I am working on a C++ project with drake, using bazel as the build system. Previously, I use the drake source code as the external, following the drake_bazel_external example. Everything works fine.
Since I want to use the SNOPT solver in drake, I want to change to use the pre-compiled drake. I follow the drake_bazel_installed example. However, I got the following errors.
Compiling kuka/diffIK_controller.cc failed: (Exit 1): gcc failed: error executing command /usr/bin/gcc -U_FORTIFY_SOURCE -fstack-protector -Wall -Wunused-but-set-parameter -Wno-free-nonheap-object -fno-omit-frame-pointer -g0 -O2 '-D_FORTIFY_SOURCE=1' -DNDEBUG -ffunction-sections ... (remaining 27 arguments skipped)
Use --sandbox_debug to see verbose messages from the sandbox
In file included from bazel-out/k8-opt/bin/external/drake/_virtual_includes/.drake_headers/drake/common/default_scalars.h:3,
from bazel-out/k8-opt/bin/external/drake/_virtual_includes/.drake_headers/drake/systems/framework/leaf_system.h:14,
from ./kuka/diffIK_controller.h:3,
from kuka/diffIK_controller.cc:3:
bazel-out/k8-opt/bin/external/drake/_virtual_includes/.drake_headers/drake/common/autodiff.h:12:10: fatal error: Eigen/Core: No such file or directory
12 | #include <Eigen/Core>
| ^~~~~~~~~~~~
compilation terminated.
I also find that the apps in the drake_bazel_external cannot be compiled successfully by drake_bazel_installed setting. The error message is
ERROR: error loading package 'app': Label '#drake//tools/skylark:py.bzl' is invalid because 'tools/skylark' is not a package; perhaps you meant to put the colon here: '#drake//:tools/skylark/py.bzl'?
Update
The bug can be produced by both the http_archive fetched drake and the apt installed drake (the latest stable drake I think, since I just installed it yesterday). I have isolated the relevant code to reproduce the bug in a github repo. Currently, I can get the original apps in drake_bazel_installed to work.
Update
By adding
# solve the eigen not found bug
build --cxxopt=-I/usr/include/eigen3
to the .bazelrc file, I can solve the above problem. However, when I try to build a program that uses iiwa_status_receiver.h, I encounter a new problem.
ERROR: /home/chenwang/repro_drake_bazel_external/drake_bazel_installed/apps/BUILD.bazel:102:10: Compiling apps/connection_test.cc failed: (Exit 1): gcc failed: error executing command /usr/bin/gcc -U_FORTIFY_SOURCE -fstack-protector -Wall -Wunused-but-set-parameter -Wno-free-nonheap-object -fno-omit-frame-pointer -g0 -O2 '-D_FORTIFY_SOURCE=1' -DNDEBUG -ffunction-sections ... (remaining 32 arguments skipped)
Use --sandbox_debug to see verbose messages from the sandbox and retain the sandbox build root for debugging
In file included from apps/connection_test.cc:10:
bazel-out/k8-opt/bin/external/drake/_virtual_includes/.drake_headers/drake/manipulation/kuka_iiwa/iiwa_status_receiver.h:6:10: fatal error: drake/lcmt_iiwa_status.hpp: No such file or directory
6 | #include "drake/lcmt_iiwa_status.hpp"
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
INFO: Elapsed time: 2.967s, Critical Path: 0.24s
INFO: 2 processes: 2 internal.
FAILED: Build did NOT complete successfully
This problem is also a missing header file problem. I have update the github repo to reproduce this problem.
This is a bug in Drake (filed as https://github.com/RobotLocomotion/drake/issues/17965 now).
To work around it, pass --cxxopt=-I/usr/include/eigen3 on all of your bazel commands, e.g., by adding this line to your projects' .bazelrc file:
build --cxxopt=-I/usr/include/eigen3
Edit: The nightly builds of Apt packages as of 20220923 should have this fixed as well.
