cuda / gpu not available (agx orin) in docker container about isaac_ros_common

[bblumberg]

Here is what I discovered:

1. From some quick testing, the version of PyTorch that is available on the PyTorch website, and which is used in building the aarch64 container, does not seem to be compatible with the L4T CUDA container, or the L4T Base container (and pulling in the host cuda libraries).
2. However, when I used the version that is available from nvidia: https://docs.nvidia.com/deeplearning/frameworks/install-pytorch-jetson-platform/index.html, it all worked (well, actually, there is a known torchvision issue). So this should be the version that you use for jetson builds?

bb

[hemalshahNV]

Thanks @bblumberg for your detailed conclusions! We use NVIDIA Deep Learning Frameworks base images on x86 (with PyTorch installed), but use the public PyTorch debians for L4T. We'll take a look at this and straighten out as soon as we can.

[hemalshahNV]

PyTorch with CUDA should not be available in the new Isaac ROS Dev Base images released with Isaac ROS DP1.1. torchvision wasn't updated in time, however.