Open AD Kit WG meeting 2022/08/04

[ghost]

Administrative

• Meeting recording (Password: .djy%9Zs)
• Previous meeting minutes
• Open AD Kit project board
• Open AD Kit 2.0 schedule

Attendees

Chaired by David

• Armağan (Leo Drive)
• Bonolo (AWF)
• CJ (AWF)
• Daisuke Hashimoto (T4)
• Daniel Shih (T4)
• David W (A3VG)
• Esteve Fernandez (T4)
• Eiji Sekiya (T4)
• Fatih (AWF)
• Fumihito Ito (T4)
• Hiroshi Igata (T4)
• Hyeongseok Jeon (Morai)
• Kasper Ornstein Mecklenburg (ARM)
• Lalith Vipulananthan (T4)
• Mitra Shah (umlaut)
• Naoyori Tanzawa (T4)
• Ochi Tatsuo (Trend Micro)
• Ryohsuke Mitsudome (T4)
• Samet Kutuk (Leo Drive)
• Stephen Li (AutoCore)
• Tsigigenet Dessalgn (Marvell)
• Xinyu Wang (T4)
• Yigit Cagatay Kuyu (Karsan)
• Yoshi Takashima (T4)

Agenda

• Introduction of new members
• Announcements
• Discussion topics
  • Open AD Kit documentation maintenance (David/Kasper)
  • Update on releasing ROS packages (Fatih/Kasper)
  • Update on Open AD Kit v1.0 with K3s and Logging Simulator (Ito-san)
  • Use cases for Open AD Kit 2.0 based on OpsCons (Hashimoto-san)
  • MIH demo update (CJ/Daniel)
  • Foxglove next steps (Armağan)
• Review of outstanding actions/issues
• Schedule review

Introduction of new attendees/members

• No new members this week

Announcements

• Regarding GDPR, Armağan has arranged for a lawyer to present in two weeks' time about how we can be compliant with these laws. An announcement will also be made in Discord

Discussion topics

Open AD Kit documentation maintenance

• David: Is there a maintainer in charge of the Open AD Kit documentation?
  • Lalith: Not really. I created the repository for the working group, and Hashimoto-san has copied instructions over from GitLab for the original Open AD Kit, but anyone can suggest changes/updates by submitting a PR
• Kasper: We seem to have moved from hosting containers on DockerHub to using GitHub, so now the original links don't work
  • The original Autoware.Auto container for Open AD Kit 1.0 should be uploaded to GitHub so that those instructions can be followed and the links are all correct.
  • A separate set of instructions can be added afterwards to explain how to run v1.0 with Autoware Universe
  • Ito-san noted that there are two places where instructions exist:
    • https://github.com/autowarefoundation/open-ad-kit-docs/tree/main/docs/start-guide
    • https://github.com/autowarefoundation/autoware_reference_design/tree/main/docs/Appendix/Open-AD-Kit-Start-Guide
    • Which one should be updated?
  • ACTION: Ito-san and Hashimoto-san to discuss what to do about the container link and update the instructions

Update on releasing ROS packages

• Open AD Kit CI/CD presentation
  • How to move from a development environment to production?
  • Follow the ROS example of releasing verified ROS packages that only have run-time dependencies installed
  • "Short-term" release plan is to copy over the build folder from development to production (removes development dependencies, such as the CUDA SDK which by itself is 4GB!)
  • Long-term release using Bloom
    • ROS packages as deb packages accessible in apt, which will install all necessary dependencies for you
      • autoware-auto-msgs (Autoware.Auto) used the ROS buildfarm to release a single package
    • However, we want to use Autoware CI/CD on GitHub
    • Periodic stable releases
  • What is the best way to make verified ROS packages accessible?
    • Mitsudome: Initially we can make packages available from an Autoware build farm (ROS is more strict and requires consistent APIs which Autoware doesn't have yet), and allows us to make releases more frequently than ROS allows. Initiating this plan however will require a lot of resources up front.
    • David: Does this need to be shared with TSC?
    • Mitsudome: We should share this to let them know what we are doing - strong opposition is not envisaged. Want to make sure a good person who knows about this to prepare the work.
    • ACTION: Kasper to add more detail explaining pros and cons of ROS package release proposal to TSC
• Slight tangent: Armağan mentioned AWS IoT Greengrass to ask about whether this is something we should investigate to see if there is anything that we can use for Open AD Kit. Greengrass v2 describes things that could be used for fleet deployments (see also https://docs.aws.amazon.com/
  • Fatih: Seems like an alternative to OTA like eSync. Open source edge runtime seems like a possible alternative to yocto. Seems like this is talking about things that we can achieve with existing tools. What do we gain by using this?
  • Armağan just wants to make sure that someone has reviewed and is up-to-date with Amazon's current services and we are not missing anything.
  • Mitsudome: T4 is using Greengrass for our fleet management service in some way. It's a kind of middleware to build an edge device service that works with EC2 or Amazon Lambda - it's not an out-of-the-box thing can be immediately used - development of your own service is required.
  • ACTION: Mitsudome-san can talk with T4's web team to get a better idea of how these things are used and share with the group.