Related
I'm following the instructions from here and here to install drake and I used this file to install all the dependencies. Now when I run cmake ../drake and then make -j, I see I very very long traceback that stackoverflow won't let me post here because I can't seem to get it into a format it likes. But this is where the first error starts:
ERROR: /home/prasanth/.cache/bazel/_bazel_prasanth/7a6ad5daa22f12899ee3dcd32eb0729d/external/gz_math_internal/BUILD.bazel:172:20: Compiling external/gz_math_internal/drake_src/src/Angle.cc failed: (Exit 1): cc failed: error executing command /usr/bin/cc -U_FORTIFY_SOURCE -fstack-protector -Wall -Wunused-but-set-parameter -Wno-free-nonheap-object -fno-omit-frame-pointer -g0 -O2 '-D_FORTIFY_SOURCE=1' -DNDEBUG -ffunction-sections ... (remaining 25 arguments skipped)
Alternatively, when I use bazel build //... as mentioned here, I see:
WARNING: The following rc files are no longer being read, please transfer their contents or import their path into one of the standard rc files: /home/prasanth/ros2/robotic_tray_processor/drake/tools/bazel.rc INFO: Build option --compilation_mode has changed, discarding analysis cache. INFO: Analyzed 9795 targets (143 packages loaded, 29016 targets configured). INFO: Found 9795 targets... ERROR: /home/prasanth/ros2/robotic_tray_processor/drake/examples/kuka_iiwa_arm/models/BUILD.bazel:8:13: Middleman _middlemen/examples_Skuka_Uiiwa_Uarm_Smodels_Sinstall_Udata-runfiles failed: missing input file '//tools/install:installer.py' ERROR: /home/prasanth/ros2/robotic_tray_processor/drake/examples/kuka_iiwa_arm/models/BUILD.bazel:8:13: Middleman _middlemen/examples_Skuka_Uiiwa_Uarm_Smodels_Sinstall_Udata-runfiles failed: 1 input file(s) do not exist ERROR: /home/prasanth/ros2/robotic_tray_processor/drake/examples/kuka_iiwa_arm/models/BUILD.bazel:8:13 Middleman _middlemen/examples_Skuka_Uiiwa_Uarm_Smodels_Sinstall_Udata-runfiles failed: 1 input file(s) do not exist INFO: Elapsed time: 7.483s, Critical Path: 0.01s INFO: 9 processes: 9 internal. FAILED: Build did NOT complete successfully
Please help! Thanks in advance.
Although High Sierra is no longer supported by Homebrew, but I need to install llvm#13 formula as a dependency for other formulas. So I tried to install it this way:
$ brew install llvm
...
==> Downloading https://github.com/llvm/llvm-project/releases/download/llvmorg-13.0.0/llvm-project-13.0.0.src.tar.xz
Already downloaded: /Users/username/Library/Caches/Homebrew/downloads/8fd68fc8f968137c5080826db6e58682326235960fd8469363eb27d0799978ca--llvm-project-13.0.0.src.tar.xz
...
==> Installing llvm
==> cmake -G Unix Makefiles .. -DLLVM_ENABLE_PROJECTS=clang;clang-tools-extra;lld;lldb;mlir;polly -DLLVM_ENABLE_RUNTIMES=compiler-rt;libcxx;libcxxabi;libunwind;openmp -DLLVM_POLLY_L
==> cmake --build .
...
[ 79%] Built target lldELF
make: *** [all] Error 2
An error is occurred after a long time of compilation. I also found this error in ~/Library/Logs/Homebrew/llvm/02.cmake:
/tmp/llvm-20211109-12151-m0zvtm/llvm-project-13.0.0.src/lldb/source/Host/macosx/objcxx/HostInfoMacOSX.mm:246:52: error: use of undeclared identifier 'CPU_SUBTYPE_ARM64E'
if (cputype == CPU_TYPE_ARM64 && cpusubtype == CPU_SUBTYPE_ARM64E) {
^
1 error generated.
make[2]: *** [tools/lldb/source/Host/macosx/objcxx/CMakeFiles/lldbHostMacOSXObjCXX.dir/HostInfoMacOSX.mm.o] Error 1
make[1]: *** [tools/lldb/source/Host/macosx/objcxx/CMakeFiles/lldbHostMacOSXObjCXX.dir/all] Error 2
How can I fix that compilation error?
