Open ADKit Working Group Meeting 05/09/2024

[oguzkaganozt]

Administrative

Open AD Kit Project Board
Latest Open AD Kit Documentation - updating

Attendees

Chaired by @oguzkaganozt and David Walmroth (PIX Moving)

• Oğuz Öztürk (MC)
• David Walmroth
• Ryohsuke Mitsudome
• Samet Kütük
• Esteve Fernandez
• Bonolo
• Hiroshi Igata
• Alex Carballo
• Yutaka Kondo

Agenda

DevOps Dojos: Build/Run: Open AD Kit Modular Images

- Agenda item maintainers: @oguzkaganozt , @youtalk

• Modular containers project board
• Modular Container Discussion
• feat(docker): no longer support devel image #5171
• feat(docker): install CUDA drivers in autoware:base image #5159
• Performance Analysis of Modular Containers

Open AD Kit Discussions & Issues

- Agenda item maintainers: @idorobotics, @oguzkaganozt
- Assess open-ad-kit related bugs, issues or feature requests from community channels (github, discord, or other platforms)

Open AD Kit Project Board

• Issues:

  • OpenADKit
  • Containers

• Discussions:

  • OpenADKit
  • Containers

DevOps Dojos: Ros Node Configuration Updates

- Agenda item maintainers: @kaspermeck-arm, @oguzkaganozt
Call for volunteers
Step-by-step Documentation
Step-by-step Video Tutorial

• Spreadsheet for node updates

Open AD Kit Demo Archives

- Open AD Kit demo repos and artifacts will be published and showcased by specific forks within the Autoware project

CES 2024 Demo Branch is Released
Working on AutoTech 24 for Open AD Kit PIX integration

Remote RViz Visualization

- Agenda item maintainers: @oguzkaganozt, @kaspermeck-arm

Overall best out-of-the-box solution : Visualizer container with built-in window manager and VNC support with bonus noVNC-support

Discussion: https://github.com/orgs/autowarefoundation/discussions/5099
Related idea: RobotWebTools/rosbridge_suite#757
Given the benefits of modern web technologies and the need for flexibility, WebRTC with rosbridge(ROS Web Tools) with the help of aiortc would be the ideal choice.

Aspect	X11 Forwarding	VNC	X2Go	WebRTC	ROS Web Tools (rosbridge)
Primary Function	Remote application visualization	Full desktop remote access	High-performance remote desktop	Real-time media and data streaming	Web-based ROS interaction
Protocol	X11 over SSH	RFB (Remote Framebuffer Protocol)	NX protocol	WebRTC (Peer-to-peer)	WebSockets (HTTP)
Compression	Minimal (SSH encryption overhead)	Various (e.g., Tight, H.264)	Advanced compression and caching	High-quality, efficient compression	Depends on web technologies
Bi-Directional ROS Messaging	No	No	No	Yes	Yes
Platform Independence	Limited	Limited	Limited	High	High
Ease of Setup	Low	Moderate	Moderate to High	High	Moderate
Security	Integrated with SSH	Requires secure tunnel (e.g., SSH)	Built-in secure connection	Requires secure setup (DTLS/SRTP)	Can be secured with HTTPS
Performance	Slow-Moderate	Moderate	High	High	Moderate

Open AD Kit Hardware Availability

- Agenda item maintainers: @samet-kutuk, @HamburgDave

• ORIN: Recently succesfully tested
  • https://github.com/futurenowx/autoware
• AADP: Being used on various demos
• ADLINK presented their autonomy HW lineup in Ref. Des. WG. BSP does not yet support Yocto(?).
• 7Starlake: we heard that some eval units can be made available for testing

2024 Demo Planning and Activities

- Agenda item maintainers: @samet-kutuk, @HamburgDave

• AutoTech Detroit (June 5-6): https://docs.google.com/presentation/d/1UD_0tIhRgfjmQami1nyKxh5feY5TGre4YTOAG1AZWik/edit?usp=sharing
• (Potential) AVTE California / Aug 28-29
• (Potential) IEEE ITSC / Sep 24-27
• (Potential) IROS 2024 / Oct 14-18
• (Potential) ROSCon / Oct 21-23

[oguzkaganozt]

Issue -> #5180