Update on Open AD Kit v1.0 with K3s and Logging Simulator

• In order to use the eSync OTA service to update containers, we need to able to use K3s. Ito-san was able to verify that Autoware Universe can be run with multiple K3s clusters! Awesome work Ito-san!🎉
  • Ito-san also confirmed that eSync OTA runs on the AVA platform and updated the K3s cluster using eSync OTA server!
  • Different launch files were required for each container - Ito-san created seven deployment YAML files for this work
  • ACTION: Ito-san will create documentation explaining how to configure all of this.

Use cases for Open AD Kit 2.0 based on OpsCons

• https://github.com/orgs/autowarefoundation/discussions/2750
• Skipped as Hashimoto-san was not able to join the meeting

MIH demo update

• Order of events has flipped -> MIH was pushed out to November so ARM DevSummit is the target for the first demo
• Kasper has put together a project plan for deliverables and stakeholders have been identified
• On-track and well ahead of deadlines
• ACTION: Kasper to present on the high-level vision for the ARM DevSummit workshop in next week's meeting

Foxglove next steps

• Armağan asked for help from CJ about how to go about setting up an alliance between the AWF and Foxglove
  • CJ: We should set up a call with Adrian and include Fatih and Mitsudome-san. Adrian doesn't want a marketing example, but wants a concrete example of how Foxglove will be used by the Autoware community and be used for Autoware development
  • Armağan: First, the Autoware architects need to decide if we want to use Foxglove or not
    • Fatih: Foxglove will not replace RViz in the short-term. Perhaps in the future if it can be used to do all of the things that RViz can do now. Wants it to be the default visualization for Autoware.
    • If Foxglove can create a working ROS 2 implementation and we can share message definitions with them to visualize that data, then that would be awesome
  • Action: CJ and Armağan to set up a meeting with Adrian at Foxglove

Review of backlog actions / open issues / schedule

Outstanding actions

• Fatih and Kasper to confirm if Fatih's micro-container PoC work is still going to be used for the demo, or if the work should be abandoned
  • See Issues section below
• Tanzawa-san to ask Daniel to join the WG meetings every week going forwards
  • Done!
• Dennis and Ochi from Trend Micro to present about VicOne in the meeting on 08/11 (two weeks' time)
  • ACTION: Lalith to email Tatsuo Ochi and Dennis Chen about presenting during next week's WG meeting

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
  • Autocore have added their test results and have been asked to test with an AGX Orin and AGX Xavier
• Create separate containers for testing Open AD Kit #2454
  • Originally Fatih was going to finish his work on Create separate containers for testing Open AD Kit #2454, but after discussion with Kasper about the plan to develop "lighter" containers (the current container is 15GB and contains the build folder, compile-time dependencies such as the 4GB CUDA SDK), this is being abandoned
  • This is part of the "short-term" release that Kasper mentioned earlier. Instead of releasing containers that include the large Autoware dev environment, we should reduce the container down to just what is needed for production (eg: compiled binaries and runtime dependencies only). This is what was done for Autoware.Auto, so this is not a new thing for Autoware.
  • CJ: Is this still going to be a monolithic container?
    • Kasper: Yes. It will be monolithic but smaller in size - for the demo, the plan will be to have multiple containers with their corresponding launch files
  • Lalith: Will these be ready in time for the ARM DevSummit?
  • Kasper: Yes, I think so.
  • ACTION: Fatih to update the issue and leave a closing comment

Actions

• Ito-san and Hashimoto-san to discuss what to do about the broken container link in the current OADK guides for v1.0 and update appropriately
• Kasper to add more detail explaining pros and cons of ROS package release proposal for TSC
• Mitsudome-san to talk with T4's web team to get a better idea of how AWS-type things are used and share with the group.
• Ito-san to create documentation explaining how to set up Autoware Universe with K3s on AVA
• Discuss "Proposal for use cases with OpsCons of the Open AD Kit 2.0" in next week's WG meeting
• Kasper to present on the high-level vision for the ARM DevSummit next week
• CJ and Armağan to set up a meeting with Adrian to talk about an alliance with Foxglove
• Fatih to update Create separate containers for testing Open AD Kit #2454 and leave a closing comment
• Lalith to email Tatsuo Ochi and Dennis Chen about presenting during next week's WG meeting

[ghost]

Hi @mitsudome-r! Were you able to chat with T4's Web team about how AWS and its various products/services are used within the company?