Install llvm with debug mode enabled:
$ brew install --debug llvm
Installation process encounters with the same error mentioned in the question, but some options are provided to fix the issue. Choose option 5:
- raise
- ignore
- backtrace
- irb
- shell
Choose an action: 5
It gives a shell access to the current build directory of llvm formula. Find the current folder:
$ pwd
/private/tmp/llvm-20211109-12151-m0zvtm/llvm-project-13.0.0.src
Change the location to the build directory:
cd llvm/build
Edit the HostInfoMacOSX.mm and remove the second part of condition:
vi ../../lldb/source/Host/macosx/objcxx/HostInfoMacOSX.mm
You need to change the line 246 from:
if (cputype == CPU_TYPE_ARM64 && cpusubtype == CPU_SUBTYPE_ARM64E) {
to:
if (cputype == CPU_TYPE_ARM64) {
Then re-run the last command:
$ cmake --build .
It takes some time to be completed:
...
[100%] Linking CXX executable ../../../../bin/lldb-vscode
cd /tmp/llvm-20211109-12151-m0zvtm/llvm-project-13.0.0.src/llvm/build/tools/lldb/tools/lldb-vscode && /usr/local/Cellar/cmake/3.21.4/bin/cmake -E cmake_link_script CMakeFiles/lldb-v
scode.dir/link.txt --verbose=1
/usr/local/Homebrew/Library/Homebrew/shims/mac/super/clang++ -stdlib=libc++ -fPIC -fvisibility-inlines-hidden -Werror=date-time -Werror=unguarded-availability-new -Wall -Wextra -Wn
o-unused-parameter -Wwrite-strings -Wcast-qual -Wmissing-field-initializers -pedantic -Wno-long-long -Wc++98-compat-extra-semi -Wimplicit-fallthrough -Wcovered-switch-default -Wno-c
lass-memaccess -Wno-noexcept-type -Wnon-virtual-dtor -Wdelete-non-virtual-dtor -Wsuggest-override -Wstring-conversion -Wmisleading-indentation -Wno-deprecated-declarations -Wno-unkn
own-pragmas -Wno-strict-aliasing -Wno-deprecated-register -Wno-vla-extension -O3 -DNDEBUG -Wl,-search_paths_first -Wl,-headerpad_max_install_names -stdlib=libc++ -Wl,-sectcreate,__
TEXT,__info_plist,/tmp/llvm-20211109-12151-m0zvtm/llvm-project-13.0.0.src/llvm/build/tools/lldb/tools/lldb-vscode/lldb-vscode-Info.plist -Wl,-dead_strip CMakeFiles/lldb-vscode.dir/
lldb-vscode.cpp.o CMakeFiles/lldb-vscode.dir/BreakpointBase.cpp.o CMakeFiles/lldb-vscode.dir/ExceptionBreakpoint.cpp.o CMakeFiles/lldb-vscode.dir/FifoFiles.cpp.o CMakeFiles/lldb-vsc
ode.dir/FunctionBreakpoint.cpp.o CMakeFiles/lldb-vscode.dir/IOStream.cpp.o CMakeFiles/lldb-vscode.dir/JSONUtils.cpp.o CMakeFiles/lldb-vscode.dir/LLDBUtils.cpp.o CMakeFiles/lldb-vsco
de.dir/OutputRedirector.cpp.o CMakeFiles/lldb-vscode.dir/ProgressEvent.cpp.o CMakeFiles/lldb-vscode.dir/RunInTerminal.cpp.o CMakeFiles/lldb-vscode.dir/SourceBreakpoint.cpp.o CMakeFi
les/lldb-vscode.dir/VSCode.cpp.o -o ../../../../bin/lldb-vscode -Wl,-rpath,#loader_path/../lib ../../../../lib/liblldb.13.0.0.dylib -lpthread ../../../../lib/libclang-cpp.dylib ../
../../../lib/libLLVM.dylib
[100%] Built target lldb-vscode
/usr/local/Cellar/cmake/3.21.4/bin/cmake -E cmake_progress_start /tmp/llvm-20211109-12151-m0zvtm/llvm-project-13.0.0.src/llvm/build/CMakeFiles 0
Then run the install command:
$ cmake --build . --target install
The tail of the result should be:
...
