Technical Steering Committee (TSC) Meeting #43 (2022/06/15) Minutes

[mitsudome-r]

Technical Steering Committee (TSC) Meeting #2465 (2022/06/15) Minutes

2022/05/18 23:00 UTC

Attendees

• Ryohsuke Mitsudome (TSC Chair)
• Shinpei Kato (AWF)
• Yang Zhang (AWF)
• Daisuke Tanaka (AWF)
• Christian John (SPC)
• Samet Kütük (SPC)
• M. Fatih Cırıt (AWF)
• Xinyu Wang (AWF)
• Bonolo Mathibela (AWF)
• Haoru Xue (AWF)
• Hiroshi Igata (ODD WG)
• David Walmroth (OAD WG)
• Armağan Arslan (OAD WG)
• Wojciech Jaworski (Simulation WG)
• Filipe Rinaldi (Arm)
• Shark Liu (AutoCore)
• Michael Li (ITRI)
• Mert Colak (Leodrive)
• Adam Dabrowski (Robotec.ai)
• Naoyori TANZAWA (Tier IV)

Working group report: Autonomy Software (10 min)

• Bus ODD Development:
  • Scenario CI/CD finally running.
    • Started to do a weekly test
    • https://evaluation.tier4.jp/evaluation/reports/3f65ea49-b5c8-5e5e-b68d-6d14a5c69a10/tests/a5e01f98-fc48-463b-a0fd-3757a4a9653c?project_id=awf
    • 59/108 scenarios passing
    • Failed tests are under investigation https://docs.google.com/spreadsheets/d/1uWpaJw68MwdCS_wysQsbG8YyG9UaYK8V00AFTd7HiVs/edit?usp=sharing
  • ROS bags collected by AutoCore and started to do tests on Perception
    • Test the perception stack on the raw lidar data autoware.universe#1008
  • ISUZU project shared from LeoDrive to the WG members
    • https://github.com/orgs/autowarefoundation/discussions/400#discussioncomment-2948235
• ROS2 Humble evaluation started
  • Fix qs map load ok #358

Working group report: Operational Design Domain (10 min)

• Thanks to ASWG and TIER IV CI/CD team’s support, the CI/CD pipeline has been integrated with Autoware universe and up and running now.
• Thanks to the contribution from LeoDrive, the following issues with the scenarios have been identified and being addressed.
  • Need to add the “success condition” to some of the scenarios (in addition to the default success condition like “EGO reaches the destination”)
  • Need to eliminate the unused parameters to reduce the duplicate test cases
  • Appropriate settings of the initial speed and position of EGO vehicle
• Thus, we’re getting a deeper understanding of the OpenSCENARIO 1.x standard.
• The use case definition of the public road bus ODD has been listed here and made accessible by anyone on the net, as per the discussion in the TSC last month. This link is posted on ODD WG project page and the minutes pages, too.
• As mentioned in ASWG report, 108 scenarios are tested (simulated) every weekend with the latest version of Autoware universe, and 59/108 are successful. The failure case ratio will decrease by 1) by improving the scenarios and 2) in proportion to the maturity of the bus ODD implementation in ASWG.
• We’ll be ;
  • finalizing the scenario brush up and optimization
  • addressing the issues with the map which is commonly used with Simulation WG
  • discussing the needs for additional scenarios including from Isuzu-LeoDrive project

Discussion:

• Wojciech: what kind of success conditions should be added?
  • Hiroshi: Default success condition is reaching the goal, but some scenario expects different success condition such as waiting at red traffic light.
• Shinpei: are there any images of buses and test course?
  • ISUZU bus: https://www.isuzu.com.tr/en/bus/public-transport/novociti-volt
  • We should have ITRI bus image shared in ODD WG
• Shinpei: Are the buses already running at the test course?
  • ITRI is still under transition to ROS2
  • LeoDrive has started integration with Autoware
  • Shinpei: maybe sharing a short video at some point might be a good idea.

Working group report: Simulation (10 min)

• Simulator requirements
  • Github discussion (https://github.com/orgs/autowarefoundation/discussions/234)
  • Wiki page with extracted requirements based on discussion (https://github.com/autowarefoundation/autoware-projects/wiki/Bus-ODD-Simulation-requirements)
• ITRI Campus modeling
  • Creating a Simulation Environment (ITRI Campus) autoware-projects#29
  • Finalized and shared with TierIV, need to be evaluated by TierIV
• ITRI Bus modeling
  • Creating a Bus Model (ITRI Bus) autoware-projects#28
  • Finalized, requires confirmation from ITRI about dimensions and position of rear lights
• Define Test Procedures to check Simulator's Compatibility with Autoware
  • Define Test Procedures to check Simulator's Compatibility with Autoware autoware-projects#21
  • All defined procedures implemented
  • Waiting for MORAI to create a PR (seems to be a minor problem with building when scripts are part of Autoware Universe)
• Metric calculation nodes
  • Metric calculation node development autoware-projects#11
  • Added segmentation metric based on Point Clouds (simulation labeled data provided by MORAI)

Working group report: Racing (10 min)

