Autonomy Software WG Meeting 2022/07/05

[BonoloAWF]

Administrative

• Previous Meeting Minutes

Attendees

Chaired by Ryohsuke

• Armagan
• Ambroise
• Brian
• Bonolo
• Esteve
• Fatih
• Jiang
• Jianhua
• Kaan
• Khalil
• Maxime
• Mehmet
• Piotr
• Ram
• Ryohsuke
• Shark
• Shpark
• Sena
• Soohyeok
• Xinyu
• Zeynep
• Zulfaqar

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.Universe

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

Discussion topics

Bus ODD progress updates:

ITRI bus integration update (In meetings with 7am UTC time slot)

• ROS 2 upgrades are underway
• Upgrading the decision/control/tracking modules (only 2 packages remaining save_route and mission input)
• Next step is to integrate packages from Universe
• Package launch files for ROS 2 are under construction (not all files have a corresponding equivalent in Universe)
• ITRI will look into using the global parameter launch in Autoware,.Universe

LeoDrive bus integration update

No update this week (focusing on integration)

Xinyu - is ITRI using its own modules rather than Universe? Brian - most of the code is ITRI code. For safety we have a mode to check the steering, braking, and FPS from the sensing module.
Ryohsuke - currrently ITRI is using their own nodes but once the ROS 2 upgrade is completed they will merge or convert nodes to be Autoware.Universe compatible.

Other walk-ins

• Teleoperation design discussion
  • @raminterpl and Mark discussing on the feature and Mark will create a discussion on this topic.
• Proposal about new Visualization Tool
  • https://github.com/orgs/autowarefoundation/discussions/2700
  • LeoDrive started to investigate Foxglove Studio
  • We would like to call for help who has experience with the tool
    • relevant skill: React and Electron

Action Items

1. @xmfcx to create an issue to use the pointcloud_wrapper from Autoware.Auto Avoid point cloud copies autoware.universe#1109
2. @raminterpl to post a comment about requirements for Runtime Manager GUI for Autoware Scope and use cases for a new "Runtime Manager" GUI for Autoware Core/Universe #2659
3. @kaancolak to create a Discussion about adding a camera rectification module to Autoware

Review of Issues and Discussions

The following Discussions and Issues were highlighted:

• Migrate to point_cloud_msg_wrapper autoware.universe#1199 - migration to point_cloud_wrapper in Universe
• Image messages have latency or dropped autoware.universe#1228 - driver node should be able to publish a compressed image. Rviz should not be used to visualise camera images with high FPS.
• Avoid point cloud copies autoware.universe#1109 - ongoing
• Improve shape estimator performance for vehicles autoware.universe#1019 - no updates
• Test the perception stack on the raw lidar data autoware.universe#1008 - need to identify exact failure point in bagfile
• Yaw calculation is unstable in obstacle_avoidance_planner when skipping optimization. autoware.universe#966 - in progress reproducing the error
• Run Lidar Centerpoint with TVM autoware.universe#908 - TVM cannot handle dynamic input size such as lidar points. Engineer support needed.
• Collect rosbag of sensor data for camera autoware.universe#680 - testing is underway
• Implement any missing calibration tools autoware.universe#679 - camera-lidar calibration and lidar-lidar calibration will be added next
• Ground segmentation fails for points behind the low objects autoware.universe#669 - in progress (odd behaviour in perception)
• Evaluate performance of localization pipeline autoware.universe#602 - waiting for review
• Evaluate current planning pipeline autoware.universe#566 - most issues are solved in ODD scenarios
• Finalize the field type for pointcloud autoware.universe#563 - discussion is close to being finalised
• Implement sensor drivers for ROS 2 autoware.universe#551 - ongoing effort to have all drivers available
• Calculate path curvature only once autoware.universe#1242 - Max will work on this
• Scope and use cases for a new "Runtime Manager" GUI for Autoware Core/Universe #2659 - Interplai is working on the requirements document

[esteve]

@xmfcx I did the migration to point_cloud_msg_wrapper in Autoware.Auto, I'd be happy to do it again for Autoware Core/Universe. Is there a ticket for the point_cloud_msg_wrapper migration?

[mitsudome-r]

@kaancolak

to create a Discussion about adding a camera rectification module to Autoware

Regarding this action item, I believe there is already a http://wiki.ros.org/image_proc?distro=noetic (rectify nodelet) in ROS 2.
Could you explain in more detail about this action item?

[Zeysthingz]

@mitsudome-r When we run camera sensors with Autoware Universe pipeline we took compressed images and after that we convert to uncompressed images. Also we rectify images to avoid distortions in the image. Does Autoware Universe do the same process or uses raw data ?

[mitsudome-r]

@brian841102 Could you post the presentation that you shared today?

[armaganarsln]

Here is the current supported hardware list that i shared in the meeting chat: https://docs.google.com/document/d/1Q2hRkJ1y_smtogIYb0sQdOyot-01UpZV3DlGyGU1-Gs/edit