-- Installing: /usr/local/Cellar/llvm/13.0.0_1/lib/cmake/llvm/./CheckAtomic.cmake
-- Installing: /usr/local/Cellar/llvm/13.0.0_1/lib/cmake/llvm/./FindSphinx.cmake
-- Installing: /usr/local/Cellar/llvm/13.0.0_1/lib/cmake/llvm/./FindGRPC.cmake
-- Installing: /usr/local/Cellar/llvm/13.0.0_1/lib/cmake/llvm/./TableGen.cmake
Execute the last command:
$ cmake --build . --target install-xcode-toolchain
The tail of the results should be:
...
-- Installing: /usr/local/Cellar/llvm/13.0.0_1/Toolchains/LLVM13.0.0.xctoolchain//usr/lib/cmake/llvm/./CheckAtomic.cmake
-- Installing: /usr/local/Cellar/llvm/13.0.0_1/Toolchains/LLVM13.0.0.xctoolchain//usr/lib/cmake/llvm/./FindSphinx.cmake
-- Installing: /usr/local/Cellar/llvm/13.0.0_1/Toolchains/LLVM13.0.0.xctoolchain//usr/lib/cmake/llvm/./FindGRPC.cmake
-- Installing: /usr/local/Cellar/llvm/13.0.0_1/Toolchains/LLVM13.0.0.xctoolchain//usr/lib/cmake/llvm/./TableGen.cmake
Built target install-xcode-toolchain
/usr/local/Cellar/cmake/3.21.4/bin/cmake -E cmake_progress_start /tmp/llvm-20211109-12151-m0zvtm/llvm-project-13.0.0.src/llvm/build/CMakeFiles 0
Then press control+d to return to debug menu. Because the two last commands were run manually, you need to ignore the rest of errors by choosing the option 2:
- raise
- ignore
- backtrace
- irb
- shell
Choose an action: 2
==> cmake --build . --target install
...
cmake
--build
.
--target
install
Error: could not load cache
BuildError: Failed executing: cmake --build . --target install
1. raise
2. ignore
3. backtrace
4. irb
5. shell
Choose an action: 2
==> cmake --build . --target install-xcode-toolchain
...
cmake
--build
.
--target
install-xcode-toolchain
Error: could not load cache
BuildError: Failed executing: cmake --build . --target install-xcode-toolchain
1. raise
2. ignore
3. backtrace
4. irb
5. shell
Choose an action: 2
It will continue to install to the rest:
==> Fixing /usr/local/Cellar/llvm/13.0.0_1/bin/FileCheck permissions from 755 to 555
==> Fixing /usr/local/Cellar/llvm/13.0.0_1/bin/analyze-build permissions from 755 to 555
...
==> Changing dylib ID of /usr/local/Cellar/llvm/13.0.0_1/lib/libunwind.1.0.dylib
from #rpath/libunwind.1.dylib
to /usr/local/opt/llvm/lib/libunwind.1.dylib
/usr/local/Homebrew/Library/Homebrew/brew.rb (Formulary::FromPathLoader): loading /usr/local/opt/llvm/.brew/llvm.rb
==> Caveats
To use the bundled libc++ please add the following LDFLAGS:
LDFLAGS="-L/usr/local/opt/llvm/lib -Wl,-rpath,/usr/local/opt/llvm/lib"
llvm is keg-only, which means it was not symlinked into /usr/local,
because macOS already provides this software and installing another version in
parallel can cause all kinds of trouble.
If you need to have llvm first in your PATH, run:
echo 'export PATH="/usr/local/opt/llvm/bin:$PATH"' >> ~/.zshrc
For compilers to find llvm you may need to set:
export LDFLAGS="-L/usr/local/opt/llvm/lib"
export CPPFLAGS="-I/usr/local/opt/llvm/include"
==> Summary
🍺 /usr/local/Cellar/llvm/13.0.0_1: 10,907 files, 1.8GB, built in 1418 minutes 39 seconds
It can be verified this way, the default llvm#10 pre-installed:
$ /usr/bin/clang --version
Apple LLVM version 10.0.0 (clang-1000.11.45.5)
Target: x86_64-apple-darwin17.7.0
Thread model: posix
InstalledDir: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin
And the new Homebrew version of llvm#13:
$ /usr/local/opt/llvm/bin/clang --version
Homebrew clang version 13.0.0
Target: x86_64-apple-darwin17.7.0
Thread model: posix
InstalledDir: /usr/local/opt/llvm/bin
#HamidRohani provides a great solution for those still tinkering in High Sierra (10.13). Getting a recent version of LLVM to compile on my old MAC with an older XCode (clang version 10.0.1 in my case) was a great help. My nominal contribution...
