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Add vendor-agnostic wgpu compute backend #44

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d655441
Add vendor-agnostic wgpu compute backend
naitikpahwa18 Mar 16, 2026
bbf0a1e
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot] Mar 16, 2026
e812a99
add CUDA backend with runtime selection, rustfft migration
naitikpahwa18 Mar 18, 2026
4f9ad66
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot] Mar 18, 2026
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2 changes: 0 additions & 2 deletions dave_interfaces/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -11,8 +11,6 @@ find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(gz-cmake3 REQUIRED)
find_package(gz-msgs10 REQUIRED)

rosidl_generate_interfaces(${PROJECT_NAME}
"msg/UsblCommand.msg"
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174 changes: 102 additions & 72 deletions gazebo/dave_gz_multibeam_sonar/multibeam_sonar/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -9,72 +9,99 @@ set(CMAKE_SUPPRESS_DEVELOPER_WARNINGS TRUE CACHE BOOL

cmake_policy(SET CMP0144 NEW)

project(multibeam_sonar)
set(CUDA_ARCHITECTURE "native" CACHE STRING "Target CUDA SM version(s), e.g. native or 70;80;89")
set(CMAKE_CUDA_ARCHITECTURES "${CUDA_ARCHITECTURE}")

set(CUDA_ARCHITECTURE "60" CACHE STRING "Target CUDA SM version")
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@arjo129 arjo129 Mar 17, 2026

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My personal recommendation would be to not remove the CUDA backend. Rather at run time have a flag in the plugin to be able to toggle between the two.

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@naitikpahwa18 naitikpahwa18 Mar 17, 2026

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I’m working on merging the previous CUDA path with the current wgpu one to support that.

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@naitikpahwa18 naitikpahwa18 Mar 18, 2026

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Addressed in the latest commit, merged CUDA with wgpu and added runtime toggling.

project(multibeam_sonar)

find_package(ament_cmake REQUIRED)
find_package(gz-cmake REQUIRED)
find_package(gz-sim REQUIRED)
find_package(gz-sensors REQUIRED)
find_package(gz-rendering REQUIRED OPTIONAL_COMPONENTS ogre ogre2)
find_package(gz-transport REQUIRED)
find_package(gz-msgs REQUIRED)
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(OpenCV REQUIRED)
find_package(marine_acoustic_msgs REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(wgpu_vendor REQUIRED)
find_package(CUDAToolkit QUIET)

if(CUDAToolkit_FOUND)

set(CMAKE_CUDA_COMPILER "${CUDAToolkit_NVCC_EXECUTABLE}" CACHE FILEPATH "CUDA compiler" FORCE)
enable_language(CUDA)
find_package(CUDA REQUIRED)
message(STATUS "CUDA found, enabling CUDA support.")
message(STATUS "CUDA ${CUDAToolkit_VERSION} found (SM ${CUDA_ARCHITECTURE}), enabling CUDA support.")
include_directories(${CUDA_INCLUDE_DIRS})
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)
find_package(gz-rendering8 REQUIRED OPTIONAL_COMPONENTS ogre ogre2)
find_package(gz-transport13 REQUIRED)
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(OpenCV REQUIRED)
find_package(marine_acoustic_msgs REQUIRED)
find_package(cv_bridge REQUIRED)

set(GZ_MSGS_VER ${gz-msgs10_VERSION_MAJOR})
set(GZ_RENDERING_VER ${gz-rendering8_VERSION_MAJOR})
set(GZ_SENSORS_VER ${gz-sensors8_VERSION_MAJOR})
set(GZ_TRANSPORT_VER ${gz-transport13_VERSION_MAJOR})
set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})

if(TARGET gz-rendering${GZ_RENDERING_VER}::ogre)
set(HAVE_OGRE TRUE)
set(GZ_RENDERING_TARGET gz-rendering${GZ_RENDERING_VER}-ogre)
add_definitions(-DWITH_OGRE)
endif()
endif()

if(TARGET gz-rendering${GZ_RENDERING_VER}::ogre2)
set(HAVE_OGRE2 TRUE)
set(GZ_RENDERING_TARGET gz-rendering${GZ_RENDERING_VER}-ogre2)
add_definitions(-DWITH_OGRE2)
endif()
if(TARGET gz-rendering::ogre)
add_definitions(-DWITH_OGRE)
endif()
if(TARGET gz-rendering::ogre2)
add_definitions(-DWITH_OGRE2)
endif()

add_library(${PROJECT_NAME}
SHARED
MultibeamSonarSensor.cc
sonar_calculation_cuda.cu
)
set(SONAR_SOURCES
MultibeamSonarSensor.cc
sonar_compute_cpu.cc
sonar_compute_wgpu.cc
sonar_compute_cuda.cc
)

if(CUDAToolkit_FOUND)
list(APPEND SONAR_SOURCES sonar_calculation_cuda.cu)
endif()

add_library(${PROJECT_NAME} SHARED ${SONAR_SOURCES})

