Update CUDA in Dockerfile and bump requirement versions

build/docker/agent/Dockerfile

@@ -48,20 +48,19 @@ RUN wget https://github.com/libgit2/libgit2/archive/refs/tags/v1.5.0.tar.gz -O l
 # CUDA installation
 RUN wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/cuda-ubuntu2004.pin \
     && mv cuda-ubuntu2004.pin /etc/apt/preferences.d/cuda-repository-pin-600 \
-    && wget https://developer.download.nvidia.com/compute/cuda/11.7.0/local_installers/cuda-repo-ubuntu2004-11-7-local_11.7.0-515.43.04-1_amd64.deb \
-    && dpkg -i cuda-repo-ubuntu2004-11-7-local_11.7.0-515.43.04-1_amd64.deb \
-    && cp /var/cuda-repo-ubuntu2004-11-7-local/cuda-*-keyring.gpg /usr/share/keyrings/ \
+    && wget https://developer.download.nvidia.com/compute/cuda/12.1.1/local_installers/cuda-repo-ubuntu2004-12-1-local_12.1.1-530.30.02-1_amd64.deb \
+    && dpkg -i cuda-repo-ubuntu2004-12-1-local_12.1.1-530.30.02-1_amd64.deb \
+    && cp /var/cuda-repo-ubuntu2004-12-1-local/cuda-*-keyring.gpg /usr/share/keyrings/ \
     && apt-get update \
-    && DEBIAN_FRONTEND=noninteractive apt-get -y install cuda-nvcc-11-7 \
-    && rm cuda-repo-ubuntu2004-11-7-local_11.7.0-515.43.04-1_amd64.deb \
-    && apt-get -y remove cuda-repo-ubuntu2004-11-7-local \
-    && cat /etc/apt/sources.list \
+    && DEBIAN_FRONTEND=noninteractive apt-get -y install cuda \
+    && rm cuda-repo-ubuntu2004-12-1-local_12.1.1-530.30.02-1_amd64.deb \
+    && apt-get -y remove cuda-repo-ubuntu2004-12-1-local \
     && rm /etc/apt/preferences.d/cuda-repository-pin-600 \
-    && rm -rf /var/cuda-repo-ubuntu1804-11-7-local/ \
-    && rm /etc/apt/sources.list.d/cuda-ubuntu2004-11-7-local.list \
+    && rm -rf /var/cuda-repo-ubuntu1804-12-1-local/ \
+    && rm /etc/apt/sources.list.d/cuda-ubuntu2004-12-1-local.list \
     && apt-get clean
 
-ENV CUDA_HOME=/usr/local/cuda-11.7
+ENV CUDA_HOME=/usr/local/cuda-12.1
 
 # override python path, carla pip package path didn't exist and was using Python 3.7 instead of 2.7
 ENV PYTHONPATH=/opt/ros/noetic/lib/python3/dist-packages
@@ -154,11 +153,11 @@ RUN echo /catkin_ws/install/lib/python3/dist-packages >> /home/$USERNAME/.local/
 
 RUN sudo mkdir /workspace && sudo chown $USERNAME:$USERNAME /workspace
 
-RUN echo "export CUDA_HOME=/usr/local/cuda-11" >> ~/.bashrc \
+RUN echo "export CUDA_HOME=/usr/local/cuda-12" >> ~/.bashrc \
     && echo "export PATH=$PATH:$CUDA_HOME/bin" >> ~/.bashrc
 
 COPY --chown=$USERNAME:$USERNAME ./code/requirements.txt /workspace/
-ENV TORCH_CUDA_ARCH_LIST="5.2 6.0 6.1 7.0 7.5 8.0 8.6+PTX"
+ENV TORCH_CUDA_ARCH_LIST="5.2 6.0 6.1 7.0 7.5 8.0 8.6 8.7 8.9+PTX"
 ENV IABN_FORCE_CUDA=1
 
 RUN source ~/.bashrc && pip install -r /workspace/requirements.txt

code/requirements.txt

@@ -1,13 +1,13 @@
-dvc==2.36.0
-dvc-gdrive==2.19.1
-torch==1.13.1
-torchvision==0.14.1
-torchaudio==0.13.1
-pytorch-lightning==1.8.5
-opencv-python==4.7.0.68
-dvclive==1.3.2
-ruamel.yaml==0.17.21
-scipy==1.10.0
+dvc==3.30.3
+dvc-gdrive==2.20.0
+torch==2.1.1
+torchvision==0.16.1
+torchaudio==2.1.1
+pytorch-lightning==2.1.2
+opencv-python==4.8.1.78
+dvclive==3.3.1
+ruamel.yaml==0.18.5
+scipy==1.10.1
 xmltodict==0.13.0
-py-trees==2.1.6
-numpy==1.23.5
+py-trees==2.2.3
+numpy==1.24.4