Docker: CUDA image with TensorRT to avoid CN build error

"Clearsigned file isn't valid, got 'NOSPLIT' (does the network require
authentication?)" when running "apt-get -y update"

docker/build/build_cyber.sh

@@ -168,10 +168,15 @@ TAG=""
 function determine_tag() {
     local docker_fn="$(basename ${DOCKERFILE})"
     local myid="${docker_fn%%.*}"
-    if [ "${myid}" = "tegra_cyber" ]; then
+    if [[ "${myid}" == "tegra_cyber" ]]; then
         local cuda_ver="10.2"
         local cudnn_ver="8"
         TAG="${REPO}:L4T-${cuda_ver}-cudnn${cudnn_ver}-${UBT_LTS}-${TIME}"
+    elif [[ "${myid}" == "pre_cyber" ]]; then
+        local cuda_ver="10.2"
+        local cudnn_ver="7"
+        local trt_ver="7"
+        TAG="${REPO}:cuda${cuda_ver}-cudnn${cudnn_ver}-trt${trt_ver}-devel-${UBT_LTS}-${TARGET_ARCH}"
     else
         TAG="${REPO}:cyber-${TARGET_ARCH}-${UBT_LTS}-${TIME}"
     fi

docker/build/cyber.x86_64.dockerfile

-ARG BASE_IMAGE=nvidia/cuda:10.2-cudnn7-devel-ubuntu18.04
+ARG BASE_IMAGE=apolloauto/apollo:cuda10.2-cudnn7-trt7-devel-18.04-x86_64
 FROM ${BASE_IMAGE}
 
 ARG BUILD_STAGE
@@ -12,8 +12,8 @@ ENV PATH /opt/apollo/sysroot/bin:$PATH
 COPY installers /tmp/installers
 COPY rcfiles /opt/apollo/rcfiles
 
-# Pre-downloaded tarballs
-COPY archive /tmp/archive
+# (Deprecated) Pre-downloaded tarballs
+# COPY archive /tmp/archive
 
 RUN bash /tmp/installers/install_minimal_environment.sh ${GEOLOC}
 RUN bash /tmp/installers/install_cmake.sh

docker/build/installers/install_gpu_support.sh

@@ -27,13 +27,19 @@ apt_get_update_and_install \
     libatlas-base-dev \
     liblapack-dev
 
-# TODO(storypku): GPU Build only
-apt_get_update_and_install \
-    libcublas10 \
-    libcublas-dev
+TARGET_ARCH="$(uname -m)"
+
+# Note(storypku):
+# 1) cublas disabled for x86 since already installed before this installer runs
+
+if [[ "${TARGET_ARCH}" == "aarch64" ]]; then
+    apt_get_update_and_install \
+        libcublas10 \
+        libcublas-dev
 
-info "Install TensorRT 7 ..."
-bash ${CURR_DIR}/install_tensorrt.sh
+    info "Install TensorRT 7 ..."
+    bash ${CURR_DIR}/install_tensorrt.sh
+fi
 
 info "Install libtorch ..."
 bash ${CURR_DIR}/install_libtorch.sh

docker/build/pre_cyber.x86_64.dockerfile

+ARG BASE_IMAGE=nvidia/cuda:10.2-cudnn7-devel-ubuntu18.04
+FROM ${BASE_IMAGE}
+
+ENV TENSORRT_VERSION 7.0.0-1+cuda10.2
+
+RUN apt-get -y update \
+    && apt-get install -y --no-install-recommends \
+    libnvinfer7="${TENSORRT_VERSION}" \
+    libnvonnxparsers7="${TENSORRT_VERSION}" \
+    libnvparsers7="${TENSORRT_VERSION}" \
+    libnvinfer-plugin7="${TENSORRT_VERSION}" \
+    libnvinfer-dev="${TENSORRT_VERSION}" \
+    libnvonnxparsers-dev="${TENSORRT_VERSION}" \
+    libnvparsers-dev="${TENSORRT_VERSION}" \
+    libnvinfer-plugin-dev="${TENSORRT_VERSION}" \
+    && find /usr/lib/x86_64-linux-gnu/ -type f \
+        \( -name "libnv*_static.a" -or -name "libmyelin_*_static.a" \) \
+        -delete -print  \
+    && apt-get -y clean \
+    && rm -rf /var/lib/apt/lists/* \
+    && rm -f /etc/apt/sources.list.d/nvidia-ml.list \
+    && rm -f /etc/apt/sources.list.d/cuda.list
+
+# NVIDIA apt sources.list removed to speed up build
+# Remove static TensorRT libraries