• Autoware on F1TENTH hardware milestone achieved and competed in F1TENTH race at ICRA’22
• Autoware CoE completed bring up of EV gokart in <2 months and participated in the EVGradPrix event at Purdue University
• WG discussing options and next steps for evolution of Autoware to support Racing ODD
  1. Improve functionality and optimize Autoware on Jetson NX for competitive racing
  2. Develop Autoware course for use in AD education (a. is prerequisite)
  3. Shift focus to new R&D topics (e.g. vision based RL)
• AWS has completed bring up of AMI with Autoware+SVL with streamlined setup process
  https://docs.google.com/document/d/1qbeZ2NmLj4eeyNtvqct7bMK3mGixnEhArZwp-iCS5N4/edit#heading=h.8kvp5efljjns
• AWS/IAC proposing engagement with AWF to make ROS2/Autoware the default package for new IAC teams (CJ to meet with Paul Mitchell and Stefano Marzani in July)

Discussion:

• For AMI with Autoware+SVL, are there any plans about replacing SVL Simulator?
  • Not yet, but that would be the next step
  • We should reach out to LG to see if we can reuse the created assets with the new simulators. (both legally and technically)

Working group report: Open AD Kit (10 min)

MIH Demo

• Scope of demo proving useful to align/enable infrastructure (containerization) progress within OAD Kit. Still need more detailed plans on path to completion but progress continues on realization (see resource constraint below).
• Chassis, Lidar, Compute Stack still TBD but being confirmed. Should we make an effort to focus on ensuring Arm inclusion? Latest on-vehicle version of AVA Kit not due out until end of year. Currently we have AVA Kit and Autocore PCU as platforms with testing on NVIDIA AGX potentially in the works.
• Presently facing resource constraints and concerns over potential inactivity on containerization during Arm’s (Kasper) absence for next three weeks, and ongoing AWF support will be required thereafter.

Resource Issue

• Resource issue being examined through AWF channels (Brett Aldrich (ROS steering committee with interest in Autoware). Bonolo, Mitsudome-san, others).
• Other options such as reaching out to ROS community, SUSE, others, are in discussion.
• Fatih volunteered to move tasks forward during Kasper’s absence if it were deemed a priority. Can this be made/communicated as a priority?

Additional activities

• Some other topics in OAD Kit are still not receiving substantial engagement in Discussions but will benefit from focus once infrastructure and plan leading to demo are clear, e.g. 2.0 scope, Ops Con, documentation, etc.

Hardware

• Checking with ISUZU if LeoDrive can share all the hardware information as documentation

Discussion:

• Armagan: Is the demo already planned out?
  • Not yet.
• David: Are there going to be AWF members setting up the demo at the site?
  • CJ: Yes. We are thinking of having TIER IV engineers or someone from Daniel’s lab to be running the demo
• Is the MIH chassis a reference platform of MIH design or is it Foxconn’s chassis?
  • CJ: It depends on Foxconn how they would like to brand it.
  • Are we going to have access to the chassis for development? -> We have started to ask if it is possible.

Autoware Architecture WG Update

• We had first review on key components in Autoware
  • https://github.com/orgs/autowarefoundation/discussions?discussions_q=label%3Aarchitecture_wg+
  • From the discussion result, we have started to finalize message design for each component interface in autoware_msgs repo
  • Design documents are also being added as documentation
    • E.g., pr for localization
• We are going to discuss on external APIs for Autoware

Follow up on Improvements in Autoware Recognition

• Plans shared to the community
  • Runtime Manager Simulation tab, fix showing of rosbag pos remains on … #368
• Key actions taken:
  • Minor updates in Autoware website https://www.autoware.org/autoware
  • Announced in ROS Discourse that Github Discussions will be the place for discussing Autoware to have a single place of discussion
    • https://discourse.ros.org/t/announcement-using-github-discussions-for-technical-discussion-for-autoware/25838
  • Blog posts are planned to be created from SPC
• Repositories transferred from https://github.com/Autoware-AI
  • Merging of the meta-repository will finish by the end of this week

Next ODD Project Planning (SPC)

• ODD Roadmap Update 061522 TSC Meeting.pdf
• CJ will be setting work session to plan ODD

DIscussion:

• Shinpei: We should shift to use case oriented development rather than ODD oriented development. ODD should be designed as a combination of use cases. It should be more safety oriented
  • Ryohsuke: Could you elaborate on what you mean by use case oriented development?
  • Shinpei: More specifically speaking we should follow the SOTIF process to define functions of the system.
• Fatih: We should set more realistic goals. Eg., developing fully functional robotaxi within a year. We should have set achievable milestones.
  • Shinpei: making more use-case oriented development should allow us to set more realistic timeline of our development
• David: How are hardware platforms handled in use case planning?
  • CJ: We need to think about how we can verify the designed use-cases with different platforms to say that the hardware can be used as reference platform
• CJ will set a call to further discuss on this topic with relevant members (Software architects, board members, WG leads, any additional volunteers)

Walk-in Items

• Armagan: We need to collect image data that we can use for development. TCS is willing to do anonymization of the data, but we need guide to move forward.
  • https://www.syntonym.com/ is also a good candidate for data processing
  • Mitsudome to set up a follow up call to further discuss this topic