_classifier/package.xml | 1 + perception/autoware_tensorrt_common/package.xml | 1 + .../package.xml | 1 + .../package.xml | 1 + sensing/autoware_cuda_utils/package.xml | 2 ++ .../livox/autoware_livox_tag_filter/package.xml | 1 + .../autoware_diagnostic_graph_utils/package.xml | 1 + 13 files changed, 39 insertions(+) create mode 100644 common/autoware_cuda_dependency_meta/CMakeLists.txt create mode 100644 common/autoware_cuda_dependency_meta/README.md create mode 100644 common/autoware_cuda_dependency_meta/package.xml diff --git a/common/autoware_cuda_dependency_meta/CMakeLists.txt b/common/autoware_cuda_dependency_meta/CMakeLists.txt new file mode 100644 index 0000000000000..0990c594a186f --- /dev/null +++ b/common/autoware_cuda_dependency_meta/CMakeLists.txt @@ -0,0 +1,6 @@ +cmake_minimum_required(VERSION 3.8) +project(autoware_cuda_dependency_meta NONE) + +find_package(ament_cmake REQUIRED) + +ament_package() diff --git a/common/autoware_cuda_dependency_meta/README.md b/common/autoware_cuda_dependency_meta/README.md new file mode 100644 index 0000000000000..3847cae2d38b2 --- /dev/null +++ b/common/autoware_cuda_dependency_meta/README.md @@ -0,0 +1,5 @@ +# autoware_cuda_dependency_meta + +## Purpose + +This is a virtual package that packages on Autoware.universe that use CUDA must depend on. diff --git a/common/autoware_cuda_dependency_meta/package.xml b/common/autoware_cuda_dependency_meta/package.xml new file mode 100644 index 0000000000000..c5cbc2d22ecb2 --- /dev/null +++ b/common/autoware_cuda_dependency_meta/package.xml @@ -0,0 +1,17 @@ + + + autoware_cuda_dependency_meta + 0.0.1 + Virtual package that provides an empty cuda stub package + + Esteve Fernandez + Esteve Fernandez + + Apache License 2.0 + + ament_cmake + + + ament_cmake + + diff --git a/perception/autoware_image_projection_based_fusion/package.xml b/perception/autoware_image_projection_based_fusion/package.xml index f5d3606819795..b1263c151d288 100644 --- a/perception/autoware_image_projection_based_fusion/package.xml +++ b/perception/autoware_image_projection_based_fusion/package.xml @@ -15,6 +15,7 @@ ament_cmake_auto autoware_cmake + autoware_cuda_dependency_meta autoware_euclidean_cluster autoware_internal_debug_msgs autoware_lidar_centerpoint diff --git a/perception/autoware_lidar_apollo_instance_segmentation/package.xml b/perception/autoware_lidar_apollo_instance_segmentation/package.xml index 4ce3b0872fa85..288b91ac0962e 100755 --- a/perception/autoware_lidar_apollo_instance_segmentation/package.xml +++ b/perception/autoware_lidar_apollo_instance_segmentation/package.xml @@ -13,6 +13,7 @@ ament_cmake + autoware_cuda_dependency_meta autoware_cuda_utils autoware_internal_debug_msgs autoware_perception_msgs diff --git a/perception/autoware_lidar_centerpoint/package.xml b/perception/autoware_lidar_centerpoint/package.xml index 2354a5f678688..6cabac29d7e40 100644 --- a/perception/autoware_lidar_centerpoint/package.xml +++ b/perception/autoware_lidar_centerpoint/package.xml @@ -13,6 +13,7 @@ ament_cmake_python autoware_cmake + autoware_cuda_dependency_meta autoware_object_recognition_utils autoware_perception_msgs autoware_tensorrt_common diff --git a/perception/autoware_tensorrt_classifier/package.xml b/perception/autoware_tensorrt_classifier/package.xml index af50dc9d667e8..250e1b4d041bc 100644 --- a/perception/autoware_tensorrt_classifier/package.xml +++ b/perception/autoware_tensorrt_classifier/package.xml @@ -19,6 +19,7 @@ autoware_cmake + autoware_cuda_dependency_meta autoware_cuda_utils autoware_tensorrt_common libopencv-dev diff --git a/perception/autoware_tensorrt_common/package.xml b/perception/autoware_tensorrt_common/package.xml index 1d19b28531f69..c20798c735653 100644 --- a/perception/autoware_tensorrt_common/package.xml +++ b/perception/autoware_tensorrt_common/package.xml @@ -17,6 +17,7 @@ cudnn_cmake_module tensorrt_cmake_module + autoware_cuda_dependency_meta rclcpp ament_lint_auto diff --git a/perception/autoware_traffic_light_classifier/package.xml b/perception/autoware_traffic_light_classifier/package.xml index d9c014f717d41..394820b08a0d9 100644 --- a/perception/autoware_traffic_light_classifier/package.xml +++ b/perception/autoware_traffic_light_classifier/package.xml @@ -15,6 +15,7 @@ autoware_cmake + autoware_cuda_dependency_meta autoware_cuda_utils autoware_tensorrt_classifier autoware_tensorrt_common diff --git a/perception/autoware_traffic_light_fine_detector/package.xml b/perception/autoware_traffic_light_fine_detector/package.xml index f861e5aa90d1c..70e241058dc29 100644 --- a/perception/autoware_traffic_light_fine_detector/package.xml +++ b/perception/autoware_traffic_light_fine_detector/package.xml @@ -14,6 +14,7 @@ autoware_cmake + autoware_cuda_dependency_meta autoware_internal_debug_msgs autoware_tensorrt_yolox cv_bridge diff --git a/sensing/autoware_cuda_utils/package.xml b/sensing/autoware_cuda_utils/package.xml index b1d5506d5278a..d60884f6cfcba 100644 --- a/sensing/autoware_cuda_utils/package.xml +++ b/sensing/autoware_cuda_utils/package.xml @@ -14,6 +14,8 @@ ament_cmake_auto autoware_cmake + autoware_cuda_dependency_meta + ament_lint_auto autoware_lint_common diff --git a/sensing/livox/autoware_livox_tag_filter/package.xml b/sensing/livox/autoware_livox_tag_filter/package.xml index b721764bc5e49..95a71cc0ecae5 100644 --- a/sensing/livox/autoware_livox_tag_filter/package.xml +++ b/sensing/livox/autoware_livox_tag_filter/package.xml @@ -11,6 +11,7 @@ ament_cmake_auto autoware_cmake + autoware_cuda_dependency_meta libpcl-all-dev pcl_conversions rclcpp diff --git a/system/autoware_diagnostic_graph_utils/package.xml b/system/autoware_diagnostic_graph_utils/package.xml index 6f67d73e445b3..de72f8e9748f2 100644 --- a/system/autoware_diagnostic_graph_utils/package.xml +++ b/system/autoware_diagnostic_graph_utils/package.xml @@ -11,6 +11,7 @@ ament_cmake_auto autoware_cmake + autoware_cuda_dependency_meta autoware_internal_debug_msgs diagnostic_msgs rclcpp From b6ba0e9366a446b2eba94464f55fea9170b63c3b Mon Sep 17 00:00:00 2001 From: Esteve Fernandez Date: Tue, 4 Mar 2025 12:25:08 +0100 Subject: [PATCH 2/4] remove no longer needed autoware_cuda_dependency_meta dependency Signed-off-by: Esteve Fernandez --- sensing/livox/autoware_livox_tag_filter/package.xml | 1 - system/autoware_diagnostic_graph_utils/package.xml | 1 - 2 files changed, 2 deletions(-) diff --git a/sensing/livox/autoware_livox_tag_filter/package.xml b/sensing/livox/autoware_livox_tag_filter/package.xml index 95a71cc0ecae5..b721764bc5e49 100644 --- a/sensing/livox/autoware_livox_tag_filter/package.xml +++ b/sensing/livox/autoware_livox_tag_filter/package.xml @@ -11,7 +11,6 @@ ament_cmake_auto autoware_cmake - autoware_cuda_dependency_meta libpcl-all-dev pcl_conversions rclcpp diff --git