Autonomy Software WG Meeting 2022/04/12

[BonoloAWF]

Administrative

• Previous Meeting Minutes

Attendees

Chaired by Fatih

• Ryohsuke (AWF)
• Bonolo (AWF)
• Armagan (LeoDrive)
• Ambroise (Arm)
• Berkay (LeoDrive)
• Beyza (LeoDrive)
• Fatih (AWF)
• Goktug (LeoDrive)
• Kaan (LeoDrive)
• Mert (LeoDrive)
• Melike (LeoDrive)
• Ram (Interplai)
• Sena (LeoDrive)
• Shark (Autocore)
• Maxime (TierIV)
• Norah (Autocore)
• Piotr (Robotec.ai)
• Xinyu (TierIV)
• Haoru (AWF)
• Hatem (Nagoya Uni.)
• Lalith (TierIV)
• Zeynep (LeoDrive)

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.Auto

• Updates on bug fixes and documentation bugs
• Release of Autoware.Auto v2.0.0

Autoware.Universe

• msg architecture finalisation discussion
• Issues in the Bus ODD Project Milestones associated with a timeframe milestone
• Prepare packages for ADASTEC on-vehicle testing => localisation and perception nodes can be tested first

Discussion topics

Proposed by Sujith:

• Interplai has developed a GPS based localisation package which we would like to contribute to Autoware.Auto. Currently we are validating it on our robot (simulation based testing is completed). We would like to present the demo.
• Interplai does not have access to the monthly FTE activity reporting document. Could access be granted please?

Interplai can evaluate their GPS localisation against what is in Autoware and make contributions to improve the package.
Ryohsuke will add Ram to the FTE reports allowing him access to submit monthly.

Proposed by Fatih:

Fatih (F) - Autocore has a vehicle with Ouster lidars fitted. Can you upload a small ros2 bag file of lidar data? Shark (S) - problem is the Ouster driver sends out pointcloud formatted data not raw lidar data. F - can you record a PCAP file and send it to us? S - it may not work for a lot of engineers who do not have the driver. F - we need to develop a driver for reading Ouster lidar data as part of the bus ODD. Current data processes real-time UDP packets. Can you send us the driver you are using and PCAP file? We can take it from there? S - Yes, where do I upload it? F - Google Drive is fine, I will then upload to Autoware S3 bucket. Armagan - Also ask ADASTEC to possibly also provide data.

Action Items

1. @mitsudome-r to contact NE Raptor developers to discuss https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/issues/1102
2. @armaganarsln to create a Discussion for investigating radar in Autoware when he receives a new radar from SmartMicro
3. @xmfcx to assign issues on universe to projects

Review of issues

The following issues were discussed (see comments for details):

• docs(components): add vehicle dimensions page autoware-documentation#79 - Fatih added graphics to show vehicle axes and dimensions. Naming conventions should be updated for consistency (eg. wheel base). Everyone to please review.
• Integration of Autoware Universe with Scenario Simulator autoware.universe#656 will be merged soon to allow for use of scenario simulator
• Sometimes trajectory_follower's test fails with ARM64 autoware.universe#649 - tests are randomly failing. One cause is interference between tests when running in parallel and publishing to the same topics. This is hard to reproduce but Maxime has created a PR to fix this. Fatih - we may need to stop publishing from tests and change to using ament_add_ros_isolated_gtest instead of ament_add_gtest. Maxime will open an issue to track progress on this bug fix.
• The fail-safe-state image is not found autoware.universe#653 - assigned to Xinyu
• Add TVM inference capability autoware.universe#628 - Fatih (F) - we could organise S3 in folders similar to TensorFlow ending with the model name. We could push things to S3 and provide links to users to allow for easy deletion of older files. Ambroise (A) - we have versioning on the modelzoo side where the folder name is the version. When a download occurs on the Autoware side, it should not be at build time. It should be part of the initialisation step of the whole repository. F - TensorFlow asks you download by clicking a link. A - we want users to run a script and download latest versions automatically for convenience. F - we should not download all models using a single script. To reduce bandwidth a user should be able to select which models to download. Manually is OK since I don't want things downloading automatically if they are not required. A - if we have a demo pipeline that uses NN package, a user will need to manually download all the required models before running the pipeline. F - Yes. As long as we print a clear message of what is missing and how to download it it's fine. This will also reduce complexity on CMake side. I am not against using git lfs in the repository but it should only be for small files such as images.
• Create calibration tool for sensors autoware.universe#592 - assigned to Haoru
• Implement any missing calibration tools autoware.universe#679 - assigned to Haoru
• Evaluate performance of object detection pipeline autoware.universe#565 - see video demo showing the pipeline running on the Waymo dataset
• Collect rosbag of sensor data for camera autoware.universe#680 - updated to include data collection/annotation stakeholders