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adding vendor packages for onnxruntime and onnxruntime-gpu
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‎onnxruntime_gpu_vendor/CMakeLists.txt‎

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# Copyright (c) 2025-present WATonomous. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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cmake_minimum_required(VERSION 3.8)
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project(onnxruntime_gpu_vendor VERSION 1.22.0)
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find_package(ament_cmake REQUIRED)
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set(ONNXRUNTIME_VERSION "${PROJECT_VERSION}")
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set(ONNXRUNTIME_URL
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"https://github.com/microsoft/onnxruntime/releases/download/v${ONNXRUNTIME_VERSION}/onnxruntime-linux-x64-gpu-${ONNXRUNTIME_VERSION}.tgz"
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)
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set(ONNXRUNTIME_DOWNLOAD_DIR "${CMAKE_CURRENT_BINARY_DIR}/onnxruntime-download")
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set(ONNXRUNTIME_EXTRACT_DIR "${CMAKE_CURRENT_BINARY_DIR}/onnxruntime-linux-x64-gpu-${ONNXRUNTIME_VERSION}")
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# Download and extract ONNX Runtime GPU
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if(NOT EXISTS "${ONNXRUNTIME_EXTRACT_DIR}")
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message(STATUS "Downloading ONNX Runtime GPU ${ONNXRUNTIME_VERSION}...")
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file(DOWNLOAD
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${ONNXRUNTIME_URL}
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"${ONNXRUNTIME_DOWNLOAD_DIR}/onnxruntime-gpu.tgz"
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SHOW_PROGRESS
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STATUS DOWNLOAD_STATUS
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)
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list(GET DOWNLOAD_STATUS 0 DOWNLOAD_RESULT)
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if(NOT DOWNLOAD_RESULT EQUAL 0)
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message(FATAL_ERROR "Failed to download ONNX Runtime GPU")
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endif()
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message(STATUS "Extracting ONNX Runtime GPU...")
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execute_process(
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COMMAND ${CMAKE_COMMAND} -E tar xzf "${ONNXRUNTIME_DOWNLOAD_DIR}/onnxruntime-gpu.tgz"
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WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
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RESULT_VARIABLE EXTRACT_RESULT
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)
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if(NOT EXTRACT_RESULT EQUAL 0)
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message(FATAL_ERROR "Failed to extract ONNX Runtime GPU")
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endif()
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endif()
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# Install headers
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install(
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DIRECTORY "${ONNXRUNTIME_EXTRACT_DIR}/include/"
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DESTINATION include
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)
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# Install libraries
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install(
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DIRECTORY "${ONNXRUNTIME_EXTRACT_DIR}/lib/"
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DESTINATION lib
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PATTERN "*.a" EXCLUDE
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)
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# Create an interface library for users to link against
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add_library(onnxruntime_gpu_lib INTERFACE)
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target_include_directories(onnxruntime_gpu_lib INTERFACE
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$<BUILD_INTERFACE:${ONNXRUNTIME_EXTRACT_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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target_link_libraries(onnxruntime_gpu_lib INTERFACE
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$<BUILD_INTERFACE:${ONNXRUNTIME_EXTRACT_DIR}/lib/libonnxruntime.so>
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$<BUILD_INTERFACE:${ONNXRUNTIME_EXTRACT_DIR}/lib/libonnxruntime_providers_cuda.so>
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$<BUILD_INTERFACE:${ONNXRUNTIME_EXTRACT_DIR}/lib/libonnxruntime_providers_shared.so>
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$<INSTALL_INTERFACE:${CMAKE_INSTALL_PREFIX}/lib/libonnxruntime.so>
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$<INSTALL_INTERFACE:${CMAKE_INSTALL_PREFIX}/lib/libonnxruntime_providers_cuda.so>
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$<INSTALL_INTERFACE:${CMAKE_INSTALL_PREFIX}/lib/libonnxruntime_providers_shared.so>
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)
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# Export the target
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install(
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TARGETS onnxruntime_gpu_lib
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EXPORT ${PROJECT_NAME}
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LIBRARY DESTINATION lib
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ARCHIVE DESTINATION lib
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RUNTIME DESTINATION bin
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INCLUDES DESTINATION include
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)
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ament_export_targets(${PROJECT_NAME} HAS_LIBRARY_TARGET)
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ament_export_dependencies()
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ament_package()

‎onnxruntime_gpu_vendor/README.md‎

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# onnxruntime_gpu_vendor
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ROS2 vendor package for ONNX Runtime (GPU/CUDA/TensorRT)
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## Usage
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### Package.xml
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```xml
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<depend>onnxruntime_gpu_vendor</depend>
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```
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### CMakeLists.txt
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```cmake
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find_package(onnxruntime_gpu_vendor REQUIRED)
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add_executable(my_node src/my_node.cpp)
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target_link_libraries(my_node
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onnxruntime_gpu_vendor::onnxruntime_gpu_lib
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)
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```
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### C++ Code
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```cpp
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#include <onnxruntime_cxx_api.h>
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Ort::Env env(ORT_LOGGING_LEVEL_WARNING, "my_app");
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Ort::SessionOptions session_options;
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// Optional: Enable CUDA
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OrtCUDAProviderOptions cuda_options;
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cuda_options.device_id = 0;
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session_options.AppendExecutionProvider_CUDA(cuda_options);
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```

