chore: added the spconv installation to ansible

Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>

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/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/spconv/README.md

@@ -0,0 +1,8 @@
+# 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.

ansible/roles/spconv/tasks/main.yaml

@@ -0,0 +1,21 @@
+- name: Download the cumm package
+  ansible.builtin.get_url:
+    url: https://github.com/knzo25/spconv_cpp/releases/download/spconv_v{{ spconv_version }}%2Bcumm_v{{ cumm_version }}/cumm_{{ cumm_version }}_amd64.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:
+    url: https://github.com/knzo25/spconv_cpp/releases/download/spconv_v{{ spconv_version }}%2Bcumm_v{{ cumm_version }}/spconv_{{ spconv_version }}_amd64.deb
+    dest: /tmp/spconv.deb
+
+- name: Install the spconv package
+  become: true
+  ansible.builtin.apt:
+    deb: /tmp/spconv.deb
+    state: present