Cuda-dev update for multibeam sonar plugin

[woensug-choi]

(modified 2022/7/20)
The rocker cuda PR is now merged. This PR includes necessary changes to run multibeam sonar.

How-to (updated to use virtual environment (venv) of pip 2022/5/9)

# Install virtual environment (venv) for pip
sudo apt-get install python3-venv

# Create a venv
mkdir -p ~/rocker_venv_cuda
python3 -m venv ~/rocker_venv_cuda

# initiate venv
. ~/rocker_venv_cuda/bin/activate

# Clone rocker of osrf if not installed
cd ~/rocker_venv_cuda
git clone https://github.com/osrf/rocker.git
cd rocker

# install
sudo pip install .

# change dockwater to cuda-dev branch
cd ~/uuv_ws/src/dockwater
git checkout cuda-dev

# Build and run docker image
./build.bash noetic
./run.bash -c noetic:latest

# Clone necessary repos for multibeam sonar
cd ~/uuv_ws/src
vcs import --skip-existing --input dave/extras/repos/multibeam_sim.repos .

# Clean previous compiles (optional)
cd ~/uuv_ws
rm -rf build devel
rm src/CMakeLists.txt

# Compile and run tutorial case
cd ~/uuv_ws
catkin_make
source ~/uuv_ws/devel/setup.bash
roslaunch nps_uw_multibeam_sonar sonar_tank_blueview_p900_nps_multibeam.launch

[M1chaelM]

I think this should not be merged until the rocker cuda dev branch is merged. When that happens, we can update the testing instructions so they don't require that we reinstall rocker.

[woensug-choi]

I agree it shouldn't get merged yet. On-going discussion at osrf/rocker#158

[woensug-choi]

Updated to use a new key for CUDA (YOU NEED TO REINSTALL ROCKER from updated cuda-dev branch at osrf/rocker#158, according to https://forums.developer.nvidia.com/t/notice-cuda-linux-repository-key-rotation/212772), and new pip command (remove -> uninstall).

Also, you may need to use pip venv to prompt newly updated dockerfile generation. Check out https://github.com/osrf/rocker#development (Otherwise, you will still be calling the previous CUDA repository key). Check out How-to at the top.

[woensug-choi]

Now, the rocker PR for Cuda executables is merged. This dockwater PR can be merged.

Now, the rocker PR for Cuda executables are merged. This dockwater PR can be merged.