From 89a5c6d077e761f762e84d0b4b67d616cbd23abc Mon Sep 17 00:00:00 2001
From: urasakikeisuke <keisuke.urasaki@map4.jp>
Date: Fri, 26 Jul 2024 18:15:25 +0900
Subject: [PATCH] add missing lines

Signed-off-by: urasakikeisuke <keisuke.urasaki@map4.jp>
---
 amd64.env                               | 12 ++++++------
 ansible/roles/artifacts/tasks/main.yaml | 20 --------------------
 ansible/roles/cuda/tasks/main.yaml      |  1 +
 ansible/roles/ros2/tasks/main.yaml      |  2 +-
 setup-dev-env.sh                        | 11 +++++++++++
 5 files changed, 19 insertions(+), 27 deletions(-)

diff --git a/amd64.env b/amd64.env
index afa17255034..34f87a6a031 100644
--- a/amd64.env
+++ b/amd64.env
@@ -1,8 +1,8 @@
 rosdistro=humble
 rmw_implementation=rmw_cyclonedds_cpp
-base_image=ubuntu:22.04
-cuda_base_image=ubuntu:22.04
-prebuilt_base_image=ubuntu:22.04
-cuda_version=11.6
-cudnn_version=8.4.1.50-1+cuda11.6
-tensorrt_version=8.4.2-1+cuda11.6
+base_image=ros:humble-ros-base-jammy
+cuda_base_image=ros:humble-ros-base-jammy
+prebuilt_base_image=ros:humble-ros-base-jammy
+cuda_version=12.3
+cudnn_version=8.9.5.29-1+cuda12.2
+tensorrt_version=8.6.1.6-1+cuda12.0
diff --git a/ansible/roles/artifacts/tasks/main.yaml b/ansible/roles/artifacts/tasks/main.yaml
index 54efaaea341..9f163de9d02 100644
--- a/ansible/roles/artifacts/tasks/main.yaml
+++ b/ansible/roles/artifacts/tasks/main.yaml
@@ -1,23 +1,3 @@
-# yabloc_pose_initializer
-- name: Create yabloc_pose_initializer directory inside {{ data_dir }}
-  ansible.builtin.file:
-    path: "{{ data_dir }}/yabloc_pose_initializer"
-    mode: "755"
-    state: directory
-
-- name: Download yabloc_pose_initializer/resources.tar.gz
-  become: true
-  ansible.builtin.get_url:
-    url: https://s3.ap-northeast-2.wasabisys.com/pinto-model-zoo/136_road-segmentation-adas-0001/resources.tar.gz
-    dest: "{{ data_dir }}/yabloc_pose_initializer/resources.tar.gz"
-    mode: "644"
-    checksum: sha256:1f660e15f95074bade32b1f80dbf618e9cee1f0b9f76d3f4671cb9be7f56eb3a
-
-- name: Extract yabloc_pose_initializer/resources.tar.gz
-  ansible.builtin.unarchive:
-    src: "{{ data_dir }}/yabloc_pose_initializer/resources.tar.gz"
-    dest: "{{ data_dir }}/yabloc_pose_initializer/"
-
 # image_projection_based_fusion
 - name: Create image_projection_based_fusion directory inside {{ data_dir }}
   ansible.builtin.file:
diff --git a/ansible/roles/cuda/tasks/main.yaml b/ansible/roles/cuda/tasks/main.yaml
index e683d90da18..e14af9631a6 100644
--- a/ansible/roles/cuda/tasks/main.yaml
+++ b/ansible/roles/cuda/tasks/main.yaml
@@ -19,6 +19,7 @@
   ansible.builtin.apt:
     deb: https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/{{ cuda_architecture.stdout }}/cuda-keyring_1.1-1_all.deb
     update_cache: true
+    force: true
 
 - name: Get dash-case name of cuda_version
   ansible.builtin.shell: bash -c 'sed -e "s/\./-/g" <<< $(echo {{ cuda_version }})'
diff --git a/ansible/roles/ros2/tasks/main.yaml b/ansible/roles/ros2/tasks/main.yaml
index 9ad8bb165f9..c9027fbc393 100644
--- a/ansible/roles/ros2/tasks/main.yaml
+++ b/ansible/roles/ros2/tasks/main.yaml
@@ -52,7 +52,7 @@
 - name: Display warning if ROS 2 package is held
   ansible.builtin.debug:
     msg: ROS package 'ros-{{ rosdistro + '-' + ros2_installation_type }}' is apt-mark hold. Skipping installation.
-  when: not install_result.changed
+  when: "'ros-' + rosdistro + '-' + ros2_installation_type in held_ros_packages.stdout"
 
 - name: Add PATH to .bashrc
   ansible.builtin.lineinfile:
diff --git a/setup-dev-env.sh b/setup-dev-env.sh
index a77232a08ab..eaeebb27a04 100755
--- a/setup-dev-env.sh
+++ b/setup-dev-env.sh
@@ -9,6 +9,7 @@ SCRIPT_DIR=$(readlink -f "$(dirname "$0")")
 
 # Parse arguments
 args=()
+option_data_dir="$HOME/autoware_data"
 while [ "$1" != "" ]; do
     case "$1" in
     -y)
@@ -31,6 +32,11 @@ while [ "$1" != "" ]; do
         # Disable installation dev package of role 'cuda' and 'tensorrt'.
         option_runtime=true
         ;;
+    --data-dir)
+        # Set data directory
+        option_data_dir="$2"
+        shift
+        ;;
     *)
         args+=("$1")
         ;;
@@ -90,6 +96,8 @@ else
     ansible_args+=("--extra-vars" "install_devel=true")
 fi
 
+ansible_args+=("--extra-vars" "data_dir=$option_data_dir")
+
 # Load env
 source "$SCRIPT_DIR/amd64.env"
 if [ "$(uname -m)" = "aarch64" ]; then
@@ -126,6 +134,9 @@ if ! (python3 -m pipx --version >/dev/null 2>&1); then
     python3 -m pip install --user pipx
 fi
 
+# Upgrade apt packages
+sudo apt-get upgrade -y
+
 # Install ansible
 python3 -m pipx ensurepath
 export PATH="${PIPX_BIN_DIR:=$HOME/.local/bin}:$PATH"