Nvidia GPUDirect on Bluefield2

Hi all,
Is there a good document on how to enable GPUDirect on Bluefield2 to work with Nvidia A100 GPUs?
We tried doca sdk installation in this document but we failed in section 5. Is it only for the NVIDIA converged cards? or it should work on any Bluefield2 devices as well?

Here is the error we are getting when we run
apt-get -y install cuda

Creating config file /etc/gdm3/greeter.dconf-defaults with new version

gdm.service is not active, cannot reload.

invoke-rc.d: initscript gdm3, action “reload” failed.

Setting up nvidia-settings (515.43.04-0ubuntu1) …

Setting up network-manager-gnome (1.8.24-1ubuntu3) …

Processing triggers for sgml-base (1.29.1) …

Setting up sgml-data (2.0.11) …

Processing triggers for sgml-base (1.29.1) …

Setting up docbook-xml (4.5-9) …

Processing triggers for initramfs-tools (0.136ubuntu6.7) …

update-initramfs: Generating /boot/initrd.img-5.4.0-1035-bluefield

Unsupported platform on EFI system, doing nothing.

Processing triggers for dbus (1.12.16-2ubuntu2.2) …

Processing triggers for dictionaries-common (1.28.1) …

aspell-autobuildhash: processing: en [en-common].

aspell-autobuildhash: processing: en [en-variant_0].

aspell-autobuildhash: processing: en [en-variant_1].

aspell-autobuildhash: processing: en [en-variant_2].

aspell-autobuildhash: processing: en [en-w_accents-only].

aspell-autobuildhash: processing: en [en-wo_accents-only].

aspell-autobuildhash: processing: en [en_AU-variant_0].

aspell-autobuildhash: processing: en [en_AU-variant_1].

aspell-autobuildhash: processing: en [en_AU-w_accents-only].

aspell-autobuildhash: processing: en [en_AU-wo_accents-only].

aspell-autobuildhash: processing: en [en_CA-variant_0].

aspell-autobuildhash: processing: en [en_CA-variant_1].

aspell-autobuildhash: processing: en [en_CA-w_accents-only].

aspell-autobuildhash: processing: en [en_CA-wo_accents-only].

aspell-autobuildhash: processing: en [en_GB-ise-w_accents-only].

aspell-autobuildhash: processing: en [en_GB-ise-wo_accents-only].

aspell-autobuildhash: processing: en [en_GB-ize-w_accents-only].

aspell-autobuildhash: processing: en [en_GB-ize-wo_accents-only].

aspell-autobuildhash: processing: en [en_GB-variant_0].

aspell-autobuildhash: processing: en [en_GB-variant_1].

aspell-autobuildhash: processing: en [en_US-w_accents-only].

aspell-autobuildhash: processing: en [en_US-wo_accents-only].

Processing triggers for libgdk-pixbuf2.0-0:arm64 (2.40.0+dfsg-3ubuntu0.2) …

Processing triggers for rygel (0.38.3-1ubuntu1) …

Processing triggers for libc-bin (2.31-0ubuntu9.7) …

Processing triggers for systemd (245.4-4ubuntu3.16) …

Processing triggers for sgml-base (1.29.1) …

Errors were encountered while processing:

nvidia-dkms-515

cuda-drivers-515

cuda-drivers

cuda-runtime-11-7

cuda-11-7

cuda

E: Sub-process /usr/bin/dpkg returned an error code (1)