Support using onnxruntime 1.16.0 with CUDA 11.4 on Jetson Orin NX (Linux arm64 GPU). (#1630)

* Support using onnxruntime 1.16.0 with CUDA 11.4 on Jetson Orin NX.

The pre-built onnxruntime libs are provided by the community
using the following command:

```bash
./build.sh --build_shared_lib --config Release --update \
  --build --parallel --use_cuda \
  --cuda_home /usr/local/cuda \
  --cudnn_home /usr/lib/aarch64-linux-gnu 2>&1 | tee my-log.txt
```

See also https://github.com/microsoft/onnxruntime/discussions/11226

---

Info about the board:

```
Model: NVIDIA Orin NX T801-16GB - Jetpack 5.1.4 [L4T 35.6.0]
```

```
nvidia@nvidia-desktop:~/Downloads$ head -n 1 /etc/nv_tegra_release
# R35 (release), REVISION: 6.0, GCID: 37391689, BOARD: t186ref, EABI: aarch64, DATE: Wed Aug 28 09:12:27 UTC 2024

nvidia@nvidia-desktop:~/Downloads$ uname -r
5.10.216-tegra

nvidia@nvidia-desktop:~/Downloads$ lsb_release -i -r
Distributor ID:	Ubuntu
Release:	20.04

nvidia@nvidia-desktop:~/Downloads$ nvcc -V
nvcc: NVIDIA (R) Cuda compiler driver
Copyright (c) 2005-2022 NVIDIA Corporation
Built on Wed_Sep_21_10:43:33_PDT_2022
Cuda compilation tools, release 11.8, V11.8.89
Build cuda_11.8.r11.8/compiler.31833905_0

nvidia@nvidia-desktop:~/Downloads$ dpkg -l libcudnn8
Desired=Unknown/Install/Remove/Purge/Hold
| Status=Not/Inst/Conf-files/Unpacked/halF-conf/Half-inst/trig-aWait/Trig-pend
|/ Err?=(none)/Reinst-required (Status,Err: uppercase=bad)
||/ Name           Version              Architecture Description
+++-==============-====================-============-=================================
ii  libcudnn8      8.6.0.166-1+cuda11.4 arm64        cuDNN runtime libraries

nvidia@nvidia-desktop:~/Downloads$ dpkg -l tensorrt
Desired=Unknown/Install/Remove/Purge/Hold
| Status=Not/Inst/Conf-files/Unpacked/halF-conf/Half-inst/trig-aWait/Trig-pend
|/ Err?=(none)/Reinst-required (Status,Err: uppercase=bad)
||/ Name           Version            Architecture Description
+++-==============-==================-============-=================================
ii  tensorrt       8.5.2.2-1+cuda11.4 arm64        Meta package for TensorRT
```

.github/workflows/aarch64-linux-gnu-shared.yaml

@@ -34,12 +34,20 @@ concurrency:
 jobs:
   aarch64_linux_gnu_shared:
     runs-on: ${{ matrix.os }}
-    name: aarch64 shared GPU ${{ matrix.gpu }}
+    name: aarch64 shared GPU ${{ matrix.gpu }} ${{ matrix.onnxruntime_version }}
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-latest]
-        gpu: [ON, OFF]
+        include:
+          - os: ubuntu-latest
+            gpu: ON
+            onnxruntime_version: "1.11.0"
+          - os: ubuntu-latest
+            gpu: ON
+            onnxruntime_version: "1.16.0"
+          - os: ubuntu-latest
+            gpu: OFF
+            onnxruntime_version: ""
 
     steps:
       - uses: actions/checkout@v4
@@ -62,7 +70,7 @@ jobs:
         if: steps.cache-qemu.outputs.cache-hit != 'true'
         run: |
           sudo apt-get update
-          sudo apt-get install autoconf automake autotools-dev ninja-build
+          sudo apt-get install autoconf automake autotools-dev ninja-build libglib2.0-dev.
 
       - name: checkout-qemu
         if: steps.cache-qemu.outputs.cache-hit != 'true'
@@ -159,6 +167,7 @@ jobs:
 
           export BUILD_SHARED_LIBS=ON
           export SHERPA_ONNX_ENABLE_GPU=${{ matrix.gpu }}
+          export SHERPA_ONNX_LINUX_ARM64_GPU_ONNXRUNTIME_VERSION=${{ matrix.onnxruntime_version }}
 
           ./build-aarch64-linux-gnu.sh
 
@@ -199,7 +208,7 @@ jobs:
           if [[ ${{ matrix.gpu }} == OFF ]]; then
             dst=${dst}-cpu
           else
-            dst=${dst}-gpu
+            dst=${dst}-gpu-onnxruntime-${{ matrix.onnxruntime_version }}
           fi
           mkdir $dst
 
@@ -223,7 +232,7 @@ jobs:
 
       - uses: actions/upload-artifact@v4
         with:
-          name: sherpa-onnx-linux-aarch64-shared-gpu-${{ matrix.gpu }}
+          name: sherpa-onnx-linux-aarch64-shared-gpu-${{ matrix.gpu }}-onnxruntime-${{ matrix.onnxruntime_version }}
           path: sherpa-onnx-*linux-aarch64-shared*.tar.bz2
 
       # https://huggingface.co/docs/hub/spaces-github-actions