chore(docker): use nvidia/cuda image as cuda_base_image

.github/workflows/docker-build-and-push-main-self-hosted.yaml

@@ -25,7 +25,7 @@ jobs:
             additional-tag-suffix: ""
           - name: cuda
             base_image_env: cuda_base_image
-            setup-args: --no-cuda-drivers
+            setup-args: --no-cuda-drivers --no-nvidia
             additional-tag-suffix: -cuda
     steps:
       # https://github.com/actions/checkout/issues/211

.github/workflows/docker-build-and-push-main.yaml

@@ -25,7 +25,7 @@ jobs:
             additional-tag-suffix: ""
           - name: cuda
             base_image_env: cuda_base_image
-            setup-args: --no-cuda-drivers
+            setup-args: --no-cuda-drivers --no-nvidia
             additional-tag-suffix: -cuda
     steps:
       - name: Check out repository

amd64.env

@@ -1,7 +1,7 @@
 rosdistro=humble
 rmw_implementation=rmw_cyclonedds_cpp
 base_image=ubuntu:22.04
-cuda_base_image=ubuntu:22.04
+cuda_base_image=nvidia/cuda:12.3.0-devel-ubuntu22.04
 prebuilt_base_image=ubuntu:22.04
 cuda_version=12.3
 cudnn_version=8.9.5.29-1+cuda12.2

docker/autoware-universe/Dockerfile

@@ -107,7 +107,7 @@ RUN mkdir -p ~/.ssh \
 
 ## Set up runtime environment
 RUN --mount=type=ssh \
-  ./setup-dev-env.sh -y $SETUP_ARGS --no-cuda-drivers --runtime universe \
+  ./setup-dev-env.sh -y $SETUP_ARGS --no-cuda-drivers --no-nvidia --runtime universe \
   && pip uninstall -y ansible ansible-core \
   && mkdir src \
   && vcs import src < autoware.repos \

docker/build.sh

@@ -31,7 +31,7 @@ if [ "$option_no_cuda" = "true" ]; then
     setup_args="--no-nvidia"
     image_name_suffix=""
 else
-    setup_args="--no-cuda-drivers"
+    setup_args="--no-cuda-drivers --no-nvidia"
     image_name_suffix="-cuda"
 fi