Alternatively, you could define the symbol after line 41 in HostInfoMacOSX.mm:
// Kludge: Symbol definition extracted from a modern machine.h
#ifndef CPU_SUBTYPE_ARM64E
# define CPU_SUBTYPE_ARM64E ((cpu_subtype_t) 2)
#endif
Now, there's no need to modify line 246. And the definition would resolve any (possible) subsequent references. And let me aggregate the steps shown above conducted in brew's debug-shell:
cmake . -DLLVM_CREATE_XCODE_TOOLCHAIN=On
cmake --build .
cmake --build . --target install
cmake --build . --target install-xcode-toolchain
Regarding the LLVM-related variable, setting LLVM_CREATE_XCODE_TOOLCHAIN to On directs CMake to generate a target named 'install-xcode-toolchain'. 1 The target is a work-around to System Integrity Protection (SIP); "Xcode toolchains are a mostly-undocumented feature that allows multiple copies of low level tools to be installed to different locations, and users can easily switch between them." 2
Brew's Caveats
Brew gives you few caveats necessary to use the new compiler: "because macOS already provides this software and installing another version in parallel can cause all kinds of trouble." To use your new compiler, "You need to have llvm first in your PATH and for compilers to find llvm you may need to set" LDFLAGS and CDFLAGS. But since these gems-of-wisdom appear near the end of a million-lines of output, let me re-iterate here:
export PATH="/usr/local/opt/llvm/bin:$PATH"
export LDFLAGS="-L/usr/local/opt/llvm/lib"
export CPPFLAGS="-I/usr/local/opt/llvm/include"
Setting PATH is straight forward. I however, didn't need to set LDFLAGS or CPPFLAGS. Further, no joy with this additional caveat, "To use the bundled libc++ please add the following LDFLAGS":
export LDFLAGS="-L/usr/local/opt/llvm/lib -Wl,-rpath,/usr/local/opt/llvm/lib"
Anyway, moving on... To demonstrate that all's good, a C++ foo program that incorporates <filesystem>; a library not in High Sierra:
#include <iostream>
// C++17: Modern C++ compiler has std filesystem
#include <filesystem>
namespace fs = std::filesystem;
typedef std::filesystem::path my_path;
using namespace std;
int main ()
{
fs::path path{"/tmp"};
path /= "foo.txt";
ofstream ofs(path);
ofs << "Hello World." << endl;
ofs.close();
return 0;
}
Clearly, a nonsensical program, But to compile:
unset CPPFLAGS
unset LDFLAGS
clang++ -std=c++17 -L/usr/local/opt/llvm/lib foo.cpp -o foo
Again, showing That I didn't need CPPFLAGS and LDFLAGS. And so, The executable links to the correct libc++ library:
MacIntel:c++fs mjo$ otool -L foo
foo:
/usr/local/opt/llvm/lib/libc++.1.dylib (compatibility version 1.0.0, current version 1.0.0)
/usr/lib/libSystem.B.dylib (compatibility version 1.0.0, current version 1252.50.4)
Enjoy.
I am trying to recognise image which has been trained using Tensorflow. I followed this steps
and finally i got success to train my own dataset and its give a good prediction result. All of the code is in python. Now i am trying to use this trained model in my iOS project . I am following this tutorial to use my trained model in my iOS project. But when i followed those steps i got an error in my mac terminal window like -
"ERROR: /tensorflow/tensorflow/core/kernels/BUILD:2235:1: C++ compilation of rule '//tensorflow/core/kernels:self_adjoint_eig_v2_op' failed: gcc failed: error executing command /usr/bin/gcc -U_FORTIFY_SOURCE -fstack-protector -Wall -B/usr/bin -B/usr/bin -Wunused-but-set-parameter -Wno-free-nonheap-object -fno-omit-frame-pointer -g0 -O2 '-D_FORTIFY_SOURCE=1' -DNDEBUG ... (remaining 124 argument(s) skipped): com.google.devtools.build.lib.shell.BadExitStatusException: Process exited with status 4. gcc: internal compiler error: Killed (program cc1plus)".
