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Merged
bastilam merged 3 commits into from
Aug 28, 2026
Merged

Enable optimized CUDA builds in CI #11

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5c4c3a9
Enable optimized CUDA builds in CI
bastilam Aug 28, 2026
164aa55
update openads-dev-environment submodule
bastilam Aug 28, 2026
6971655
remove teaser video assets
bastilam Aug 28, 2026
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1 change: 0 additions & 1 deletion .gitattributes
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Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@
*.pt filter=lfs diff=lfs merge=lfs -text
*.mcap filter=lfs diff=lfs merge=lfs -text
*.pcd filter=lfs diff=lfs merge=lfs -text
*.mp4 filter=lfs diff=lfs merge=lfs -text
4 changes: 4 additions & 0 deletions .github/workflows/docker-ros.yml
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Expand Up @@ -55,6 +55,10 @@ jobs:
rmw-implementation: rmw_zenoh_cpp
command: ros2 launch point_cloud_object_detection point_cloud_object_detection.launch.py
enable-industrial-ci: true
cmake-args: >-
-DCMAKE_BUILD_TYPE=Release
-DREQUIRE_CUDA=ON
-DPCOD_CUDA_FAST_MATH=ON
additional-slim-build-args: >-
--compose-file ../docker/slim-compose.yml
--compose-workdir ..
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2 changes: 1 addition & 1 deletion .openads-dev-environment
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Submodule .openads-dev-environment updated 19 files
+32 −42 .github/workflows/compose-oci.yml
+3 −1 .github/workflows/consistency-downstream.yml
+33 −2 .github/workflows/ghcr-cleanup.yml
+47 −20 .github/workflows/helm-oci.yml
+45 −20 .gitlab-ci.template.yml
+12 −6 README.md
+20 −13 scripts/check_repository_consistency.py
+224 −34 scripts/generate_compose.py
+123 −26 scripts/generate_helm.py
+2 −2 scripts/templates/helm_chart.yaml.j2
+30 −0 tests/generate-compose/sample_pkg_multi_launch/deployment/compose/docker-compose.first_node.yml
+26 −0 tests/generate-compose/sample_pkg_multi_launch/deployment/compose/docker-compose.second_node.yml
+15 −0 tests/generate-compose/sample_pkg_multi_launch/sample_pkg_multi_launch/README.md
+13 −0 tests/generate-compose/sample_pkg_multi_launch/sample_pkg_multi_launch/launch/combined.launch.py
+32 −0 tests/generate-compose/sample_pkg_multi_launch/sample_pkg_multi_launch/launch/first_node.launch.py
+24 −0 tests/generate-compose/sample_pkg_multi_launch/sample_pkg_multi_launch/launch/second_node_launch.py
+13 −0 tests/generate-compose/sample_pkg_multi_launch/sample_pkg_multi_launch/package.xml
+99 −5 tests/test_generate_compose.py
+80 −2 tests/test_generate_helm.py
3 changes: 0 additions & 3 deletions assets/pcod-teaser.mp4
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18 changes: 12 additions & 6 deletions point_cloud_object_detection/CMakeLists.txt
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Expand Up @@ -6,6 +6,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
endif()

option(REQUIRE_CUDA "Fail build if CUDA is not found" OFF)
option(PCOD_CUDA_FAST_MATH "Enable fast-math optimizations for detection CUDA sources" OFF)

set(CUDA_AVAILABLE_MARKER "/opt/ros-cmake-cache/cuda-available")
set(CUDA_UNAVAILABLE_MARKER "/opt/ros-cmake-cache/cuda-unavailable")
Expand All @@ -17,11 +18,11 @@ else()
endif()

if(NOT CUDA_EXPLICITLY_UNAVAILABLE AND NOT DEFINED CMAKE_CUDA_COMPILER)
if(EXISTS "/usr/local/cuda/bin/nvcc")
set(CMAKE_CUDA_COMPILER "/usr/local/cuda/bin/nvcc" CACHE FILEPATH "CUDA compiler" FORCE)
elseif(EXISTS "/usr/local/cuda-12.8/bin/nvcc")
set(CMAKE_CUDA_COMPILER "/usr/local/cuda-12.8/bin/nvcc" CACHE FILEPATH "CUDA compiler" FORCE)
find_program(PCOD_NVCC_EXECUTABLE NAMES nvcc HINTS "/usr/local/cuda/bin")
if(PCOD_NVCC_EXECUTABLE)
set(CMAKE_CUDA_COMPILER "${PCOD_NVCC_EXECUTABLE}" CACHE FILEPATH "CUDA compiler" FORCE)
endif()
unset(PCOD_NVCC_EXECUTABLE CACHE)
endif()

include(CheckLanguage)
Expand All @@ -32,15 +33,17 @@ endif()
if(DEFINED CMAKE_CUDA_COMPILER AND NOT EXISTS "${CMAKE_CUDA_COMPILER}")
if(CUDA_EXPLICITLY_UNAVAILABLE)
message(STATUS "Ignoring CMAKE_CUDA_COMPILER on platform without CUDA support")
elseif(REQUIRE_CUDA)
message(FATAL_ERROR "REQUIRE_CUDA is ON and CMAKE_CUDA_COMPILER was set to '${CMAKE_CUDA_COMPILER}' but the compiler does not exist. Ensure CUDA Toolkit is installed.")
else()
message(STATUS "Specified CUDA compiler not found: ${CMAKE_CUDA_COMPILER}")
endif()
unset(CMAKE_CUDA_COMPILER)
unset(CMAKE_CUDA_COMPILER CACHE)
endif()

if(REQUIRE_CUDA AND NOT CUDA_EXPLICITLY_UNAVAILABLE AND NOT CMAKE_CUDA_COMPILER)
message(FATAL_ERROR "REQUIRE_CUDA is ON but no CUDA compiler was detected. Ensure CUDA Toolkit is installed.")
endif()

if(CMAKE_CUDA_COMPILER)
option(ENABLE_CUDA "Enable CUDA acceleration" ON)
else()
Expand Down Expand Up @@ -102,6 +105,9 @@ set(PCOD_COMMON_ENABLE_CUDA ${ENABLE_CUDA} CACHE BOOL "Enable optional CUDA comp
add_subdirectory(pcod-common)
if(TARGET pcod_common)
set_target_properties(pcod_common PROPERTIES POSITION_INDEPENDENT_CODE ON)
if(PCOD_CUDA_FAST_MATH)
target_compile_options(pcod_common PRIVATE $<$<COMPILE_LANGUAGE:CUDA>:--use_fast_math>)
endif()
endif()

add_library(
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