Autonomy Software WG Meeting 2022/05/24

[BonoloAWF]

Administrative

• Previous Meeting Minutes

Attendees

Chaired by Ryohsuke

• Alan
• Armagan
• Berkay K
• Beyza
• Bonolo
• Esteve
• Fatih
• Gizem
• Hatem
• Jiang
• Goktug
• Kaan
• Maxime
• Mert
• Mehmet
• Naoyori
• Norah
• Piotr
• Ryohsuke
• Shark
• Sugwan
• Xinyu
• Zeynep

Common Resources

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

Announcements

Autoware.Auto

• Updates on bug fixes and documentation bugs
• Release of Autoware.Auto v2.0.0

Autoware.Universe

• Bus ODD issues
• Autoware.Universe reported bugs
• Autoware design discussions and demos

Discussion topics

Proposed by Bonolo:

• Bottlenecks in the performance of the Autoware NDT localiser were identified in https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/issues/1479

Ryohsuke - The authors should check whether the OpenMP implementation satisfies their requirements. I think we would like to have similar test on different platforms (e.g. Nvidia Jetson) as a reference.
Related issue: autowarefoundation/autoware.universe#602

Action Items

1. @xmfcx to create an issue to test the existing lidar-only perception pipeline with the data provided Collect raw sensor data to test sensor drivers autoware.universe#562 (comment)
2. @hatem-darweesh to prepare presentation slide about OpenPlanner for the next ASWG call
3. @mitsudome-r to propose to ODD WG about adding parking scenario for Bus use cases if it is included in ITRI's course.

Review of Issues and Discussions

The following Discussions and Issues were highlighted:

• Use crosswalk traffic light signal in behavior planning module autoware.universe#937 - improves decision making by adding traffic light signals, check the PR for algorithm implementation details
• Run Lidar Centerpoint with TVM autoware.universe#908 - Esteve is working on TVM integration. We need assistance, writing the library. from engineers who are familiar with both TensorRT and TVM
• Goal pose is not aligned to the map autoware.universe#711 - in progress
• Add another crop_box_filter node autoware.universe#703 - node was transferred from Autoware.Auto, waiting for review
• Collect rosbag of sensor data for camera autoware.universe#680 - will be followed up at the on-vehicle testing meeting next week
• Implement any missing calibration tools autoware.universe#679 - the tools available for calibration should be added to the docs
• Add YOLO Custom Dataset Handler autoware.universe#610 - Fatih will create the repo
• Add TVM inference capability autoware.universe#628 - related to Run Lidar Centerpoint with TVM autoware.universe#908
• Evaluate performance of localization pipeline autoware.universe#602 - pointcloud map was created from KITTI dataset, issues with the converted rosbag were noted
• Evaluate performance of object detection pipeline autoware.universe#565 - PR waiting for review, more metrics should be integrated in future
• Unreasonable freespace planning area in parking scenario autoware.universe#947 - needs further investigation
• Show UVC camera ID #313 - we are open to supporting new camera hardware