Perception packages support CUDA 11.4 and TensorRT 8.2.4

[yukke42]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

Perception packages are ported from https://github.com/tier4/AutowareArchitectureProposal.iv and some of them depend on CUDA 11.1 and TensorRT 7.2.1, but https://github.com/autowarefoundation/autoware requires CUDA 11.4 and TensorRT 8.2.4.

Therefore, the packages below should be checked to work.

• traffic_light_ssd_fine_detector
• traffic_light_classifier
• lidar_centerpoint
• tensorrt_yolo
• lidar_apollo_instance_segmentation

Purpose

The perception packages work on the https://github.com/autowarefoundation/autoware environement.

Possible approaches

If necessary, refer to https://github.com/tier4/tensorrt_common to switch the TensorRT version.

Definition of done

The packages are checked to work on both versions.

[yukke42]

I confirmed that lidar_centerpoint works. #643 (comment)

[wep21]

apollo

[wep21]

yolo

[wep21]

traffic light

[yukke42]

Thank you! 👏

[yukke42]

We checked for the packages to work, so close this issue.