Autonomy Software WG Meeting 2022/07/12

[BonoloAWF]

Administrative

• Previous Meeting Minutes

Attendees

Chaired by Ryohsuke

• Anand
• Ambroise
• Bonolo
• David
• Deepak
• Esteve
• Haoru
• JianKang
• Maxime
• Piotr
• Shark
• Shyam
• Ryohsuke
• Xinyu

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

Simulator for Autoware

• Simulation WG has received a binary release of TierIV Sim with instructions of how to use with Autoware. The simulator is Unity based and a sample environment and map will be shared in due course.
• The TierIV Sim will be made available to the ASWG soon
• Simulation WG is working on creating an environment for the bus ODD

Restructuring of milestones, projects and labels in Github

• Issues that are critical to the completion of the bus ODD should be labeled as "high priority". All other issues can be labeled as either "medium priority" or "low priority"
• Issues labeled as "high priority" will be discussed in the ASWG meetings
• There is a Project board for the Bus ODD to track progress of tasks
• Bi-monthly Milestones will be used to track weekly scheduling and progress of tasks
• When creating issues, developers should assign the appropriate Project, Milestone and label

Autoware.Universe

• Bus ODD high priority issues
• Bus ODD Project Board
• Bus ODD July-Aug Milestone - to be discussed from next week
• Autoware.Universe reported bugs
• Autoware design discussions and demos

Discussion topics

Bus ODD progress updates:

LeoDrive bus integration update

• See slides in the comments below for a detailed update
• A proposal to use Composable nodes has been proposed to solve the latency issues Image messages have latency or dropped autoware.universe#1228
• Hardware architecture of the the bus will be shared with the community
• An engineer was hired to work on a web based UI
• Issues with the planning node shutting down were identified during testing - investigations are underway
• If rosbags are shared, AWF engineers can try to reproduce issues and help to fix them

Proposed by @Sharrrrk

I would give a brief summary of our analysis of the execution delay of the AW nodes
Related issue: 2449
Analysis of execution delay of Autoware Nodes.pdf

• Execution delay analysis of the main Autoware nodes was done using ros2_tracing and tracecompass
• Detailed results are reported in the attached document (see comments below)

Action Items

1. @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

Review of Issues and Discussions

The following Discussions and Issues were highlighted:

• Release of the calibration tools repository for autonomous driving #2727 - calibration tools released by TierIV (mainly camera and lidar sensors)
• Adding vehicle interface from Autoware.Auto #2722 - porting VESC driver interface to Autoware.Universe
• Dynamic map loading functionality in Autoware for large pointcloud maps #2696 - adding support for very large areas
• bug fix for planner autoware.universe#1297 in progress
• Calculate path curvature only once autoware.universe#1242 - proposal to use a single method for calculating path curvature (currently blocked by control toolbox availability)
• Image messages have latency or dropped autoware.universe#1228 - ongoing
• Migrate to point_cloud_msg_wrapper autoware.universe#1199 - ongoing
• Avoid point cloud copies autoware.universe#1109 - closed
• Test the perception stack on the raw lidar data autoware.universe#1008 - ongoing
• Yaw calculation is unstable in obstacle_avoidance_planner when skipping optimization. autoware.universe#966 - assigned to Xinyu
• Run Lidar Centerpoint with TVM autoware.universe#908 - new approach is under investigation
• Ground segmentation fails for points behind the low objects autoware.universe#669 - to be assigned
• Implement sensor drivers for ROS 2 autoware.universe#551 - GNSS driver still under construction
• Autoware keeps following old local path after behavior_velocity_planner is dead autoware.universe#1253 - to be assigned
• surround obstacle checker rarely dies in local environment with segmentation fault autoware.universe#1231 info needed to reproduce bug

[Sharrrrk]

@BonoloAWF @xmfcx I would give a brief summary of our analysis of the execution delay of the AW nodes in the meeting, thank you.
Related issue: 2449
Analysis of execution delay of Autoware Nodes.pdf

[MertClk]

Here is the link for this week's updates from Leo Drive bus integration: Presentation

[mitsudome-r]

Here's the link to TIER IV's simulator:

• Discord announcement: https://discordapp.com/channels/953808765935816715/953901404727148574/994539048645427201
• Simulator binary: https://drive.google.com/file/d/1zdVYFqIy0LHfFOkTC36iFAgh7qXAy6Ih/view

[maxime-clem]

Bi-monthly Milestones will be used to track weekly scheduling and progress of tasks

A "s" is missing at the end of the linked URL.
Proper link: Bi-monthly Milestones

[BonoloAWF]

Good catch, thanks! It's now fixed.