‎onnxruntime_gpu_vendor/package.xml‎

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<?xml version="1.0"?>
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<package format="3">
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<name>onnxruntime_gpu_vendor</name>
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<version>1.22.0</version>
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<description>Vendor package for ONNX Runtime (GPU/CUDA)</description>
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<maintainer email="hello@watonomous.ca">WATonomous</maintainer>
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<license>MIT</license> <!-- ORT License -->
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<license>Apache 2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

‎onnxruntime_vendor/CMakeLists.txt‎

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# Copyright (c) 2025-present WATonomous. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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cmake_minimum_required(VERSION 3.8)
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project(onnxruntime_vendor VERSION 1.22.0)
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find_package(ament_cmake REQUIRED)
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set(ONNXRUNTIME_VERSION "${PROJECT_VERSION}")
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set(ONNXRUNTIME_URL
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"https://github.com/microsoft/onnxruntime/releases/download/v${ONNXRUNTIME_VERSION}/onnxruntime-linux-x64-${ONNXRUNTIME_VERSION}.tgz"
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)
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set(ONNXRUNTIME_DOWNLOAD_DIR "${CMAKE_CURRENT_BINARY_DIR}/onnxruntime-download")
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set(ONNXRUNTIME_EXTRACT_DIR "${CMAKE_CURRENT_BINARY_DIR}/onnxruntime-linux-x64-${ONNXRUNTIME_VERSION}")
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# Download and extract ONNX Runtime
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if(NOT EXISTS "${ONNXRUNTIME_EXTRACT_DIR}")
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message(STATUS "Downloading ONNX Runtime ${ONNXRUNTIME_VERSION}...")
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file(DOWNLOAD
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${ONNXRUNTIME_URL}
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"${ONNXRUNTIME_DOWNLOAD_DIR}/onnxruntime.tgz"
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SHOW_PROGRESS
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STATUS DOWNLOAD_STATUS
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)
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list(GET DOWNLOAD_STATUS 0 DOWNLOAD_RESULT)
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if(NOT DOWNLOAD_RESULT EQUAL 0)
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message(FATAL_ERROR "Failed to download ONNX Runtime")
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endif()
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message(STATUS "Extracting ONNX Runtime...")
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execute_process(
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COMMAND ${CMAKE_COMMAND} -E tar xzf "${ONNXRUNTIME_DOWNLOAD_DIR}/onnxruntime.tgz"
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WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
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RESULT_VARIABLE EXTRACT_RESULT
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)
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if(NOT EXTRACT_RESULT EQUAL 0)
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message(FATAL_ERROR "Failed to extract ONNX Runtime")
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endif()
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endif()
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# Install headers
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install(
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DIRECTORY "${ONNXRUNTIME_EXTRACT_DIR}/include/"
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DESTINATION include
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)
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# Install libraries
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install(
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DIRECTORY "${ONNXRUNTIME_EXTRACT_DIR}/lib/"
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DESTINATION lib
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PATTERN "*.a" EXCLUDE
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)
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# Create an interface library for users to link against
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add_library(onnxruntime_lib INTERFACE)
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target_include_directories(onnxruntime_lib INTERFACE
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$<BUILD_INTERFACE:${ONNXRUNTIME_EXTRACT_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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target_link_libraries(onnxruntime_lib INTERFACE
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$<BUILD_INTERFACE:${ONNXRUNTIME_EXTRACT_DIR}/lib/libonnxruntime.so>
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$<INSTALL_INTERFACE:${CMAKE_INSTALL_PREFIX}/lib/libonnxruntime.so>
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)
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# Export the target
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install(
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TARGETS onnxruntime_lib
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EXPORT ${PROJECT_NAME}
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LIBRARY DESTINATION lib
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ARCHIVE DESTINATION lib
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RUNTIME DESTINATION bin
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INCLUDES DESTINATION include
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)
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ament_export_targets(${PROJECT_NAME} HAS_LIBRARY_TARGET)
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ament_export_dependencies()
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ament_package()

‎onnxruntime_vendor/README.md‎

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# onnxruntime_vendor
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ROS2 vendor package for ONNX Runtime (CPU)
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## Usage
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### Package.xml
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```xml
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<depend>onnxruntime_vendor</depend>
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```
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### CMakeLists.txt
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```cmake
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find_package(onnxruntime_vendor REQUIRED)
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add_executable(my_node src/my_node.cpp)
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target_link_libraries(my_node
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onnxruntime_vendor::onnxruntime_lib
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)
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```
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### C++ Code
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```cpp
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#include <onnxruntime_cxx_api.h>
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Ort::Env env(ORT_LOGGING_LEVEL_WARNING, "my_app");
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Ort::SessionOptions session_options;
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// Load model, run inference...
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```

‎onnxruntime_vendor/package.xml‎

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<?xml version="1.0"?>
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<package format="3">
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<name>onnxruntime_vendor</name>
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<version>1.22.0</version>
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<description>Vendor package for ONNX Runtime (CPU)</description>
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<maintainer email="hello@watonomous.ca">WATonomous</maintainer>
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<license>MIT</license> <!-- ORT License -->
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<license>Apache 2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

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