chore: sync latest (#505)

* fix: fix typo vender -> vendor (#504)

* chore: sync files (#497)

Signed-off-by: GitHub <noreply@github.com>

Signed-off-by: GitHub <noreply@github.com>
Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com>

* fix: use hash for Autoware's Ansible Galaxy (#506)

* chore: remove kvaser role (#491)

* chore: remove kvaser roles (#145)

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* fix: remove kvaser role (#146)

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* chore: sync files (#507)

* chore: sync files

Signed-off-by: GitHub <noreply@github.com>

* Update ansible-galaxy-requirements.yaml

Signed-off-by: GitHub <noreply@github.com>
Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com>
Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

Signed-off-by: GitHub <noreply@github.com>
Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp>
Co-authored-by: tier4-autoware-private-bot[bot] <87871706+tier4-autoware-private-bot[bot]@users.noreply.github.com>
Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com>
Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
Co-authored-by: Tomoya Kimura <tomoya.kimura@tier4.jp>
Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com>

.github/workflows/setup-local-dev-env.yaml

@@ -13,4 +13,4 @@ jobs:
 
       - name: Run setup script
         run: |
-          ./setup-dev-env.sh -y -v --no-nvidia local_dev_env
+          ./setup-dev-env.sh -y -v local_dev_env

amd64.env

@@ -1,7 +1,7 @@
 rosdistro=galactic
 rmw_implementation=rmw_cyclonedds_cpp
 base_image=ubuntu:20.04
-cuda_base_image=nvidia/cuda:11.4.3-devel-ubuntu20.04
-cuda_version=11.4
-cudnn_version=8.2.4.15-1+cuda11.4
-tensorrt_version=8.2.4-1+cuda11.4
+cuda_base_image=nvidia/cuda:11.6.2-devel-ubuntu20.04
+cuda_version=11.6
+cudnn_version=8.4.1.50-1+cuda11.6
+tensorrt_version=8.4.2-1+cuda11.6

ansible-galaxy-requirements.yaml

@@ -4,4 +4,4 @@ collections:
 
   - name: https://github.com/autowarefoundation/autoware.git#/ansible
     type: git
-    version: main
+    version: e108b8fa9e47307b1f2573be5d0dde828235bcb0

ansible/playbooks/local_dev_env.yaml

@@ -3,4 +3,3 @@
 - hosts: localhost
   connection: local
   roles:
-    - role: pilot_auto.dev_env.kvaser

arm64.env

@@ -1,2 +1 @@
 # Override amd64's settings
-cudnn_version=8.2.4.12-1+cuda11.4

autoware.repos

@@ -129,7 +129,7 @@ repositories:
     type: git
     url: https://github.com/tier4/spinnaker.git
     version: 4c74d319ef9186a4fb643dbd82e1b5f7918e75ea
-  vender/morai_msgs:
+  vendor/morai_msgs:
     type: git
     url: https://github.com/MORAI-Autonomous/MORAI-ROS2_morai_msgs.git
     version: main

docker/README.md

@@ -32,6 +32,8 @@ docker run --rm -it \
 
 To run with `rocker`:
 
+If you use `rocker<=0.2.9`, add an option of `--env NVIDIA_DRIVER_CAPABILITIES=""` or `--env NVIDIA_DRIVER_CAPABILITIES=compute,utility,graphics` to avoid the CUDA environment error. For more details, see [this issue](https://github.com/tier4/autoware/issues/2452).
+
 ```bash
 rocker --nvidia --x11 --user \
  --volume {path_to_your_workspace} \

docker/pilot-auto/Dockerfile

@@ -38,10 +38,16 @@ RUN --mount=type=ssh \
 ## Clean up unnecessary files
 RUN rm -rf \
   "$HOME"/.cache \
-  /etc/apt/sources.list.d/cuda.list \
+  /etc/apt/sources.list.d/cuda*.list \
   /etc/apt/sources.list.d/docker.list \
   /etc/apt/sources.list.d/nvidia-docker.list
 
+## Register Vulkan GPU vendors
+ADD "https://gitlab.com/nvidia/container-images/vulkan/raw/dc389b0445c788901fda1d85be96fd1cb9410164/nvidia_icd.json" /etc/vulkan/icd.d/nvidia_icd.json
+RUN chmod 644 /etc/vulkan/icd.d/nvidia_icd.json
+ADD "https://gitlab.com/nvidia/container-images/opengl/raw/5191cf205d3e4bb1150091f9464499b076104354/glvnd/runtime/10_nvidia.json" /etc/glvnd/egl_vendor.d/10_nvidia.json
+RUN chmod 644 /etc/glvnd/egl_vendor.d/10_nvidia.json
+
 ## Create entrypoint
 # hadolint ignore=DL3059
 RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" > /etc/bash.bashrc