update cuda versions

Signed-off-by: Kenji Miyake <[email protected]>

amd64.env

@@ -3,6 +3,6 @@ rmw_implementation=rmw_cyclonedds_cpp
 base_image=ubuntu:22.04
 cuda_base_image=nvidia/cuda:12.0.0-devel-ubuntu22.04
 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=12.0
+cudnn_version=8.8.1.3-1+cuda12.0
+tensorrt_version=8.6.0.12-1+cuda12.0

ansible/roles/cuda/README.md

@@ -21,15 +21,6 @@ wget -O /tmp/amd64.env https://raw.githubusercontent.com/autowarefoundation/auto
 
 # 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