update cuda versions

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

Author: Kenji Miyake

Diff for: amd64.env

@@ -1,7 +1,7 @@
 rosdistro=humble
 rmw_implementation=rmw_cyclonedds_cpp
 base_image=ubuntu:22.04
-cuda_base_image=nvidia/cuda:11.7.0-devel-ubuntu22.04
-cuda_version=11.6
-cudnn_version=8.4.1.50-1+cuda11.6
-tensorrt_version=8.4.2-1+cuda11.6
+cuda_base_image=nvidia/cuda:11.8.0-devel-ubuntu22.04
+cuda_version=11.8
+cudnn_version=8.7.0.84-1+cuda11.8
+tensorrt_version=TODO+cuda11.8

Diff for: ansible/roles/cuda/README.md

@@ -21,16 +21,7 @@ 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 $liburcu6_url focal main restricted" > /etc/apt/sources.list.d/focal.list
-
-# TODO: Use 22.04 in https://github.com/autowarefoundation/autoware/pull/3084. Currently, 20.04 is intentionally used.
-os=ubuntu2004
+os=ubuntu2204
 wget https://developer.download.nvidia.com/compute/cuda/repos/$os/$(uname -m)/cuda-keyring_1.0-1_all.deb
 sudo dpkg -i cuda-keyring_1.0-1_all.deb
 sudo apt-get update

Diff for: ansible/roles/cuda/tasks/main.yaml

@@ -17,7 +17,7 @@
 - name: Install CUDA keyring
   become: true
   ansible.builtin.apt:
-    deb: https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/{{ cuda_architecture.stdout }}/cuda-keyring_1.0-1_all.deb
+    deb: https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/{{ cuda_architecture.stdout }}/cuda-keyring_1.0-1_all.deb
     update_cache: true
 
 - name: Get dash-case name of cuda_version