I am using tesla k20 with compute capability 35 on Linux with CUDA 5.With a simple child kernel call it gives a compile error : Unresolved extern function cudaLaunchDe
Perhaps I'm somewhat off topic, but I would like to mention that I had the same issue under Windows/Visual Studio 2010 and I have solved the problem using the last comment by talonmies in few steps.
1) View -> Property Pages
2) Configuration Properties -> CUDA C/C++ -> Common -> Generate Relocatable Device Code -> Yes (-rdc=true)
3) Configuration Properties -> CUDA C/C++ -> Device -> Code Generation -> compute_35,sm_35
4) Configuration Properties -> Linker -> Input -> Additional Dependencies -> cudadevrt.lib
I hope that this information is useful.