fix(build): resolve TensorRT header package issues

[all4dich]

:Details:

• Ansible Task Name: "Install cuDNN and TensorRT Dev"
• add support for libnvinfer-headers-dev and libnvinfer-headers-plugin-dev packages

Description

When trying to follow steps described in Source installation, I got this error on "Install cuDNN and TensorRT Dev" ansible task. This task is defined in ansible/roles/tensorrt/tasks/main.yaml#L14

{
    "cache_update_time": 1755052261,
    "cache_updated": false,
    "changed": false,
    "msg": "'/usr/bin/apt-get -y -o \"Dpkg::Options::=--force-confdef\" -o \"Dpkg::Options::=--force-confold\"       install 'libcudnn8-dev=8.9.5.29-1+cuda12.2' 'libnvinfer-dev=8.6.1.6-1+cuda12.0' 'libnvinfer-plugin-dev=8.6.1.6-1+cuda12.0' 'libnvparsers-dev=8.6.1.6-1+cuda12.0' 'libnvonnxparsers-dev=8.6.1.6-1+cuda12.0' --allow-downgrades --allow-change-held-packages' failed: E: Unable to correct problems, you have held broken packages.\n",
    "rc": 100,
    "stderr": "E: Unable to correct problems, you have held broken packages.\n",
    "stderr_lines": [
        "E: Unable to correct problems, you have held broken packages."
    ],
    "stdout": "Reading package lists...\nBuilding dependency tree...\nReading state information...\nSome packages could not be installed. This may mean that you have\nrequested an impossible situation or if you are using the unstable\ndistribution that some required packages have not yet been created\nor been moved out of Incoming.\nThe following information may help to resolve the situation:\n\nThe following packages have unmet dependencies:\n libnvinfer-dev : Depends: libnvinfer-headers-dev (= 8.6.1.6-1+cuda12.0) but 10.13.2.6-1+cuda13.0 is to be installed\n libnvinfer-plugin-dev : Depends: libnvinfer-headers-plugin-dev (= 8.6.1.6-1+cuda12.0) but 10.13.2.6-1+cuda13.0 is to be installed\n",
    "stdout_lines": [
        "Reading package lists...",
        "Building dependency tree...",
        "Reading state information...",
        "Some packages could not be installed. This may mean that you have",
        "requested an impossible situation or if you are using the unstable",
        "distribution that some required packages have not yet been created",
        "or been moved out of Incoming.",
        "The following information may help to resolve the situation:",
        "",
        "The following packages have unmet dependencies:",
        " libnvinfer-dev : Depends: libnvinfer-headers-dev (= 8.6.1.6-1+cuda12.0) but 10.13.2.6-1+cuda13.0 is to be installed",
        " libnvinfer-plugin-dev : Depends: libnvinfer-headers-plugin-dev (= 8.6.1.6-1+cuda12.0) but 10.13.2.6-1+cuda13.0 is to be installed"
    ]
}

How was this PR tested?

Create Dockerfile and use it to initiaze the environment for building autoware

FROM ubuntu:22.04
RUN apt-get update -y && apt-get install -y \
    build-essential \
    cmake \
    git \
    libboost-all-dev \
    libssl-dev \
    libzmq3-dev \
    pkg-config \
    python3-dev \
    python3-pip
WORKDIR /workspace
RUN git clone release/v1.0 https://github.com/all4dich/autoware.git
WORKDIR /workspace/autoware
RUN apt-get install -y python3-venv
RUN ./setup-dev-env.sh -y

Notes for reviewers

None.

Effects on system behavior

None.

[Copilot]

Pull Request Overview

This PR fixes TensorRT package installation issues by adding missing header dependencies to the Ansible playbook. The issue occurred when trying to install TensorRT development packages where dependency conflicts arose due to version mismatches between the main packages and their header dependencies.

• Adds libnvinfer-headers-dev and libnvinfer-headers-plugin-dev packages to the installation list
• Ensures all TensorRT header dependencies are explicitly managed with matching versions

---

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[xmfcx]

This PR is made against release/v1.0 branch, is that intended?

Because, for the latest release https://github.com/autowarefoundation/autoware/releases/tag/0.45.1 this issue doesn't exist.

I can see that it is confusing that ve have v1.0 which is a larger number so should be later, I will discuss with @mitsudome-r if we can remove that tag.

[xmfcx]

I've just checked https://github.com/autowarefoundation/autoware/tags and we don't have the v1.0 tag anymore, we have already removed it.

So please use the latest https://github.com/autowarefoundation/autoware/releases/tag/0.45.1 tag for now and tell us if it works for you.