`ubuntu_setup`: fix `No module apt_pkg` error when setting up (#32526)

* no apt_pkg fix

* check arch

* fix if

* cleanup

* reorder

* increase shm size for selfdrive tests

* add comment explaining reinstall

* refine

.github/workflows/selfdrive_tests.yaml

@@ -19,7 +19,7 @@ env:
   DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
   BUILD: selfdrive/test/docker_build.sh base
 
-  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PRE_COMMIT_HOME=/tmp/pre-commit -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/pre-commit:/tmp/pre-commit -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+  RUN: docker run --shm-size 1.5G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PRE_COMMIT_HOME=/tmp/pre-commit -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/pre-commit:/tmp/pre-commit -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
 
   PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 -n logical
 

tools/install_python_dependencies.sh

@@ -15,7 +15,10 @@ export MAKEFLAGS="-j$(nproc)"
 
 
 echo "update pip"
-if [ ! -z "\$VIRTUAL_ENV_ROOT" ] || [ ! -z "$INSTALL_DEADSNAKES_PPA" ] ; then
+if [ ! -z "$VIRTUAL_ENV_ROOT" ] || [ ! -z "$INSTALL_DEADSNAKES_PPA" ] ; then
+  if [ -z "$VIRTUAL_ENV_ROOT" ]; then
+    export VIRTUAL_ENV_ROOT="venv"
+  fi
   python3 -m venv --system-site-packages $VIRTUAL_ENV_ROOT
   source $VIRTUAL_ENV_ROOT/bin/activate
 fi

tools/install_ubuntu_dependencies.sh

@@ -113,11 +113,13 @@ function install_deadsnakes_ppa(){
     echo ""
     if [[ $REPLY =~ ^[Yy]$ ]]; then
       INSTALL_DEADSNAKES_PPA="yes"
-      export VIRTUAL_ENV_ROOT=".venv"
     fi
   fi
   if [[ "$INSTALL_DEADSNAKES_PPA" == "yes" ]]; then
-    $SUDO apt-get install software-properties-common -y --no-install-recommends
+    # The reinstall ensures that apt_pkg.cpython-35m-x86_64-linux-gnu.so exists
+    # by reinstalling python3-minimal since it's not present in /usr/lib/python3/dist-packages.
+    $SUDO apt install -y --no-install-recommends --reinstall python3-minimal
+    $SUDO apt-get install -y --no-install-recommends python3-apt software-properties-common
     $SUDO add-apt-repository ppa:deadsnakes/ppa
     $SUDO apt-get install -y --no-install-recommends \
       python3.11-dev \