build: update to CUDA 12.3 (#3956)

* build: update to CUDA 12.3 Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * build: cuDNN and TensorRT packages are installed in a separate Ansible script Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> --------- Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>
autowarefoundation · Nov 13, 2023 · a08fc46 · kaspermeck-arm · Dec 7, 2023 · a08fc46
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Showing 4 changed files with 19 additions and 35 deletions.
diff --git a/amd64.env b/amd64.env
@@ -3,6 +3,6 @@ rmw_implementation=rmw_cyclonedds_cpp
 base_image=ubuntu:22.04
 cuda_base_image=ubuntu:22.04
 prebuilt_base_image=ubuntu:22.04
-cuda_version=11.6
-cudnn_version=8.4.1.50-1+cuda11.6
-tensorrt_version=8.4.2-1+cuda11.6
+cuda_version=12.3
+cudnn_version=8.9.5.29-1+cuda12.2
+tensorrt_version=8.6.1.6-1+cuda12.0
diff --git a/ansible/roles/cuda/README.md b/ansible/roles/cuda/README.md
@@ -19,20 +19,11 @@ For Universe, the `cuda_version` version can also be found in:
 ```bash
 wget -O /tmp/amd64.env https://raw.githubusercontent.com/autowarefoundation/autoware/main/amd64.env && source /tmp/amd64.env
 
-# Modified from: https://developer.nvidia.com/cuda-downloads?target_os=Linux&target_arch=x86_64&Distribution=Ubuntu&target_version=22.04&target_type=deb_network
-
-# A temporary workaround for Ubuntu 22.04 with the ubuntu2004 repository
-if [[ "$(uname -m)" == "x86_64" ]]; then
-  liburcu6_url=http://archive.ubuntu.com/ubuntu
-else
-  liburcu6_url=http://ports.ubuntu.com/ubuntu-ports
-fi
-sudo echo "deb $liburcu6_url focal main restricted" > /etc/apt/sources.list.d/focal.list
-
-# TODO: Use 22.04 in https://github.com/autowarefoundation/autoware/pull/3084. Currently, 20.04 is intentionally used.
-os=ubuntu2004
-wget https://developer.download.nvidia.com/compute/cuda/repos/$os/$(uname -m)/cuda-keyring_1.0-1_all.deb
-sudo dpkg -i cuda-keyring_1.0-1_all.deb
+# From: https://docs.nvidia.com/cuda/cuda-installation-guide-linux/index.html#network-repo-installation-for-ubuntu
+
+os=ubuntu2204
+wget https://developer.download.nvidia.com/compute/cuda/repos/$os/$(uname -m)/cuda-keyring_1.1-1_all.deb
+sudo dpkg -i cuda-keyring_1.1-1_all.deb
 sudo apt-get update
 cuda_version_dashed=$(eval sed -e "s/[.]/-/g" <<< "${cuda_version}")
 sudo apt-get -y install cuda-${cuda_version_dashed}

diff --git a/ansible/roles/cuda/tasks/main.yaml b/ansible/roles/cuda/tasks/main.yaml
@@ -8,22 +8,6 @@
   register: cuda_architecture
   changed_when: false
 
-- name: (tmp for Ubuntu 22.04) Add liburcu6 repository into sources.list for amd64
-  become: true
-  ansible.builtin.apt_repository:
-    repo: deb http://archive.ubuntu.com/ubuntu focal main restricted
-    filename: focal
-    state: present
-  when: cuda_architecture.stdout == "x86_64"
-
-- name: (tmp for Ubuntu 22.04) Add liburcu6 repository into sources.list for arm64
-  become: true
-  ansible.builtin.apt_repository:
-    repo: deb http://ports.ubuntu.com/ubuntu-ports focal main restricted
-    filename: focal
-    state: present
-  when: cuda_architecture.stdout == "aarch64"
-
 - name: Remove old /etc/apt/sources.list.d/cuda.list
   become: true
   ansible.builtin.file:
@@ -33,7 +17,7 @@
 - name: Install CUDA keyring
   become: true
   ansible.builtin.apt:
-    deb: https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/{{ cuda_architecture.stdout }}/cuda-keyring_1.0-1_all.deb
+    deb: https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/{{ cuda_architecture.stdout }}/cuda-keyring_1.1-1_all.deb
     update_cache: true
 
 - name: Get dash-case name of cuda_version
@@ -50,13 +34,20 @@
       - cuda-minimal-build-{{ cuda__dash_case_cuda_version.stdout }}
       - cuda-libraries-dev-{{ cuda__dash_case_cuda_version.stdout }}
       - cuda-nvml-dev-{{ cuda__dash_case_cuda_version.stdout }}
-      - cuda-nvprof-{{ cuda__dash_case_cuda_version.stdout }}
       - libnpp-dev-{{ cuda__dash_case_cuda_version.stdout }}
       - libcusparse-dev-{{ cuda__dash_case_cuda_version.stdout }}
       - libcublas-dev-{{ cuda__dash_case_cuda_version.stdout }}
       - libnccl-dev
     update_cache: true
 
+- name: Install extra CUDA libraries for x86_64
+  become: true
+  ansible.builtin.apt:
+    name:
+      - cuda-nvprof-{{ cuda__dash_case_cuda_version.stdout }}
+    update_cache: true
+  when: cuda_architecture.stdout == "x86_64"
+
 - name: Install cuda-drivers
   become: true
   ansible.builtin.apt:

diff --git a/arm64.env b/arm64.env
@@ -1 +1,3 @@
 # Override amd64's settings
+cudnn_version=8.9.6.50-1+cuda12.2
+tensorrt_version=8.6.2.2-1+cuda12.0