chore(ansible): added the spconv installation to ansible

amd64.env

@@ -7,3 +7,5 @@ cuda_version=12.4
 cudnn_version=8.9.7.29-1+cuda12.2
 tensorrt_version=10.8.0.43-1+cuda12.8
 pre_commit_clang_format_version=17.0.5
+cumm_version=0.5.3
+spconv_version=2.3.8

ansible/playbooks/install_spconv.yaml

@@ -0,0 +1,4 @@
+- name: Download and install the cumm and spconv packages
+  hosts: localhost
+  roles:
+    - autoware.dev_env.spconv

ansible/playbooks/universe.yaml

@@ -54,6 +54,8 @@
       when: rosdistro != 'rolling'
     - role: autoware.dev_env.tensorrt
       when: prompt_install_nvidia == 'y'
+    - role: autoware.dev_env.spconv
+      when: prompt_install_nvidia == 'y'
 
     # Autoware devel dependencies
     - role: autoware.dev_env.dev_tools

ansible/roles/cuda/tasks/main.yaml

@@ -35,6 +35,7 @@
       - libcublas-dev-{{ cuda__dash_case_cuda_version.stdout }}
       - libcurand-dev-{{ cuda__dash_case_cuda_version.stdout }}
       - cuda-nvml-dev-{{ cuda__dash_case_cuda_version.stdout }}
+      - cuda-nvrtc-dev-{{ cuda__dash_case_cuda_version.stdout }}
     update_cache: true
   when: install_devel == 'y'
 

ansible/roles/spconv/README.md

@@ -0,0 +1,18 @@
+# spconv
+
+This role install the `cumm` and `spconv` libraries needed to perform sparse convolutions.
+The [original implementation](https://github.com/traveller59/spconv) did not provide a shared library, which is pre-generated c++ code and pre-compiled libraries were prepared [separatedly](https://github.com/knzo25/spconv_cpp).
+
+## Manual Installation
+
+For manual installation, please follow the instructions in [this](https://github.com/knzo25/spconv_cpp) repository.
+
+## Run the playbook
+
+The following command will install a particular version of the packages using ansible.
+
+```bash
+export CUMM_VERSION=0.5.3
+export SPCONV_VERSION=2.3.8
+ansible-playbook autoware.dev_env.install_spconv.yaml -e cumm_version=${CUMM_VERSION} -e spconv_version=${SPCONV_VERSION} --ask-become-pass
+```

ansible/roles/spconv/tasks/main.yaml

@@ -0,0 +1,28 @@
+# cspell:ignore Bcumm
+- name: Normalize dpkg architecture
+  ansible.builtin.set_fact:
+    normalized_arch: "{{ ansible_architecture | regex_replace('aarch64', 'arm64') | regex_replace('x86_64', 'amd64') }}"
+
+- name: Download the cumm package
+  ansible.builtin.get_url:
+    mode: "0644"
+    url: https://github.com/knzo25/spconv_cpp/releases/download/spconv_v{{ spconv_version }}%2Bcumm_v{{ cumm_version }}/cumm_{{ cumm_version }}_{{ normalized_arch }}.deb
+    dest: /tmp/cumm.deb
+
+- name: Install the cumm package
+  become: true
+  ansible.builtin.apt:
+    deb: /tmp/cumm.deb
+    state: present
+
+- name: Download the spconv package
+  ansible.builtin.get_url:
+    mode: "0644"
+    url: https://github.com/knzo25/spconv_cpp/releases/download/spconv_v{{ spconv_version }}%2Bcumm_v{{ cumm_version }}/spconv_{{ spconv_version }}_{{ normalized_arch }}.deb
+    dest: /tmp/spconv.deb
+
+- name: Install the spconv package
+  become: true
+  ansible.builtin.apt:
+    deb: /tmp/spconv.deb
+    state: present