From 9bdcc1ed5497f151436d69f8fc0fa5aa90c7c772 Mon Sep 17 00:00:00 2001
From: Kenzo Lobos Tsunekawa <kenzo.lobos@tier4.jp>
Date: Fri, 21 Feb 2025 13:50:14 +0900
Subject: [PATCH] chore(ansible): added the spconv installation to ansible
 (#5794)

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
---
 amd64.env                               |  2 ++
 ansible/playbooks/install_spconv.yaml   |  4 ++++
 ansible/playbooks/universe.yaml         |  2 ++
 ansible/roles/cuda/tasks/main.yaml      |  1 +
 ansible/roles/spconv/README.md          | 18 ++++++++++++++++
 ansible/roles/spconv/defaults/main.yaml |  0
 ansible/roles/spconv/meta/main.yaml     |  0
 ansible/roles/spconv/tasks/main.yaml    | 28 +++++++++++++++++++++++++
 8 files changed, 55 insertions(+)
 create mode 100644 ansible/playbooks/install_spconv.yaml
 create mode 100644 ansible/roles/spconv/README.md
 create mode 100644 ansible/roles/spconv/defaults/main.yaml
 create mode 100644 ansible/roles/spconv/meta/main.yaml
 create mode 100644 ansible/roles/spconv/tasks/main.yaml

diff --git a/amd64.env b/amd64.env
index e09ab063d15..69f0c0209bd 100644
--- a/amd64.env
+++ b/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
diff --git a/ansible/playbooks/install_spconv.yaml b/ansible/playbooks/install_spconv.yaml
new file mode 100644
index 00000000000..e159c7d6864
--- /dev/null
+++ b/ansible/playbooks/install_spconv.yaml
@@ -0,0 +1,4 @@
+- name: Download and install the cumm and spconv packages
+  hosts: localhost
+  roles:
+    - autoware.dev_env.spconv
diff --git a/ansible/playbooks/universe.yaml b/ansible/playbooks/universe.yaml
index ce32248d98b..307c7649283 100644
--- a/ansible/playbooks/universe.yaml
+++ b/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
diff --git a/ansible/roles/cuda/tasks/main.yaml b/ansible/roles/cuda/tasks/main.yaml
index 796b105d2f5..433abf004e5 100644
--- a/ansible/roles/cuda/tasks/main.yaml
+++ b/ansible/roles/cuda/tasks/main.yaml
@@ -35,6 +35,7 @@
       - libcublas-dev-{{ cuda__dash_case_cuda_version.stdout }}
       - libcurand-dev-{{ cuda__dash_case_cuda_version.stdout }}
       - cuda-nvml-dev-{{ cuda__dash_case_cuda_version.stdout }}
+      - cuda-nvrtc-dev-{{ cuda__dash_case_cuda_version.stdout }}
     update_cache: true
   when: install_devel == 'y'
 
diff --git a/ansible/roles/spconv/README.md b/ansible/roles/spconv/README.md
new file mode 100644
index 00000000000..ff3c968f0b7
--- /dev/null
+++ b/ansible/roles/spconv/README.md
@@ -0,0 +1,18 @@
+# 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.
+
+## Run the playbook
+
+The following command will install a particular version of the packages using ansible.
+
+```bash
+export CUMM_VERSION=0.5.3
+export SPCONV_VERSION=2.3.8
+ansible-playbook autoware.dev_env.install_spconv.yaml -e cumm_version=${CUMM_VERSION} -e spconv_version=${SPCONV_VERSION} --ask-become-pass
+```
diff --git a/ansible/roles/spconv/defaults/main.yaml b/ansible/roles/spconv/defaults/main.yaml
new file mode 100644
index 00000000000..e69de29bb2d
diff --git a/ansible/roles/spconv/meta/main.yaml b/ansible/roles/spconv/meta/main.yaml
new file mode 100644
index 00000000000..e69de29bb2d
diff --git a/ansible/roles/spconv/tasks/main.yaml b/ansible/roles/spconv/tasks/main.yaml
new file mode 100644
index 00000000000..806dfa550e6
--- /dev/null
+++ b/ansible/roles/spconv/tasks/main.yaml
@@ -0,0 +1,28 @@
+# cspell:ignore Bcumm
+- name: Normalize dpkg architecture
+  ansible.builtin.set_fact:
+    normalized_arch: "{{ ansible_architecture | regex_replace('aarch64', 'arm64') | regex_replace('x86_64', 'amd64') }}"
+
+- name: Download the cumm package
+  ansible.builtin.get_url:
+    mode: "0644"
+    url: https://github.com/knzo25/spconv_cpp/releases/download/spconv_v{{ spconv_version }}%2Bcumm_v{{ cumm_version }}/cumm_{{ cumm_version }}_{{ normalized_arch }}.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:
+    mode: "0644"
+    url: https://github.com/knzo25/spconv_cpp/releases/download/spconv_v{{ spconv_version }}%2Bcumm_v{{ cumm_version }}/spconv_{{ spconv_version }}_{{ normalized_arch }}.deb
+    dest: /tmp/spconv.deb
+
+- name: Install the spconv package
+  become: true
+  ansible.builtin.apt:
+    deb: /tmp/spconv.deb
+    state: present