Fix Ansible tasks for PR CI fails

.github/workflows/build-main-self-hosted.yaml

@@ -19,7 +19,7 @@ jobs:
 
       - name: Run setup script
         run: |
-          ./setup-dev-env.sh -y
+          ./setup-dev-env.sh -y --module all --no-cuda-drivers openadk
 
       - name: Set git config
         uses: autowarefoundation/autoware-github-actions/set-git-config@v1

.github/workflows/build-main.yaml

@@ -19,7 +19,7 @@ jobs:
 
       - name: Run setup script
         run: |
-          ./setup-dev-env.sh -y
+          ./setup-dev-env.sh -y --module all --no-cuda-drivers openadk
 
       - name: Set git config
         uses: autowarefoundation/autoware-github-actions/set-git-config@v1

.github/workflows/setup-docker.yaml

@@ -10,7 +10,6 @@ jobs:
   setup-docker:
     needs: load-env
     runs-on: ubuntu-latest
-    container: ${{ needs.load-env.outputs.base-image }}
     steps:
       - name: Check out repository
         uses: actions/checkout@v4

.github/workflows/setup-universe.yaml

@@ -10,7 +10,6 @@ jobs:
   setup-universe:
     needs: load-env
     runs-on: ubuntu-latest
-    container: ${{ needs.load-env.outputs.base-image }}
     steps:
       - name: Check out repository
         uses: actions/checkout@v4

ansible/roles/cuda/tasks/main.yaml

@@ -83,61 +83,61 @@
 - name: Create Vulkan directory
   become: true
   ansible.builtin.file:
-    path: "/etc/vulkan/icd.d"
+    path: /etc/vulkan/icd.d
     state: directory
     mode: "0755"
 
 - name: Create OpenGL directory
   become: true
   ansible.builtin.file:
-    path: "/etc/glvnd/egl_vendor.d"
+    path: /etc/glvnd/egl_vendor.d
     state: directory
     mode: "0755"
 
 - name: Create OpenCL directory
   become: true
   ansible.builtin.file:
-    path: "/etc/OpenCL/vendors"
+    path: /etc/OpenCL/vendors
     state: directory
     mode: "0755"
 
 - name: Register Vulkan GPU vendors
   become: true
   ansible.builtin.get_url:
-    url: "https://gitlab.com/nvidia/container-images/vulkan/raw/dc389b0445c788901fda1d85be96fd1cb9410164/nvidia_icd.json"
-    dest: "/etc/vulkan/icd.d/nvidia_icd.json"
+    url: https://gitlab.com/nvidia/container-images/vulkan/raw/dc389b0445c788901fda1d85be96fd1cb9410164/nvidia_icd.json
+    dest: /etc/vulkan/icd.d/nvidia_icd.json
     mode: "0644"
 
 - name: Set permissions for Vulkan GPU vendors
   become: true
   ansible.builtin.file:
-    path: "/etc/vulkan/icd.d/nvidia_icd.json"
+    path: /etc/vulkan/icd.d/nvidia_icd.json
     mode: "0644"
 
 - name: Register OpenGL GPU vendors
   become: true
   ansible.builtin.get_url:
-    url: "https://gitlab.com/nvidia/container-images/opengl/raw/5191cf205d3e4bb1150091f9464499b076104354/glvnd/runtime/10_nvidia.json"
-    dest: "/etc/glvnd/egl_vendor.d/10_nvidia.json"
+    url: https://gitlab.com/nvidia/container-images/opengl/raw/5191cf205d3e4bb1150091f9464499b076104354/glvnd/runtime/10_nvidia.json
+    dest: /etc/glvnd/egl_vendor.d/10_nvidia.json
     mode: "0644"
 
 - name: Set permissions for OpenGL GPU vendors
   become: true
   ansible.builtin.file:
-    path: "/etc/glvnd/egl_vendor.d/10_nvidia.json"
+    path: /etc/glvnd/egl_vendor.d/10_nvidia.json
     mode: "0644"
 
 - name: Register OpenCL GPU vendors
   become: true
   ansible.builtin.file:
-    path: "/etc/OpenCL/vendors/nvidia.icd"
-    state: "touch"
+    path: /etc/OpenCL/vendors/nvidia.icd
+    state: touch
     mode: "0644"
 
 - name: Set permissions for OpenCL GPU vendors
   become: true
   ansible.builtin.lineinfile:
-    path: "/etc/OpenCL/vendors/nvidia.icd"
-    line: "libnvidia-opencl.so.1"
+    path: /etc/OpenCL/vendors/nvidia.icd
+    line: libnvidia-opencl.so.1
     create: true
     mode: "0644"

ansible/roles/geographiclib/tasks/main.yaml

@@ -1,10 +1,3 @@
-- name: Install libqt5charts5-dev # remove this task after merging https://github.com/ros/rosdistro/pull/39705.
-  become: true
-  ansible.builtin.apt:
-    name: libqt5charts5-dev
-    state: latest
-    update_cache: true
-
 - name: Install geographiclib-tools
   become: true
   ansible.builtin.apt:

ansible/roles/nvidia_docker/tasks/main.yaml

@@ -1,19 +1,16 @@
-# tasks file for nvidia-container-toolkit-installation
 - name: Add NVIDIA container toolkit GPG key
   become: true
-  ansible.builtin.shell: |
-    curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg
+  ansible.builtin.apt_key:
+    url: https://nvidia.github.io/libnvidia-container/gpgkey
+    state: present
+    keyring: /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg
 
 - name: Add NVIDIA container toolkit repository
   become: true
-  ansible.builtin.shell: |
-    curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list | \
-    sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \
-    tee /etc/apt/sources.list.d/nvidia-container-toolkit.list
-
-- name: Update apt cache
-  become: true
-  ansible.builtin.apt:
+  ansible.builtin.apt_repository:
+    repo: "deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://nvidia.github.io/libnvidia-container/stable/deb/ {{ ansible_distribution_release }} {{ ansible_architecture }}"
+    state: present
+    filename: nvidia-container-toolkit
     update_cache: yes
 
 - name: Install NVIDIA Container Toolkit
@@ -27,3 +24,4 @@
   become: true
   ansible.builtin.shell: |
     nvidia-ctk runtime configure --runtime=docker
+  changed_when: true

ansible/roles/tensorrt/defaults/main.yaml

@@ -1 +0,0 @@
-install_devel: true

ansible/roles/tensorrt/tasks/main.yaml

@@ -23,7 +23,7 @@
     allow_change_held_packages: true
     allow_downgrade: true
     update_cache: true
-  when: install_devel | bool
+  when: install_devel == 'true'
 
 # apt-mark hold
 - name: Prevent CUDA-related packages from upgrading
@@ -49,4 +49,4 @@
     - libnvinfer-plugin-dev
     - libnvparsers-dev
     - libnvonnxparsers-dev
-  when: install_devel | bool
+  when: install_devel == 'true'