feat(autoware.repos): added ros2_spconv

[knzo25]

Description

Temporarily adds https://github.com/knzo25/ros2_spconv
to the autoware.repos file to test compilation times

This PR is required by:

• feat(autoware_lidar_bevfusion): implementation of bevusion using tensorrt autoware.universe#10024

How was this PR tested?

Notes for reviewers

None.

Effects on system behavior

None.

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[xmfcx]

It failed without CUDA. Default behavior in Autoware packages is to skip building the CUDA packages yet report success for build 🤷 (like in autoware_lidar_centerpoint/CMakeLists.txt)

• https://github.com/autowarefoundation/autoware/actions/runs/12785340931/job/35640149638?pr=5658#step:5:7462

[knzo25]

@xmfcx
In this case, it seems to be because the second line of the cmakelist uses project(spconvlib LANGUAGES CXX CUDA).
By selecting it as a language, the rest of the cmake commands act different, which was needed to port the original cmake without many changes. I will try to find a way that does not make to much changes on the autogenerated code yet it is compliant with our way to do things 🙏

[knzo25]

@xmfcx
If I understood correctly, we are moving cuda packages outside universe, so this PR will probably become stalled.
The other alternative that was discussed was to make a deb package, which I created here:
https://github.com/knzo25/spconv_cpp

• To merge feat(autoware_lidar_bevfusion): implementation of bevusion using tensorrt autoware.universe#10024 I would need either this or the deb packages 🙏

[knzo25]

@xmfcx @mitsudome-r
Although I could not be present in the last meetings due to experiments, etc
I was told that regarding spconv, we could add it as a normal ros repo (that takes long to compile) or prepare a deb package.
Since the CI/CD does not seem like it will work (please correct me if I am wrong), I also prepared a .deb package. If that is still an option, how can we distribute it? I just pasted above the repo that generates the .deb files

Currently, spconv would allow me to send PRs to BEVFusion (already sent and spconv is blocking it) and pointcloud semantic segmentation (PTv3)

[xmfcx]

• Send the .deb packages to me so I can upload them to AWS S3 (Or upload it to TIER IV's S3 storage and provide me the links)
• Create a new role similar to https://github.com/autowarefoundation/autoware/tree/main/ansible/roles/pacmod
  • downloads and installs this deb package
• Also update the https://github.com/autowarefoundation/autoware/blob/main/ansible/playbooks/universe.yaml playbook to download and install this deb package for cuda option (sorry that this file is so messy, I hope someone cleans it up some day)
• We also need to think about version control as well. This is for reproducibility of older versions. Ideally, an apt repo to host these files would be the best with versions. But I also understand you as it is easier to just ship a deb file too.

Edit:
Interestingly https://s3.amazonaws.com/autonomoustuff-repo/ pacmod is also hosted on s3 as an apt repository. I wonder how hard it is to manage something like this would be considering we will have only a single package.

@esteve do you have any suggestions on this issue?

[esteve]

@xmfcx I think the effort of hosting one package or multiple ones is the same, it wouldn't make a difference in this case.

@knzo25 have you tried using https://cmake.org/cmake/help/latest/module/CheckLanguage.html#module:CheckLanguage and then https://cmake.org/cmake/help/latest/command/enable_language.html ? You could make it conditional, enable_language and project(PROJ LANG...) are equivalent.

[knzo25]

@xmfcx

• Created the PR in chore(ansible): added the spconv installation to ansible #5794.

I will close this one if/once the other gets merged.

I created a release in github, which allows ansible to download the package, while also addressing to some degree the versioning concerns (added the version similarly to cuda/tensorrt). If we decide to go with this, I will transfer the repo to the awf.
https://github.com/knzo25/spconv_cpp/releases

@esteve
The repo itself is mostly auto-generated code from upstream, and as such, I would like to keep the diffs as little as possible. Does the current way to do things cause you any issues? 🤔

[knzo25]

Closing in favor of
#5794

[esteve]

@knzo25 I see. I can always skip this repository in our buildfarm, but ideally it'd be good that the package build fails gracefully if it can't find CUDA