feat(autoware_camera_streampetr): CUDA 12.0+ build compatibility

Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp>

Author: amadeuszsz

perception/autoware_camera_streampetr/CMakeLists.txt

@@ -72,13 +72,17 @@ if(TRT_AVAIL AND CUDA_AVAIL)
   list(APPEND CUDA_NVCC_FLAGS "-gencode arch=compute_86,code=sm_86")
   list(APPEND CUDA_NVCC_FLAGS "-gencode arch=compute_87,code=sm_87")
   list(APPEND CUDA_NVCC_FLAGS "-gencode arch=compute_89,code=sm_89")
-  if(CUDA_VERSION VERSION_LESS "13.0")
-    list(APPEND CUDA_NVCC_FLAGS "-gencode arch=compute_101,code=sm_101")
-  else()  # CUDA 13.0 renamed SM101 to SM110
-    list(APPEND CUDA_NVCC_FLAGS "-gencode arch=compute_110,code=sm_110")
+  if(CUDA_VERSION VERSION_GREATER_EQUAL "12.8")
+    if(CUDA_VERSION VERSION_LESS "13.0")
+      list(APPEND CUDA_NVCC_FLAGS "-gencode arch=compute_101,code=sm_101")
+    else()  # CUDA 13.0 renamed SM101 to SM110
+      list(APPEND CUDA_NVCC_FLAGS "-gencode arch=compute_110,code=sm_110")
+    endif()
+    list(APPEND CUDA_NVCC_FLAGS "-gencode arch=compute_120,code=sm_120")
+    list(APPEND CUDA_NVCC_FLAGS "-gencode arch=compute_120,code=compute_120")
+  else()
+    list(APPEND CUDA_NVCC_FLAGS "-gencode arch=compute_89,code=compute_89")
   endif()
-  list(APPEND CUDA_NVCC_FLAGS "-gencode arch=compute_120,code=sm_120")
-  list(APPEND CUDA_NVCC_FLAGS "-gencode arch=compute_120,code=compute_120")
 
   cuda_add_library(${PROJECT_NAME}_cuda_lib SHARED
     lib/postprocess/circle_nms_kernel.cu