Merge branch 'main' into chore/update_nebula_version

Author: SakodaShintaro

.github/workflows/autoware-base.yaml

@@ -36,6 +36,8 @@ jobs:
 
       - name: Set up QEMU
         uses: docker/setup-qemu-action@v3
+        with:
+          image: tonistiigi/binfmt:qemu-v7.0.0
 
       - name: Build Autoware's base images
         uses: ./.github/actions/docker-build-and-push-base

.github/workflows/health-check.yaml

@@ -12,14 +12,14 @@ on:
   workflow_dispatch:
 
 jobs:
-  label-check:
-    uses: autowarefoundation/autoware-github-actions/.github/workflows/make-sure-label-is-present.yaml@v1
+  require-label:
+    uses: autowarefoundation/autoware-github-actions/.github/workflows/require-label.yaml@v1
     with:
       label: tag:run-health-check
 
   load-env:
-    needs: label-check
-    if: ${{ needs.label-check.outputs.result == 'true' ||
+    needs: require-label
+    if: ${{ needs.require-label.outputs.result == 'true' ||
       github.event_name == 'schedule' ||
       github.event_name == 'workflow_dispatch' }}
     uses: ./.github/workflows/load-env.yaml

amd64.env

@@ -3,7 +3,7 @@ rmw_implementation=rmw_cyclonedds_cpp
 base_image=ros:humble-ros-base-jammy
 autoware_base_image=ghcr.io/autowarefoundation/autoware-base:latest
 autoware_base_cuda_image=ghcr.io/autowarefoundation/autoware-base:cuda-latest
-cuda_version=12.3
-cudnn_version=8.9.5.29-1+cuda12.2
-tensorrt_version=8.6.1.6-1+cuda12.0
+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

ansible/roles/cuda/README.md

@@ -1,6 +1,6 @@
 # cuda
 
-This role installs [CUDA Toolkit](https://developer.nvidia.com/cuda-toolkit) following [this page](https://developer.nvidia.com/cuda-12-3-0-download-archive?target_os=Linux&target_arch=x86_64&Distribution=Ubuntu&target_version=22.04&target_type=deb_network) and [this page](https://docs.nvidia.com/cuda/cuda-installation-guide-linux/index.html#post-installation-actions).
+This role installs [CUDA Toolkit](https://developer.nvidia.com/cuda-toolkit) following [this page](https://developer.nvidia.com/cuda-12-4-0-download-archive?target_os=Linux&target_arch=x86_64&Distribution=Ubuntu&target_version=22.04&target_type=deb_network) and [this page](https://docs.nvidia.com/cuda/cuda-installation-guide-linux/index.html#post-installation-actions).
 
 This role also registers Vulkan, OpenGL, and OpenCL GPU vendors for future use.
 
@@ -15,7 +15,7 @@ This role also registers Vulkan, OpenGL, and OpenCL GPU vendors for future use.
 
 ### Version compatibility
 
-Autoware currently uses CUDA `12.3` and from this [CUDA Application Compatibility Support Matrix](https://docs.nvidia.com/deploy/cuda-compatibility/#use-the-right-compat-package) that only the NVIDIA driver version `545` is compatible with this version of CUDA.
+Autoware currently uses CUDA `12.4` which corresponds to the NVIDIA driver version `550` and is minimum required driver version.
 