What will be the solution for this issue or is there any way to convert this tensor-flow model to iOS supported Core ML Model ? Here i'm sharing a screen shot of that error. Please help me out. Thanks.
Most likely this is due to insufficient memory inside the docker container for bazel to run with default parameters. Try rerunning (after bazel clean) the build with these extra flags to the build command: --local_resources 2048,2.0,1.0 -j 1. You can also try giving a little more resources: --local_resources 4096,2.0,1.0 -j 1
Here are some links for this issue: https://github.com/tensorflow/tensorflow/issues/1530
Tensorflow Serving Compile Error Using Docker on OSX
My program uses the documented autoconf macro AM_PROG_LEX. It builds fine on RHEL 6.5 and other distros, but fails on RHEL 6.6 and later.
The configure script cannot compile its tests. When it tries gcc with -ll, -lfl, linking fails with:
/usr/bin/ld: cannot find -lfl
When it tries gcc without extra libraries, linking fails with:
undefined reference to `yywrap'
libfl.a or libfl.so is missing from official repos of those systems. On RHEL 6.5 it's part of flex package.
RHEL 6.5
configure:5334: checking whether yytext is a pointer
configure:5351: gcc -o conftest -O2 -g -pipe -Wall -Wp,-D_FORTIFY_SOURCE=2 -fexceptions -fstack-protector --param=ssp-buffer-size=4 -m64 -mtune=generic -O0 conftest.c -lfl >&5
configure:5351: $? = 0
configure:5359: result: yes
RHEL 6.8
configure:5196: checking whether yytext is a pointer
configure:5217: gcc -o conftest -g -O2 conftest.c >&5
/tmp/ccNJtVgv.o: In function `input':
/home/git/rpmbuild/BUILD/snacc-1.3.1_16_g23ba7a6/lex.yy.c:1168: undefined reference to `yywrap'
/tmp/ccNJtVgv.o: In function `yylex':
/home/git/rpmbuild/BUILD/snacc-1.3.1_16_g23ba7a6/lex.yy.c:867: undefined reference to `yywrap'
/tmp/ccNJtVgv.o: In function `main':
/home/git/rpmbuild/BUILD/snacc-1.3.1_16_g23ba7a6/conftest.l:17: undefined reference to `yywrap'
collect2: ld returned 1 exit status
configure:5224: $? = 1
configure: failed program was:
...
configure:5246: result: no
libfl contains two and only two functions, both of which are normally unnecessary in production use of flex:
int main() { extern int yylex(void); while (yylex()) ; return 0; }
int yywrap(void) { return 1; }
The yywrap implementation (which essentially disables the yywrap functionality) is not necessary if you use the option
%option noyywrap
in your flex definition, or if you pass the command-line option --noyywrap to flex.
For quick-and-dirty flex scanners, or for debugging, it is sometimes handy to be able to use libfl to fill in the above functions. But it also can create problems on systems which provide both 32- and 64-bit environments. For this reason, libfl was removed from the RHEL flex rpm in 2014. See this RedHat bug fix advisory for details.
So you could install the appropriate flex-devel rpm in order to have libfl available. Or you could compile it yourself using the above code (which is not precisely the source code you'll find in the flex source bundle, but should produce precisely the same library).
Or you could try to fix autoconf so that it doesn't depend on libfl. It didn't used to have any such dependency; if it couldn't find libfl, it would just assume that it wasn't required for the program being compiled.
Workaround is to install flex-devel package containing libfl.a. RHEL version available to subscribers ony. Alternative is CentOS package or recompiling from source.
I am at a loss to solve a particular issue I have: I cannot pinpoint the culprit.
System: Jetson TX1, arm64 kernel, 32b userspace, opencv4tegra
Situation: Have been building projects using:
find_package( OpenCV )
And this has worked fine and compiled.
