How to link libtorch in ros?

1

Does anyone build robot with deep learning powered by pytorch??

I have a conflict situation now:

  • libtorch built with gcc4.9, it using old ABI which can not link with higher programs.
  • ros does not support lower ABI

To make libtorch link, I have to disable CXX11_ABI.
but once I disable it, ros can not link to their libs.

if you don’t beleive , you can add this line your ros package, and your ros package can not build and link.

add_compile_options(-std=c++11 -D_GLIBCXX_USE_CXX11_ABI=0)

Any big god could help me out???

1 Like
2

Hi Jin,

I think it would be a better idea to keep these topics together, as they are apparently all related to libtorch and ROS:
topic2
topic3

Otherwise different users might answer the same aspect multiple times (or try to debug it).

Would you mind collecting all these information in this topic?

3

ok, just hope someone can help me out

4

We now have new ABI binaries for libtorch. They can be found on
http://pytorch.org, or at https://github.com/pytorch/pytorch/issues/17492#issuecomment-524692441.