chore(cudss): add cudds to l4t images (#6338)

* chore(cudds): add cudds to l4t images

Signed-off-by: Ettore Di Giacinto <[email protected]>

* add arm64 to CI tests

Signed-off-by: Ettore Di Giacinto <[email protected]>

---------

Signed-off-by: Ettore Di Giacinto <[email protected]>

Author: mudler

.github/workflows/image-pr.yml

@@ -66,3 +66,13 @@ jobs:
             runs-on: 'ubuntu-latest'
             base-image: "ubuntu:22.04"
             makeflags: "--jobs=4 --output-sync=target"
+          - build-type: 'cublas'
+            cuda-major-version: "12"
+            cuda-minor-version: "0"
+            platforms: 'linux/arm64'
+            tag-latest: 'false'
+            tag-suffix: '-nvidia-l4t-arm64'
+            base-image: "nvcr.io/nvidia/l4t-jetpack:r36.4.0"
+            runs-on: 'ubuntu-24.04-arm'
+            makeflags: "--jobs=4 --output-sync=target"
+            skip-drivers: 'true'

Dockerfile

@@ -78,6 +78,16 @@ RUN <<EOT bash
     fi
 EOT
 
+# https://github.com/NVIDIA/Isaac-GR00T/issues/343
+RUN <<EOT bash
+    if [ "${BUILD_TYPE}" = "cublas" ] && [ "${TARGETARCH}" = "arm64" ]; then
+        wget https://developer.download.nvidia.com/compute/cudss/0.6.0/local_installers/cudss-local-tegra-repo-ubuntu2204-0.6.0_0.6.0-1_arm64.deb && \
+        dpkg -i cudss-local-tegra-repo-ubuntu2204-0.6.0_0.6.0-1_arm64.deb && \
+        cp /var/cudss-local-tegra-repo-ubuntu2204-0.6.0/cudss-*-keyring.gpg /usr/share/keyrings/ && \
+        apt-get update && apt-get -y install cudss
+    fi
+EOT
+
 # If we are building with clblas support, we need the libraries for the builds
 RUN if [ "${BUILD_TYPE}" = "clblas" ] && [ "${SKIP_DRIVERS}" = "false" ]; then \
         apt-get update && \