Fault: I built from source and installed CMake 3.5.2. Now I can no-longer build any projects that depend on OpenCV. I get linker errors that point cannot find:
opencv_dep_cudart
I am assuming the issues are caused in OpenCVCConfig.cmake, around this point:
# Import target "opencv_core" for configuration "Release"
set_property(TARGET opencv_core APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
set_target_properties(opencv_core PROPERTIES
IMPORTED_LINK_INTERFACE_LIBRARIES_RELEASE "opencv_dep_cudart;opencv_dep_nppc;opencv_dep_nppi;opencv_dep_npps;dl;m;pthread;rt;tbb"
IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libopencv_core.so.2.4.12"
IMPORTED_SONAME_RELEASE "libopencv_core.so.2.4"
)
Out of the file: /usr/share/OpenCV/OpenCVModules-release.cmake
However, this file doesn't change between CMake versions as it is an OpenCV file. So this must be how it is processed.
Reverting my CMake back to 2.8.12.2 manually allowed me to build again. Here is an example of a make command that uses OpenCV. Note the correct cuda libs:
Linking CXX executable DuoInterfaceTest
/usr/local/bin/cmake -E cmake_link_script CMakeFiles/DuoInterfaceTest.dir/link.txt --verbose=1
/usr/bin/c++ -O2 -g -DNDEBUG -std=gnu++11 CMakeFiles/DuoInterfaceTest.dir/src/mainTest.cpp.o -o DuoInterfaceTest -L/home/ubuntu/catkin_ws/duointerface/lib/linux/arm -rdynamic libDuoInterface.a /usr/lib/libopencv_vstab.so.2.4.12 /usr/lib/libopencv_tegra.so.2.4.12 /usr/lib/libopencv_imuvstab.so.2.4.12 /usr/lib/libopencv_facedetect.so.2.4.12 /usr/lib/libopencv_esm_panorama.so.2.4.12 /usr/lib/libopencv_detection_based_tracker.so.2.4.12 /usr/lib/libopencv_videostab.so.2.4.12 /usr/lib/libopencv_video.so.2.4.12 /usr/lib/libopencv_ts.a /usr/lib/libopencv_superres.so.2.4.12 /usr/lib/libopencv_stitching.so.2.4.12 /usr/lib/libopencv_photo.so.2.4.12 /usr/lib/libopencv_objdetect.so.2.4.12 /usr/lib/libopencv_ml.so.2.4.12 /usr/lib/libopencv_legacy.so.2.4.12 /usr/lib/libopencv_imgproc.so.2.4.12 /usr/lib/libopencv_highgui.so.2.4.12 /usr/lib/libopencv_gpu.so.2.4.12 /usr/lib/libopencv_flann.so.2.4.12 /usr/lib/libopencv_features2d.so.2.4.12 /usr/lib/libopencv_core.so.2.4.12 /usr/lib/libopencv_contrib.so.2.4.12 /usr/lib/libopencv_calib3d.so.2.4.12 /usr/lib/libopencv_tegra.so.2.4.12 /usr/lib/libopencv_stitching.so.2.4.12 /usr/lib/libopencv_gpu.so.2.4.12 /usr/lib/libopencv_photo.so.2.4.12 /usr/lib/libopencv_legacy.so.2.4.12 /usr/local/cuda-7.0/lib/libcufft.so /usr/lib/libopencv_video.so.2.4.12 /usr/lib/libopencv_objdetect.so.2.4.12 /usr/lib/libopencv_ml.so.2.4.12 /usr/lib/libopencv_calib3d.so.2.4.12 /usr/lib/libopencv_features2d.so.2.4.12 /usr/lib/libopencv_highgui.so.2.4.12 /usr/lib/libopencv_imgproc.so.2.4.12 /usr/lib/libopencv_flann.so.2.4.12 /usr/lib/libopencv_core.so.2.4.12 /usr/local/cuda-7.0/lib/libcudart.so /usr/local/cuda-7.0/lib/libnppc.so /usr/local/cuda-7.0/lib/libnppi.so /usr/local/cuda-7.0/lib/libnpps.so -ldl -lm -lpthread -lrt -ltbb -lDUO -Wl,-rpath,/home/ubuntu/catkin_ws/duointerface/lib/linux/arm:/usr/local/cuda-7.0/lib
Thoughts? I would like to be able to keep the newer CMake on my system but don't understand enough to fix the problem. If you think this is too system-unique I will withdraw the question.
As noted by Michael Mairegger, you have to cmake in the build directory by doing
sudo cmake .. -DCUDA_USE_STATIC_CUDA_RUNTIME=false
But one extra thing I noticed is that if I try to make afterwards it won't work unless I do the cmake command twice.