ROS2 Foxy环境下CMake链接CUDA::cusparse目标失败求助

环境与错误信息 #

在搭载JetPack 5.0.1的Ubuntu 20.04系统上使用ROS2 Foxy编译项目时，出现如下CMake错误：

CMake Error at CMakeLists.txt:33 (add_executable):
Target "Calibrations" links to target "CUDA::cusparse" but the target was
not found. Perhaps a find_package() call is missing for an IMPORTED
target, or an ALIAS target is missing?

项目CMakeLists.txt内容 #

cmake_minimum_required(VERSION 3.5)
project(camera_models)

set(CMAKE_CXX_STANDARD 14)
add_compile_options(-Wextra -Wpedantic)

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(CUDA REQUIRED COMPONENTS cublas cudart cusolver cusparse)

find_package(Boost REQUIRED COMPONENTS filesystem program_options system)
include_directories(${Boost_INCLUDE_DIRS})

find_package(OpenCV REQUIRED)
find_package(Ceres REQUIRED)
include_directories(${CERES_INCLUDE_DIRS})


ament_export_include_directories(include)
ament_export_libraries(camera_models)
ament_export_dependencies(std_msgs)

# include_directories(
#     ${catkin_INCLUDE_DIRS}
#     )

include_directories("include")

add_executable(Calibrations 
    src/intrinsic_calib.cc
    src/chessboard/Chessboard.cc
    src/calib/CameraCalibration.cc
    src/camera_models/Camera.cc
    src/camera_models/CameraFactory.cc
    src/camera_models/CostFunctionFactory.cc
    src/camera_models/PinholeCamera.cc
    src/camera_models/PinholeFullCamera.cc
    src/camera_models/CataCamera.cc
    src/camera_models/EquidistantCamera.cc
    src/camera_models/ScaramuzzaCamera.cc
    src/sparse_graph/Transform.cc
    src/gpl/gpl.cc
    src/gpl/EigenQuaternionParameterization.cc)

# added from DEBUG
ament_target_dependencies(Calibrations rclcpp std_msgs OpenCV)

add_library(camera_models
    src/chessboard/Chessboard.cc
    src/calib/CameraCalibration.cc
    src/camera_models/Camera.cc
    src/camera_models/CameraFactory.cc
    src/camera_models/CostFunctionFactory.cc
    src/camera_models/PinholeCamera.cc
    src/camera_models/PinholeFullCamera.cc
    src/camera_models/CataCamera.cc
    src/camera_models/EquidistantCamera.cc
    src/camera_models/ScaramuzzaCamera.cc
    src/sparse_graph/Transform.cc
    src/gpl/gpl.cc
    src/gpl/EigenQuaternionParameterization.cc)

target_link_libraries(Calibrations ${Boost_LIBRARIES} ${OpenCV_LIBS} ${CERES_LIBRARIES})
target_link_libraries(camera_models ${Boost_LIBRARIES} ${OpenCV_LIBS} ${CERES_LIBRARIES})
#target_link_libraries(Calibrations  ${CUDA_LIBSRARIES})
#target_link_libraries(camera_models  ${CUDA_LIBSRARIES})

# Install
install(TARGETS
    Calibrations
    DESTINATION lib/${PROJECT_NAME}
    )

install(TARGETS Calibrations camera_models
    ARCHIVE DESTINATION lib
    LIBRARY DESTINATION lib
    RUNTIME DESTINATION bin
)

install(TARGETS Calibrations
    RUNTIME DESTINATION lib/${PROJECT_NAME}
)
  
install(DIRECTORY include/
    DESTINATION include/
)
  
ament_package()

已尝试的操作 #

取消注释以下两行代码，但问题未解决：

#target_link_libraries(Calibrations  ${CUDA_LIBSRARIES})
#target_link_libraries(camera_models  ${CUDA_LIBSRARIES})

解决方案 #

1. 修正CUDA链接方式（关键） #

现代CMake中，使用find_package(CUDA REQUIRED COMPONENTS ...)后，应直接链接对应的CUDA目标（而非旧版变量），同时注意原代码中的拼写错误（CUDA_LIBSRARIES应为CUDA_LIBRARIES）。修改target_link_libraries部分：

target_link_libraries(Calibrations 
    ${Boost_LIBRARIES} 
    ${OpenCV_LIBS} 
    ${CERES_LIBRARIES}
    CUDA::cublas
    CUDA::cudart
    CUDA::cusolver
    CUDA::cusparse
)

target_link_libraries(camera_models 
    ${Boost_LIBRARIES} 
    ${OpenCV_LIBS} 
    ${CERES_LIBRARIES}
    CUDA::cublas
    CUDA::cudart
    CUDA::cusolver
    CUDA::cusparse
)

2. 指定CUDA编译器路径（可选） #

若CMake无法自动识别JetPack中的CUDA，可在CMakeLists开头添加：

set(CMAKE_CUDA_COMPILER /usr/local/cuda/bin/nvcc)

3. 验证CERES的CUDA依赖 #

如果CERES是基于CUDA编译的，确保其依赖被正确传递。可尝试将CERES的CUDA依赖显式添加到链接命令中，或检查CERES的CMake配置是否启用了CUDA支持。

内容的提问来源于stack exchange，提问作者Narek Poghosyan