Libtorch with ROS

C++
1

I am having a hard time running pytorch model with ROS in C++. The torchlib breaks the ROS when I try to include it in my package cmakelist. I included the moden ABI by “add_compile_options(-std=c++11 -D_GLIBCXX_USE_CXX11_ABI=1)” but it didn’t help too.

After many tries I decided to built pytorch but then I got a new error for c10, the error log can be found here https://gist.github.com/sanketgujar/8c55c8536910a0ede84133688fb5af41. I tried changes in the previous similar post but nothing is helping. The TORCH_CXX_FLAGS D_GLIBCXX_USE_CXX11_ABI=1 flag is already 1 for me as default in the TorchConfig.cmake.

I am using ROS Kinetic and my gcc version is 5.4

2

I think there are a few things we need to check:

  1. Is libtorch built with _GLIBCXX_USE_CXX11_ABI=1? (i.e. did you see -- Determined _GLIBCXX_USE_CXX11_ABI=1 in the libtorch build log?)

  2. Are you building vehicle_detection with the same compiler and with _GLIBCXX_USE_CXX11_ABI=1?

3

Hi Will,

Yes I made sure both are using the same ABI. I am using
add_definitions(-D_GLIBCXX_USE_CXX11_ABI=1) for ROS package cmake files and changed the TorchConfig.cmake for the pytorch one.

Thanks

4

Its been 9 days and I am still stuck, would someone please help me out

5

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. Can you try and see if it solves the problem?