 #### 🛠️ For Advanced Users
 
@@ -42,7 +42,7 @@ sudo dpkg -i cuda-keyring_1.1-1_all.deb
 sudo apt-get update
 cuda_version_dashed=$(eval sed -e "s/[.]/-/g" <<< "${cuda_version}")
 sudo apt-get -y install cuda-toolkit-${cuda_version_dashed}
-sudo apt-get install -y cuda-drivers-545
+sudo apt-get install -y cuda-drivers-550
 ```
 
 Perform the post installation actions:

ansible/roles/tensorrt/README.md

@@ -17,28 +17,24 @@ wget -O /tmp/amd64.env https://raw.githubusercontent.com/autowarefoundation/auto
 
 sudo apt-get install -y \
 libcudnn8=${cudnn_version} \
-libnvinfer8=${tensorrt_version} \
-libnvinfer-plugin8=${tensorrt_version} \
-libnvparsers8=${tensorrt_version} \
-libnvonnxparsers8=${tensorrt_version} \
+libnvinfer10=${tensorrt_version} \
+libnvinfer-plugin10=${tensorrt_version} \
+libnvonnxparsers10=${tensorrt_version} \
 libcudnn8-dev=${cudnn_version} \
 libnvinfer-dev=${tensorrt_version} \
 libnvinfer-plugin-dev=${tensorrt_version} \
 libnvinfer-headers-dev=${tensorrt_version} \
 libnvinfer-headers-plugin-dev=${tensorrt_version} \
-libnvparsers-dev=${tensorrt_version} \
 libnvonnxparsers-dev=${tensorrt_version}
 
 sudo apt-mark hold \
 libcudnn8 \
-libnvinfer8 \
-libnvinfer-plugin8 \
-libnvparsers8 \
-libnvonnxparsers8 \
+libnvinfer10 \
+libnvinfer-plugin10 \
+libnvonnxparsers10 \
 libcudnn8-dev \
 libnvinfer-dev \
 libnvinfer-plugin-dev \
-libnvparsers-dev \
 libnvonnxparsers-dev \
 libnvinfer-headers-dev \
 libnvinfer-headers-plugin-dev

ansible/roles/tensorrt/tasks/main.yaml

@@ -3,10 +3,9 @@
   ansible.builtin.apt:
     name:
       - libcudnn8={{ cudnn_version }}
-      - libnvinfer8={{ tensorrt_version }}
-      - libnvinfer-plugin8={{ tensorrt_version }}
-      - libnvparsers8={{ tensorrt_version }}
-      - libnvonnxparsers8={{ tensorrt_version }}
+      - libnvinfer10={{ tensorrt_version }}
+      - libnvinfer-plugin10={{ tensorrt_version }}
+      - libnvonnxparsers10={{ tensorrt_version }}
     allow_change_held_packages: true
     allow_downgrade: true
     update_cache: true
@@ -20,7 +19,6 @@
       - libnvinfer-plugin-dev={{ tensorrt_version }}
       - libnvinfer-headers-dev={{ tensorrt_version }}
       - libnvinfer-headers-plugin-dev={{ tensorrt_version }}
-      - libnvparsers-dev={{ tensorrt_version }}
       - libnvonnxparsers-dev={{ tensorrt_version }}
     allow_change_held_packages: true
     allow_downgrade: true
@@ -35,10 +33,9 @@
     selection: hold
   with_items:
     - libcudnn8
-    - libnvinfer8
-    - libnvinfer-plugin8
-    - libnvparsers8
-    - libnvonnxparsers8
+    - libnvinfer10
+    - libnvinfer-plugin10
+    - libnvonnxparsers10
 
 - name: Prevent CUDA-related Dev packages from upgrading
   become: true
@@ -51,6 +48,5 @@
     - libnvinfer-plugin-dev
     - libnvinfer-headers-dev
     - libnvinfer-headers-plugin-dev
-    - libnvparsers-dev
     - libnvonnxparsers-dev
   when: install_devel == 'y'

arm64.env

@@ -1,3 +1,2 @@
 # Override amd64's settings
-cudnn_version=8.9.6.50-1+cuda12.2
-tensorrt_version=8.6.2.2-1+cuda12.0
+tensorrt_version=10.3.0.26-1+cuda12.5

autoware-nightly.repos

@@ -23,10 +23,6 @@ repositories:
     type: git
     url: https://github.com/tier4/tier4_ad_api_adaptor.git
     version: tier4/universe
-  universe/external/tier4_autoware_msgs:
-    type: git
-    url: https://github.com/tier4/tier4_autoware_msgs.git
-    version: tier4/universe
   launcher/autoware_launch:
     type: git
     url: https://github.com/autowarefoundation/autoware_launch.git

autoware.repos

@@ -41,7 +41,7 @@ repositories:
   universe/external/tier4_autoware_msgs:
     type: git
     url: https://github.com/tier4/tier4_autoware_msgs.git
-    version: v0.40.0
+    version: tier4/universe
   # Fix the version not to merge https://github.com/MORAI-Autonomous/MORAI-ROS2_morai_msgs/pull/9
   universe/external/morai_msgs:
     type: git
@@ -107,19 +107,19 @@ repositories:
   sensor_kit/sample_sensor_kit_launch:
     type: git
     url: https://github.com/autowarefoundation/sample_sensor_kit_launch.git
-    version: 0.40.0
+    version: 0.41.0
   sensor_kit/external/awsim_sensor_kit_launch: # TODO: Integrate into sample_sensor_kit_launch
     type: git
     url: https://github.com/tier4/awsim_sensor_kit_launch.git
-    version: 0.40.0
+    version: 0.41.0
   sensor_kit/awsim_labs_sensor_kit_launch:
     type: git
     url: https://github.com/autowarefoundation/awsim_labs_sensor_kit_launch.git
-    version: 0.39.0
+    version: 0.41.1
   sensor_kit/single_lidar_sensor_kit_launch:
     type: git
     url: https://github.com/autowarefoundation/single_lidar_sensor_kit_launch.git
-    version: 0.39.0
+    version: 0.41.0
   # vehicle
   vehicle/sample_vehicle_launch:
     type: git