Open AD Kit WG Meeting 2022/06/09

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Administrative

• Previous meeting minutes
• Open AD Kit project board
• Open AD Kit 2.0 schedule

Attendees

Chaired by Armağan

• Armağan (Leodrive)
• CJ (AWF)
• Daisuke Hashimoto (T4)
• David W (A3VG)
• Eiji Sekiya (T4)
• Esteve Fernandez (T4)
• Fumihito Ito (T4)
• Hiroshi Igata (T4)
• Mark Lambe (KLAS)
• Lalith Vipulananthan (T4)
• Naoyori Tanzawa (T4)
• Ryohsuke Mitsudome (T4)
• Samet Kutuk (Leodrive)
• Stephen Li (Autocore)
• Tsigigenet Dessalgn (Marvell)

Agenda

• Introduction of new members
• Announcements
• Discussion topics
  • Use cases based on Open AD Kit 2.0 scope
• Review of backlog actions

Introduction of new attendees/members

Announcements

• Meetings chaired by Armağan will focus on hardware, but Isuzu's project is still being approved (they say they will be ready by Friday), so will include discussion about data gathering
  • Noted that the Simulation WG is collecting and sharing data already, so Isuzu might be a bottleneck.
  • That said, the Izuzu bus is already calibrated and the vehicle has made a run with AW (straight course)
• Found a new product that may be of interest to the WG, especially T4 since they have developed a HD automotive camera
• Wants to talk about accelerating output from this WG - waiting for software group to complete some tasks first, so the Open AD Kit WG can work on documentation in the meantime.

Review of backlog actions / open issues

• Integrate Autoware Universe with Open AD Kit and review the results
  • Verify that Autoware Universe can be run with Open AD Kit 1.0 autoware-projects#32
  • T4's CI/CD system is ready for use with Universe, so can Mitsudome-san provide the launch files required for Autoware Universe to run each stack in a separate container?
  • Mitsudome: Yes. The launch files at autoware.universe/launch can be used, but are default arguments also required?
  • Lalith: Yes! Please add the commands to the issue as a comment.
  • Ito-san noted that he will need 5 days to test the AVA system that T4 have in-house
  • Armağan: Can someone from ADLINK also test the AVA platform?
    • CJ: AWF is in regular contact with ADLINK so will ask Anthony if someone from ADLINK can test AVA.
  • Armağan mentioned NXP Bluebox as a potential automotive ECU that could be a supported platform for Open AD Kit
  • David: CJ, is ADLINK involved with the MIH initiative?
    • CJ: No, but Ted (MIH) acquired some AVA kit, one of which was given to Daniel Shih at the University of Taiwan, so he could potentially test as well.
• Document Autoware Universe ROS nodes
  • https://github.com/autowarefoundation/autoware.universe/issues/827
  • Kasper asked in the issue if there is some way to see which topics ROS nodes publish and subscribe to?
  • Mitsudome: You should be able to just run each ROS node to see what topics they are subscribing to. Is there anything specific that Kasper was after?
  • Armağan agreed with Mitsudome-san but said he will check with Fatih to be sure
• Update Open AD Kit wiki to explain the benefits of a microservices architecture
  • Update Open AD Kit wiki to explain the benefits of a microservices architecture autoware-documentation#102
  • Tanzawa-san requested to keep some of the slides from the current wiki page (the relationships slide and the roadmap request)
  • Samet suggested deconstructing the slides into text and images, as it would make things easier to edit going forwards
  • Action: Lalith to make the requested changes to the wiki update proposal once someone from T4 provides the original diagrams used in the relationships/roadmap slides
• Update Contact of documents #353
  • A series of concrete steps for this issue were added (based on comments from Miyake-san), but there are no takers for the issue.
  • Volunteers were requested but there were no takers, plus there was some discussion about whether the Open AD Kit WG should make these changes since in principle the WG does not make software changes.
  • Bonolo offered to speak to Miyake-san about who was responsible for transitioning from ADE (Autoware.Auto) to Docker (for Autoware Universe) to see if that person can assist, and will add a comment to the issue once she hears back.
  • Action: Bonolo to update Update Contact of documents #353 after speaking with Miyake-san
• Create an autoware.org meeting invitation group for the Open AD Kit WG and add it to each meeting as an invitee
  • Igata-san briefly described the concept, and Armağan agreed with the principle
  • Action: Lalith to talk to one of the AWF admins to get an invitation group for the Open AD Kit WG set up and then to update the wiki with details on how to request being added to that group

Review of current schedule

• Armağan asked if the define an operational concept demonstration task (1.4) was completed.
• Lalith noted that this was indeed complete unless the WG had any objections.
• CJ shared a high-level timeline from MIH as follows:
  • Demo 1: Open AD Kit + DbW API demo / Tier IV / Cloud Simulation
    • 6/30 system architecture draft
    • 7/31 Open AD Kit architecture test
    • 8/30 Open AD Kit + DbW integration
    • 9/30 ref.implementation
• Armağan: What kind of a demo could this be? A change of the Perception algorithm because of a simulation result?
  • CJ: Something along those lines. It will be a desktop demonstration, so will have a ECU with a set of sensors (LiDAR, camera) and show what is running on the ECU in real-time (what are the sensors perceiving in the environment), can upload data to the cloud, use simulation to verify what is being seen at the edge, tweak algorithms, test in simulation, then push update to the edge (could be a new perception algorithm or a parameter tweak). A closed-loop demonstration of cloud and edge processes. So the question is, for 2.0, what will we have in place to demonstrate the capabilities of the platform?
  • David: Good to have a timeline, but detailing out these questions is a priority for the WG. Kasper is out today (due to training), will be here next week, then will be out for 3 weeks (he's getting married).
• Quick review of issues on the project board, and a request to link the data recording issue to the documentation issue, since the plan is to document the minimum set of topics for data recording as part of the Open AD Kit documentation
• Lalith: Going back to the demo, if we are not able to achieve a microservices architecture in the time given but could do everything else, would that still be acceptable to MIH?
  • CJ: In theory, we could construct a demo that focuses more on the CI/CD and doesn't go into the detail about the underlying architecture (be it a monolithic container or a microservices architecture).
  • Use case is someone wanting to make changes to the Perception stack relating to sensor algorithms
  • Much easier to do that with a containerized microservices architecture, but can focus on the specific task.
  • Demo would use pre-built containers, so could conceivably get away with using monolithic containers.
  • However, risk of just demonstrating what was already possible with v1.0 last year
  • Lalith: Not quite. We should have OTA in place by then among other things, so we will be able to demonstrate more features compared to 1.0.

Discussion topics

• None

Actions

• CJ to contact Anthony at ADLINK to ask if any ADLINK engineers can also test Open AD Kit on an AVA ECU
• Mitsudome-san or Fatih to add a comment to https://github.com/autowarefoundation/autoware.universe/issues/827 explaining how to list all of the topics that ROS nodes publish and subscribe to
• Lalith to make Tanzawa-san's requested changes to the wiki update proposal
• Bonolo to speak with Miyake-san about who did the work to move from Autoware.Auto with ADE to Autoware Universe with Docker, and follow up with the WG leads
• Lalith to talk to one of the AWF admins to get an invitation group for the Open AD Kit WG set up and then to update the wiki with details on how to request being added to that group