Merge pull request #8 from leo-drive/build-run

update to CUDA 12.3

amd64.env

@@ -1,8 +1,6 @@
 base_image=ros:humble-ros-base-jammy
 rosdistro=humble
 rmw_implementation=rmw_cyclonedds_cpp
-cuda_version=12.2
+cuda_version=12.3
 cudnn_version=8.9.5.29-1+cuda12.2
-tensorrt_version=8.6.1.6-1+cuda12.0
-services_ros_domain_id=99
-services_use_sim_time=false
+tensorrt_version=8.6.1.6-1+cuda12.0

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:

arm64.env

@@ -1,2 +1,3 @@
 # Override amd64's settings
+cudnn_version=8.9.6.50-1+cuda12.2
 tensorrt_version=8.6.2.2-1+cuda12.0

docker/autoware-openadk/services/docker-compose.yml

@@ -15,9 +15,9 @@ services:
       - /tmp/.X11-unix:/tmp/.X11-unix
     network_mode: "host"
     environment:
-      - ROS_DOMAIN_ID=${services_ros_domain_id}
+      - ROS_DOMAIN_ID=99
       - DISPLAY=$DISPLAY
-      - services_use_sim_time=${services_use_sim_time}
+      # - services_use_sim_time=false
     deploy:
       resources:
         reservations:
@@ -41,7 +41,7 @@ services:
       - /tmp/.X11-unix:/tmp/.X11-unix
     network_mode: "host"
     environment:
-      - ROS_DOMAIN_ID=${services_ros_domain_id}
+      - ROS_DOMAIN_ID=99
       - DISPLAY=$DISPLAY
-      - services_use_sim_time=${services_use_sim_time}
+      # - services_use_sim_time=false
     command: ros2 launch /launch/planning-control.launch.xml map_path:=/autoware_map/sample-map-rosbag vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit use_sim_time:=${services_use_sim_time}