feat(ansible/tensorrt): add allow_change_held_packages option

[kenji-miyake]

Description

Resolves #2430.
Depends on #2834.

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.

After all checkboxes are checked, anyone who has write access can merge the PR.

[kenji-miyake]

My test results:

[Installed version]

cuda_version=11.6
cudnn_version=8.4.1.50-1+cuda11.6
tensorrt_version=8.4.2-1+cuda11.6

[Installing version]

cuda_version=11.4
cudnn_version=8.2.4.15-1+cuda11.4
tensorrt_version=8.2.4-1+cuda11.4

[Without this PR]

TASK [autoware.dev_env.tensorrt : Install cuDNN and TensorRT] ****************************************************************************************************
fatal: [localhost]: FAILED! => {"cache_update_time": 1662012785, "cache_updated": true, "changed": false, "msg": "'/usr/bin/apt-get -y -o \"Dpkg::Options::=--force-confdef\" -o \"Dpkg::Options::=--force-confold\"       install 'libcudnn8=8.2.4.15-1+cuda11.4' 'libcudnn8-dev=8.2.4.15-1+cuda11.4' 'libnvinfer8=8.2.4-1+cuda11.4' 'libnvinfer-plugin8=8.2.4-1+cuda11.4' 'libnvparsers8=8.2.4-1+cuda11.4' 'libnvonnxparsers8=8.2.4-1+cuda11.4' 'libnvinfer-dev=8.2.4-1+cuda11.4' 'libnvinfer-plugin-dev=8.2.4-1+cuda11.4' 'libnvparsers-dev=8.2.4-1+cuda11.4' 'libnvonnxparsers-dev=8.2.4-1+cuda11.4' --allow-downgrades' failed: E: Held packages were changed and -y was used without --allow-change-held-packages.\n", "rc": 100, "stderr": "E: Held packages were changed and -y was used without --allow-change-held-packages.\n", "stderr_lines": ["E: Held packages were changed and -y was used without --allow-change-held-packages."], "stdout": "Reading package lists...\nBuilding dependency tree...\nReading state information...\nThe following held packages will be changed:\n  libcudnn8 libcudnn8-dev libnvinfer-dev libnvinfer-plugin-dev\n  libnvinfer-plugin8 libnvinfer8 libnvonnxparsers-dev libnvonnxparsers8\n  libnvparsers-dev libnvparsers8\nThe following packages will be DOWNGRADED:\n  libcudnn8 libcudnn8-dev libnvinfer-dev libnvinfer-plugin-dev\n  libnvinfer-plugin8 libnvinfer8 libnvonnxparsers-dev libnvonnxparsers8\n  libnvparsers-dev libnvparsers8\n0 upgraded, 0 newly installed, 10 downgraded, 0 to remove and 25 not upgraded.\n", "stdout_lines": ["Reading package lists...", "Building dependency tree...", "Reading state information...", "The following held packages will be changed:", "  libcudnn8 libcudnn8-dev libnvinfer-dev libnvinfer-plugin-dev", "  libnvinfer-plugin8 libnvinfer8 libnvonnxparsers-dev libnvonnxparsers8", "  libnvparsers-dev libnvparsers8", "The following packages will be DOWNGRADED:", "  libcudnn8 libcudnn8-dev libnvinfer-dev libnvinfer-plugin-dev", "  libnvinfer-plugin8 libnvinfer8 libnvonnxparsers-dev libnvonnxparsers8", "  libnvparsers-dev libnvparsers8", "0 upgraded, 0 newly installed, 10 downgraded, 0 to remove and 25 not upgraded."]}

PLAY RECAP *******************************************************************************************************************************************************
localhost                  : ok=46   changed=0    unreachable=0    failed=1    skipped=3    rescued=0    ignored=0   

Failed.

[With this PR]

TASK [autoware.dev_env.tensorrt : Install cuDNN and TensorRT] ****************************************************************************************************
changed: [localhost]

TASK [autoware.dev_env.tensorrt : Prevent CUDA-related packages from upgrading] **********************************************************************************
changed: [localhost] => (item=libcudnn8)
changed: [localhost] => (item=libcudnn8-dev)
changed: [localhost] => (item=libnvinfer8)
changed: [localhost] => (item=libnvinfer-plugin8)
changed: [localhost] => (item=libnvparsers8)
changed: [localhost] => (item=libnvonnxparsers8)
changed: [localhost] => (item=libnvinfer-dev)
changed: [localhost] => (item=libnvinfer-plugin-dev)
changed: [localhost] => (item=libnvparsers-dev)
changed: [localhost] => (item=libnvonnxparsers-dev)

PLAY RECAP *******************************************************************************************************************************************************
localhost                  : ok=48   changed=2    unreachable=0    failed=0    skipped=3    rescued=0    ignored=0   

Completed.

[wep21]

Thank you for confirming it!