Autonomy Software WG Meeting 2022/03/15

[BonoloAWF]

Administrative

• Previous Meeting Minutes

Attendees

Chaired by Fatih

• Ambroise
• Berkay (LeoDrive)
• Beyza
• Bonolo (AWF)
• David
• Esteve (T4)
• Fatih (AWF)
• Göktuğ (LeoDrive)
• Haoru (AWF)
• Hatem
• Kaan (Leodrive)
• Kenji (T4)
• Luca
• Maxime (T4)
• Melike (LeoDrive)
• Mehmet
• Mert
• Piotr(Robotec.ai)
• Ryousuke (T4)
• Sena (LeoDrive)
• Xinyu (T4)

Common Resources

• Bus ODD software architecture proposal
• Bus ODD architecture design discussions
• Bus ODD candidate simulator comparisons
• Autoware contributors list

Announcements

Everyone to please review the PRs in the documentation repository.

Autoware.Auto

• Review Cargo MS10 Cleanup & Technical Debt Issues
• Updates on bug fixes and documentation bugs
• Release of Autoware.Auto v2.0.0

All MRs are ready. Mitsudome is reviewing the planner MR. There are no blockers at the moment for the release tasks, just merging left.

Autoware.Universe

• Finalised Universe msg architecture

Discussion topics

Proposed by Fatih

• Fatih will show a demo of the current Autoware.Universe. Next week he will present the finalised msg architecture.
• Hatem will show a demo of Autoware.AI running with Carla simulator.

Fatih showed a demo of Autoware.Universe running and explained how to set it up. Summary:

• There is an environments section in the autoware-documentation repo which opens the github pages deployments. Click "view deployment" to see the generated documentation.
• follow the instructions to install from source, setup your workspace and compile Autoware in release with debug set.
• Follow the usage instructions to download map and run simulations. The rviz demo has a left drive map, position the vehicle on the map via a 2D estimate, provide a goal and the mission planner will compute a trajectory.
• Publish the Autoware engage msg (set to true) so that the vehicle starts moving along the planned path.
• In the demo the simple planning simulator was running.

Hatem confirmed that he will give a demo of Autoware running with Carla in the Simulation WG meeting.

Proposed by Josh

• FYI for current maintainers of Autoware - There are lots of unanswered issues and open PRs under https://github.com/Autoware-AI/. I suggest these be addressed in the next ASWG.

Mitsudome - we said we would accept bug fixes for Autoware.AI for a year so there are valid PRs that should be merged. New feature requests are however not accepted. We can merge the open PRs and release an update.

Bus ODD Feature Set Discussion

Mitsudome presented the list of features and milestones for the Bus ODD. Summary:

• the listed tasks will be translated into issues that capture feature development
• we will use feature based milestones based on modules. These will run in parallel. Previous milestones (cargo ODD) were month based.
• at the end the modules will be integrated together
• we want to perform benchmark evaluations using public datasets (KITTI, Waymo)
• there is no public dataset to test the planner so we can use the scenarios created by the ODD WG
• in the next call we will go through the tickets (please prepare to volunteer to work on specific modules)

Armagan (A) - are any dates set? Mitsudome (M) - a rough timeline is to have a prototype within 6 months. We haven't yet created and prioritised issues or estimated the time required per ticket. The tentative goal is to have a working system. A - are there any restrictions from ITRI's side? M - ITRI hardware is tested on ROS 1 and they need about 2 weeks to estimate how long it will take to port to ROS 2. They also need a public road license for the bus. It is unclear when this will become available. A - what about vehicle integration like a spare bus we could use? M - I'm not aware of any spare bus. We are meeting with them tomorrow to see how we can help with porting efforts.

Fatih (F) - we could reuse code from Arm who previously worked on benchmarking using KITTI dataset. Ambroise (Am) - the idea behind the benchmarking tool is a single package to allow benchmarking different things with different benchmarks, so it could be used across the different milestones. The input/output and ground truth must be correctly specified. F - the milestones are still generic so more specific sub-milestones will be created.

David - where do you specify which side of the road you drive on (left or right)? M - this is defined in the Lanelet 2 map: lane object refers to left bound and right bound (boundary lines) which implies the lane direction.

Am - so the milestones will be created by next week. Will you send a message on Slack advertising this? M - Yes.

F - if you have any additional contributions to make to the features and milestones document please add them. I will finalise the msgs this week. The msgs will be derived from autoware_auto_msgs taking into account any additional fields required following the design Discussions.

Action Items

1. @mitsudome-r to contact NE Raptor developers to discuss https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/issues/1102
2. @BonoloAWF to create an issue in the documentation repo. for adding instructions for uninstalling Autoware.Auto

Review of issues

The following issues were discussed in detail (see comments for details):

• https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/issues/1340 - not addressed
• https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/issues/589 - moved to Universe for investigation
• https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/issues/646 - solved