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diff --git a/scripts/ci/install_cuda_ubuntu.sh b/scripts/ci/install_cuda_ubuntu.sh
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+#!/usr/bin/env bash
+
+## ------------------------------------------------------------------
+## Install CUDA version on Ubuntu via a network CUDA installer.
+## The first and only argument is CUDA MAJOR.MINOR version.
+## Ubuntu version is automatically detected from lsb_release.
+##
+## Example usage:
+##    bash install_cuda_ubuntu.sh 10.2
+##
+## Based on: https://github.com/ptheywood/cuda-cmake-github-actions
+## ------------------------------------------------------------------
+
+if [[ $# -lt 1 ]]; then
+    echo "Illegal number of parameters."
+    echo "Usage: $0 <CUDA_VERSION>"
+    exit 2
+fi
+
+## ------------------------------------------------------------------
+## Find CUDA and OS versions
+## ------------------------------------------------------------------
+
+# Get CUDA version.
+CUDA_VERSION_MAJOR_MINOR=$1
+CUDA_MAJOR=$(echo "${CUDA_VERSION_MAJOR_MINOR}" | cut -d. -f1)
+CUDA_MINOR=$(echo "${CUDA_VERSION_MAJOR_MINOR}" | cut -d. -f2)
+echo "CUDA_MAJOR: ${CUDA_MAJOR}"
+echo "CUDA_MINOR: ${CUDA_MINOR}"
+
+# If we don't know the CUDA_MAJOR or MINOR, error.
+if [ -z "${CUDA_MAJOR}" ] ; then
+    echo "Error: Unknown CUDA Major version. Aborting."
+    exit 1
+fi
+if [ -z "${CUDA_MINOR}" ] ; then
+    echo "Error: Unknown CUDA Minor version. Aborting."
+    exit 1
+fi
+
+# Find the OS.
+UBUNTU_VERSION=$(lsb_release -sr)
+UBUNTU_VERSION="${UBUNTU_VERSION//.}"
+
+echo "UBUNTU_VERSION: ${UBUNTU_VERSION}"
+# If we don't know the Ubuntu version, error.
+if [ -z ${UBUNTU_VERSION} ]; then
+    echo "Error: Unknown Ubuntu version. Aborting."
+    exit 1
+fi
+
+## ------------------------------------------------------------------
+## Select CUDA packages to install
+## ------------------------------------------------------------------
+
+CUDA_PACKAGES_IN=(
+    "command-line-tools"
+    "libraries-dev"
+)
+
+CUDA_PACKAGES=""
+for package in "${CUDA_PACKAGES_IN[@]}"; do
+    # Build the full package name and append to the string.
+    CUDA_PACKAGES+=" cuda-${package}-${CUDA_MAJOR}-${CUDA_MINOR}"
+done
+
+echo "CUDA_PACKAGES ${CUDA_PACKAGES}"
+
+## ------------------------------------------------------------------
+## Prepare to install
+## ------------------------------------------------------------------
+
+PIN_FILENAME="cuda-ubuntu${UBUNTU_VERSION}.pin"
+PIN_URL="https://developer.download.nvidia.com/compute/cuda/repos/ubuntu${UBUNTU_VERSION}/x86_64/${PIN_FILENAME}"
+APT_KEY_URL="http://developer.download.nvidia.com/compute/cuda/repos/ubuntu${UBUNTU_VERSION}/x86_64/7fa2af80.pub"
+REPO_URL="http://developer.download.nvidia.com/compute/cuda/repos/ubuntu${UBUNTU_VERSION}/x86_64/"
+
+echo "PIN_FILENAME ${PIN_FILENAME}"
+echo "PIN_URL ${PIN_URL}"
+echo "APT_KEY_URL ${APT_KEY_URL}"
+
+## ------------------------------------------------------------------
+## Install CUDA
+## ------------------------------------------------------------------
+
+echo "Adding CUDA Repository"
+wget ${PIN_URL}
+sudo mv ${PIN_FILENAME} /etc/apt/preferences.d/cuda-repository-pin-600
+sudo apt-key adv --fetch-keys ${APT_KEY_URL}
+sudo add-apt-repository "deb ${REPO_URL} /"
+sudo apt-get update
+
+echo "Installing CUDA packages ${CUDA_PACKAGES}"
+sudo apt-get -y install ${CUDA_PACKAGES}
+
+if [[ $? -ne 0 ]]; then
+    echo "CUDA Installation Error."
+    exit 1
+fi