a/system/autoware_diagnostic_graph_utils/package.xml b/system/autoware_diagnostic_graph_utils/package.xml index de72f8e9748f2..6f67d73e445b3 100644 --- a/system/autoware_diagnostic_graph_utils/package.xml +++ b/system/autoware_diagnostic_graph_utils/package.xml @@ -11,7 +11,6 @@ ament_cmake_auto autoware_cmake - autoware_cuda_dependency_meta autoware_internal_debug_msgs diagnostic_msgs rclcpp From 7a059662e46d21873e7d84e6f6dc3c9aad7440b1 Mon Sep 17 00:00:00 2001 From: Esteve Fernandez Date: Tue, 4 Mar 2025 12:34:22 +0100 Subject: [PATCH 3/4] added autoware_cuda_dependency_meta dependency to more packages Signed-off-by: Esteve Fernandez --- perception/autoware_lidar_transfusion/package.xml | 1 + perception/autoware_probabilistic_occupancy_grid_map/package.xml | 1 + perception/autoware_shape_estimation/package.xml | 1 + perception/autoware_tensorrt_yolox/package.xml | 1 + 4 files changed, 4 insertions(+) diff --git a/perception/autoware_lidar_transfusion/package.xml b/perception/autoware_lidar_transfusion/package.xml index 34b6a759cf843..4c6e7cdd94a80 100644 --- a/perception/autoware_lidar_transfusion/package.xml +++ b/perception/autoware_lidar_transfusion/package.xml @@ -12,6 +12,7 @@ ament_cmake_auto autoware_cmake + autoware_cuda_dependency_meta autoware_object_recognition_utils autoware_perception_msgs autoware_point_types diff --git a/perception/autoware_probabilistic_occupancy_grid_map/package.xml b/perception/autoware_probabilistic_occupancy_grid_map/package.xml index 815abb2e9e51a..b0c9520ab0976 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/package.xml +++ b/perception/autoware_probabilistic_occupancy_grid_map/package.xml @@ -16,6 +16,7 @@ autoware_cmake eigen3_cmake_module + autoware_cuda_dependency_meta autoware_cuda_utils autoware_utils grid_map_costmap_2d diff --git a/perception/autoware_shape_estimation/package.xml b/perception/autoware_shape_estimation/package.xml index a3b5cdb286df8..beecbb41ff9b8 100644 --- a/perception/autoware_shape_estimation/package.xml +++ b/perception/autoware_shape_estimation/package.xml @@ -17,6 +17,7 @@ cudnn_cmake_module tensorrt_cmake_module + autoware_cuda_dependency_meta autoware_cuda_utils autoware_perception_msgs autoware_tensorrt_common diff --git a/perception/autoware_tensorrt_yolox/package.xml b/perception/autoware_tensorrt_yolox/package.xml index 276d184beeab0..7db729e1842a8 100644 --- a/perception/autoware_tensorrt_yolox/package.xml +++ b/perception/autoware_tensorrt_yolox/package.xml @@ -19,6 +19,7 @@ cudnn_cmake_module tensorrt_cmake_module + autoware_cuda_dependency_meta autoware_cuda_utils autoware_internal_debug_msgs autoware_object_recognition_utils From 77ed72d6fe1eaf82d92c755e66804716a8e477ce Mon Sep 17 00:00:00 2001 From: Esteve Fernandez Date: Wed, 5 Mar 2025 15:04:12 +0100 Subject: [PATCH 4/4] Added autoware_cuda_dependency_meta dependency to autoware_bytetrack Signed-off-by: Esteve Fernandez --- perception/autoware_bytetrack/package.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/perception/autoware_bytetrack/package.xml b/perception/autoware_bytetrack/package.xml index 7d1dd74eaf8ae..7b3482392fb7c 100644 --- a/perception/autoware_bytetrack/package.xml +++ b/perception/autoware_bytetrack/package.xml @@ -15,6 +15,7 @@ cudnn_cmake_module tensorrt_cmake_module + autoware_cuda_dependency_meta autoware_cuda_utils autoware_kalman_filter autoware_perception_msgs