build(CUDA): update CUDA repo OS, and use nvidia/cuda image as a cuda_base_image

[HansRobo]

Description

• remove workarounds and upgrade to the version that officially supports Ubuntu 22.04.
  • use CUDA 12.0
  • use nvidia/cuda image as a cuda_base_image

Related links

#3084
#3408

Tests performed

TBD

Notes for reviewers

TBD

Interface changes

N/A

Effects on system behavior

TBD

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[HansRobo]

$ find-cuda-versions --cuda 12.0 --os ubuntu2204
[cudnn x86_64]
8.8.0.121-1+cuda12.0
8.8.1.3-1+cuda12.0

[cudnn sbsa]
8.8.0.121-1+cuda12.0
8.8.1.3-1+cuda12.0

[nvinfer x86_64]
8.6.0.12-1+cuda12.0
8.6.1.6-1+cuda12.0

[nvinfer sbsa]

[tensorrt x86_64]
8.6.0.12-1+cuda12.0
8.6.1.6-1+cuda12.0

[tensorrt sbsa]

[HansRobo]

latest main

ghcr.io/autowarefoundation/autoware-universe    humble-latest-prebuilt-cuda   9aa50533d984   9 hours ago     14.5GB
ghcr.io/autowarefoundation/autoware-universe    humble-latest-cuda            c718732bb9c2   9 hours ago     16.1GB

this pull-request

ghcr.io/autowarefoundation/autoware-universe   humble-latest-prebuilt-cuda   0a24d658d92d   44 minutes ago   16GB
ghcr.io/autowarefoundation/autoware-universe   humble-latest-cuda            8d85733424a2   2 hours ago      18.2GB

[HansRobo]

Foooooooooo!!!!!!!!

ghcr.io/autowarefoundation/autoware-universe   humble-latest-prebuilt-cuda   32c870d51a35   6 minutes ago    10.8GB
ghcr.io/autowarefoundation/autoware-universe   humble-latest-cuda            a6872bc11f73   56 minutes ago   14.3GB

[xmfcx]

Thanks @HansRobo for your efforts on this,
We have upgraded to CUDA 12.3 with the following PR:

• build: update to CUDA 12.3 #3956

Therefore I am closing this.