if(CUDAToolkit_FOUND)
set_target_properties(${PROJECT_NAME}
PROPERTIES
CUDA_SEPARABLE_COMPILATION ON
)
target_compile_definitions(${PROJECT_NAME} PRIVATE DAVE_HAS_CUDA_BACKEND=1)
endif()

target_include_directories(${PROJECT_NAME}
PUBLIC
${gz-sensors${GZ_SENSORS_VER}_INCLUDE_DIRS}
${gz-rendering${GZ_RENDERING_VER}_INCLUDE_DIRS}
${gz-msgs${GZ_MSGS_VER}_INCLUDE_DIRS}
${CUDA_INCLUDE_DIRS}
${gz-transport${GZ_TRANSPORT_VER}_INCLUDE_DIRS}
${gz-sim${GZ_SIM_VER}_INCLUDE_DIRS}
)
target_include_directories(${PROJECT_NAME} PUBLIC
${gz-sensors_INCLUDE_DIRS}
${gz-rendering_INCLUDE_DIRS}
${gz-msgs_INCLUDE_DIRS}
${gz-transport_INCLUDE_DIRS}
${gz-sim_INCLUDE_DIRS}
${rclcpp_INCLUDE_DIRS}
${sensor_msgs_INCLUDE_DIRS}
${geometry_msgs_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${marine_acoustic_msgs_INCLUDE_DIRS}
${cv_bridge_INCLUDE_DIRS}
)

target_link_libraries(${PROJECT_NAME}
gz-sim::gz-sim
gz-sensors::gz-sensors
gz-msgs::gz-msgs
gz-transport::gz-transport
gz-rendering::gz-rendering
${rclcpp_LIBRARIES}
${sensor_msgs_LIBRARIES}
${geometry_msgs_LIBRARIES}
${OpenCV_LIBS}
${marine_acoustic_msgs_LIBRARIES}
)

if(TARGET cv_bridge::cv_bridge)
target_link_libraries(${PROJECT_NAME} cv_bridge::cv_bridge)
elseif(TARGET cv_bridge)
target_link_libraries(${PROJECT_NAME} cv_bridge)
elseif(cv_bridge_LIBRARIES)
target_link_libraries(${PROJECT_NAME} ${cv_bridge_LIBRARIES})
endif()

if(CUDAToolkit_FOUND)
find_library(CUBLAS_LIB cublas
HINTS
${CUDAToolkit_LIBRARY_DIR}
Expand All @@ -85,39 +112,42 @@ if(CUDAToolkit_FOUND)
if(NOT CUBLAS_LIB)
message(FATAL_ERROR "cuBLAS not found")
endif()

target_link_libraries(${PROJECT_NAME}
${CUDA_LIBRARIES}
${CUDA_CUFFT_LIBRARIES}
${CUBLAS_LIB}
)
endif()

install(TARGETS ${PROJECT_NAME}
DESTINATION lib/${PROJECT_NAME}
)

ament_target_dependencies(${PROJECT_NAME}
gz-sensors${GZ_SENSORS_VER}
${GZ_RENDERING_TARGET}
gz-msgs${GZ_MSGS_VER}
gz-transport${GZ_TRANSPORT_VER}
gz-sim${GZ_SIM_VER}
rclcpp
sensor_msgs
rosidl_default_generators
OpenCV
marine_acoustic_msgs
geometry_msgs
cv_bridge
)
if(TARGET wgpu::wgpu_vendor)
target_link_libraries(${PROJECT_NAME} wgpu::wgpu_vendor)
elseif(TARGET wgpu_vendor)
target_link_libraries(${PROJECT_NAME} wgpu_vendor)
endif()

ament_environment_hooks(
"${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in"
)
# Ensure the Rust static archive is linked into this shared library.
# The exported interface target may not always propagate non-installed imported
# targets across package boundaries in overlay builds.
if(DEFINED wgpu_vendor_DIR)
get_filename_component(_wgpu_vendor_prefix "${wgpu_vendor_DIR}/../../.." ABSOLUTE)
set(_sonar_wgpu_static "${_wgpu_vendor_prefix}/lib/libsonar_wgpu.a")
if(EXISTS "${_sonar_wgpu_static}")
target_link_libraries(${PROJECT_NAME} "${_sonar_wgpu_static}")
endif()
endif()

if(TARGET gz-sensors::gz-sensors-rendering)
target_link_libraries(${PROJECT_NAME} gz-sensors::gz-sensors-rendering)
else()
message(STATUS "CUDA Toolkit not found or disabled: "
"Skipping CUDA-specific targets")
find_library(GZ_SENSORS_RENDERING_LIB gz-sensors-rendering)
if(GZ_SENSORS_RENDERING_LIB)
target_link_libraries(${PROJECT_NAME} ${GZ_SENSORS_RENDERING_LIB})
endif()
endif()

install(TARGETS ${PROJECT_NAME} DESTINATION lib/${PROJECT_NAME})

ament_environment_hooks(
"${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in")

ament_package()
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