From 6adc917a516f1b7e8ce7228ed14e7cbccf07c1c4 Mon Sep 17 00:00:00 2001
From: John <134429827+jbrhm@users.noreply.github.com>
Date: Wed, 18 Sep 2024 15:00:48 -0400
Subject: [PATCH] Add percep ansible (#9)

* Percep ansible

* thanks ali
---
 ansible/percep.yml                        |  4 ++--
 ansible/roles/percep_build/tasks/main.yml | 18 ++++++++++++------
 2 files changed, 14 insertions(+), 8 deletions(-)

diff --git a/ansible/percep.yml b/ansible/percep.yml
index 5361c819..8ca27830 100644
--- a/ansible/percep.yml
+++ b/ansible/percep.yml
@@ -1,8 +1,8 @@
 ---
 - hosts: all
   vars:
-    ros_distro: noetic
-    ubuntu_release: focal
+    ros_distro: humble
+    ubuntu_release: jammy
   roles:
     - build
     - percep_build
diff --git a/ansible/roles/percep_build/tasks/main.yml b/ansible/roles/percep_build/tasks/main.yml
index de25a2ff..a45a96bc 100644
--- a/ansible/roles/percep_build/tasks/main.yml
+++ b/ansible/roles/percep_build/tasks/main.yml
@@ -1,6 +1,11 @@
+- name: Install NVIDIA Drivers
+  become: True
+  apt:
+    name: nvidia-driver-{{driver_edition}}
+
 - name: Download CUDA Keyring
   get_url:
-    url: https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/cuda-keyring_1.1-1_all.deb
+    url: https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64/cuda-keyring_1.1-1_all.deb
     dest: /tmp/cuda-keyring_1.1-1_all.deb
 
 - name: Install CUDA Keyring
@@ -11,20 +16,21 @@
 - name: Install APT Packages
   become: True
   apt:
-    cache_valid_time: 604800
+    update_cache: true
     state: latest
     name:
-      - cuda
+      - cuda-12-3
+      - g++-9
       - zstd # Required to unpack ZED installer
 
 - name: ZED SDK Download
   get_url:
-    url: https://download.stereolabs.com/zedsdk/4.0/cu121/ubuntu20
-    dest: /tmp/ZED_SDK_Ubuntu20_cuda12.1_v4.0.7.zstd.run
+    url: https://download.stereolabs.com/zedsdk/4.1/cu121/ubuntu22
+    dest: /tmp/ZED_SDK_Ubuntu22_cuda12.1_v4.1.4.zstd.run
     mode: 0755
 
 - name: ZED SDK Install
   # Silent mode prevents any user input prompting
-  command: /tmp/ZED_SDK_Ubuntu20_cuda12.1_v4.0.7.zstd.run -- silent
+  command: /tmp/ZED_SDK_Ubuntu22_cuda12.1_v4.1.4.zstd.run -- silent
   args:
     creates: /usr/local/zed