Autonomy Software WG Meeting 2022/08/09

[BonoloAWF]

Administrative

• Previous Meeting Minutes

Attendees

Chaired by Fatih

• Armagan
• Ahmet
• Ambroise
• Berkay K
• Beyza
• Bonolo
• David
• Esteve
• Fatih
• Hatem
• JianKang
• Goktug
• Kaan
• Luca
• Mark
• Mehmet
• Piotr
• Rama
• Ryohsuke
• 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

• Zhijie (George) joined the Autoware Foundation as a software developer based at the Autoware Centre of Excellence (USA)

Autoware.Universe

• Bus ODD July-Aug Milestone
• Bus ODD Project Board
• PRs waiting for review
• Bus ODD high priority issues not in the current milestone
• Autoware.Universe reported bugs
• Autoware design discussions and demos

Discussion topics

On-vehicle testing of Autoware (Presentation)

Adastec has completed on-vehicle testing of Autoware.Universe and will be presenting the test results

Documentation

• Could someone work on completing missing parameters on vehicle dimensions page autoware-documentation#175

Bus ODD progress updates:

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

LeoDrive bus integration update

Action Items

1. @BonoloAWF to set up a call between LeoDrive, ITRI and the AWF software team to discuss how to handle bus specific features such as Bus ODD specific features autoware.universe#1468 - the meeting is scheduled for Wednesday

Review of Issues and Discussions

The following Discussions and Issues were highlighted:

[xmfcx]

Meeting Notes

LeoDrive bus integration update

No updates this week,

• Georeferencing issues are being worked on,

• Next week the updates will be shared.

• completing missing parameters on vehicle dimensions page autoware-documentation#175

  • We'll look into this next week.

Adastec Autoware Universe Field Test Presentation

• They've completed the field test for Autoware Universe

• Mert, Batuhan and Onur are presenting

• 

• 

• 

• The NDT matcher was tested in 2 maps, one small, other one larger in comparison.

• It works fine on both maps.

• The perception stack of autoware lags behind.

  • https://github.com/orgs/autowarefoundation/discussions/2677

• feat(behavior_velocity_planner): add speed bump module autoware.universe#647

  • @mehmetdogru is working on crosswalk implementation.
  • Once that is finished, this will be worked on.
  • HAD Map annotation method will be revised.

• feat: localization evaluator autoware.universe#1066

  • CI will be fixed.

• William He introduced themselves,

  • They work on Cellular Vehicle-to-Everything (C-V2X)
  • They might present on OpenAD-Kit WG
  • They are also using Carla Sim
  • Hatem invited for collaboration working with Carla Sim integration
  • William opened up this discussion: C-V2X Enabled Collaborative Autonomous Driving - Simulation Ground (CARLA+ROS2+Autoware) #2784

• feat(motion_velocity_smoother): add steering rate limit while planning velocity autoware.universe#1071

  • This will be tested on vehicle before merging.
  • Next week will be tested.

• Port Record Replay Planner autoware.universe#1159

  • Waiting for updates.

• feat(lidar_apollo_segmentation_tvm): port package autoware.universe#1181

  • This will be rebased and worked on.

• @Sharrrrk said his colleague has finished working on lidar centerpoint

  • @ambroise-arm asked if he can reach out to him directly for the issues.

• feat(euclidean_cluster): use point_cloud_msg_wrapper autoware.universe#1200 (comment)

  • The blocker on this task is dependent on finishing up the Point Types discussion.
  • @xmfcx will get back on this task once the documentaion is finished.

• Someone from perception team of Autoware should review these:

  • feat(lidar_centerpoint): migrate to point_cloud_msg_wrapper autoware.universe#1351
  • feat(pointcloud_preprocessor): use point_cloud_msg_wrapper autoware.universe#1276
  • feat(occupancy_grid_map_outlier_filter): migrate to point_cloud_msg_wrapper autoware.universe#1352

• fix(obstacle_avoidance_planner): solution of changing the sampling distance of behavior velocity planner causing obstacle avoidance planner to die autoware.universe#1369

• test: add test(ray_ground_filter/scan_ground_filter) and fix bug for ray_ground_filter autoware.universe#1401

  • Asked for updates from @yukkysaito

• refactor(gnss_poser): update README change navpvt to autoware_sensing_msgs autoware.universe#1419

  • Semantic PR CI has failed.

• feat(system_monitor): add IP packet reassembles failed monitoring to net_monitor autoware.universe#1427

• fix(tensorrt_yolo): change the CMakeLists.txt folders for compiling error on Jetson AGX-Orin autoware.universe#1436

  • fix(tensorrt_yolo): change the CMakeLists.txt folders for compiling error on Jetson AGX-Orin autoware.universe#1436 (comment)

• fix(freespace_planning_algorithms): non-successive waypoints problem in hybrid A* algorithm autoware.universe#1504

  • We've asked for details and image/result updates for the fix.

• https://github.com/autowarefoundation/autoware.universe/pull/1512/files

  • Is waiting for review from @TakaHoribe
  • @MertClk: LeoDrive has referenced to Autoware.Auto ne_raptor_interface package while writing the package for Isuzu Bus project.
  • @brkay54 and @Sharrrrk offered help with reviewing.

• feat(behavior_velocity_planner): add safety slow down feature for specific crosswalks autoware.universe#1528

  • It'll be merged tomorrow.

• fix(vehicle_info_util): fix wrong image autoware.universe#1548

Discussions

• Dear RosNodeViewer
  • Dear RosNodeViewer: What a cool ROS node viewer !! #2781
• TierIV will share some presentations/demos for showing off TILDE, CARET and Dear RosNodeViewer

Bus ODD high priority issues not in the current milestone

• Bus ODD specific features autoware.universe#1468
  • @mitsudome-r explained how TierIV's fleet management system handles bus stops and scheduling.
  • Instead of modifying the mission planner, maybe the goal pose can be modified by pre-processing it to fit to the box denoting the bus stop so people can turn off this feature if they wanted.
  • @mitsudome-r will talk internally to ask for trial to web.auto for bus odd demo purposes.
• planner node dies inside RCLCPP_COMPONENTS_REGISTER_NODE macro autoware.universe#1389
  • Find someone from Autoware Planning team to solve this issue.
• Map Based Prediction Incorrect Predictions autoware.universe#494
  • Asked for data source to replicate.