Open AD Kit WG Meeting 2022/05/12

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Administrative

Previous meeting minutes
Open AD Kit project board

Attendees

Chaired by Lalith

• Bonolo M (AWF)
• CJ (AWF)
• Daisuke Hashimoto (T4)
• David W (A3VG)
• Eiji Sekiya (T4)
• Esteve Fernandez (T4)
• Fumihito Ito (T4)
• Hiroshi Igata (T4)
• Kasper Ornstein Mecklenberg (Arm)
• Lalith Vipulananthan (TierIV)
• Mark Lambe (KLAS)
• Naoyori Tanzawa (T4)
• Ryohsuke Mitsudome (T4)
• Sameh Mohamed (Bosch)
• Samet Kütük (Leodrive)
• Stephen Li (Autocore)
• Tsigigenet Dessalgn (Marvell)
• Yoshihito Takashima (T4)

Agenda

• Introduction of new members
• Announcements
• Review of backlog actions
• Discussion topics
• Review of open discussions
  • Open AD Kit use-cases and roadmap proposal
  • https://github.com/autowarefoundation/autoware/discussions/89

Introduction of new members

• Sameh Mohamed (Senior Software Engineer - Bosch [US])
  • Self-learning about autonomous driving
  • Has come across Autoware a number of times in the past, but noted that the Autoware ecosystem is becoming more consistent (has developed more rapidly) recently
  • Wants to see how the software can be used on a test bed (eg: PIXKIT)
• Yoshihito Takashima (T4)
  • "Yoshi" for short
  • Joined T4 last week in a VP software role

Announcements

• The meeting last week was cancelled due to national holidays in Japan and Turkey
• Schedule change proposal
  • Meeting at 3pm JST (6am UTC) has few attendees so propose changing the meeting schedule along the same lines as the ODD meetings, which have meetings that change each month (meetings are every week at 3pm UTC for one month, then switch to 10pm UTC for one month and then back to 3pm)
  • Are these times acceptable, or will it cause problems? For example, the 10pm UTC slot would be 6am for China and Taiwan.
  • No feedback in the meeting
  • Action: Lalith to create a discussion to solicit feedback on the proposed change

Review of backlog actions

• Clarify the license that will be provided with the eSync Autoware PoC
  • It is believed that the license is only applicable to AWF projects involving AWF members, but asked CJ to ping them for an official response
  • CJ noted the following next steps for the PoC:
    • Excelfore's AWS account will be used initially but should be migrated to an AWF-run AWS account
    • Agent-side edge development: need to complete integration of their agent in a containerized implementation on top of EWAOL SOAFEE implementation, validate that and integrate with their server
    • Once done, migrate the server to an AWS instance owned by AWF
• Data recording minimum requirements
  • Blocked by the interface discussion but have created an issue for tracking
  • Data recording minimum requirements autoware-projects#25
• Complete list of nodes and interdependencies in Autoware
  • https://github.com/autowarefoundation/autoware.universe/issues/827
  • Mitsudome-san said that the plan is to use colcon graph to list out components, and should be able to provide an initial list by next week
  • Kasper suggested documenting how to use colcon graph and providing a specific, limited example which Mitsudome-san agreed to
  • Action: Kasper to edit the issue to include adding documentation as an additional task
• Samet / CJ to update WG about MIH minimum requirements during the May 12th WG meeting
  • Collect feedback from MIH and Foxconn about their expectations for Open AD Kit autoware-projects#30
  • Next MIH WG meeting will take place after this meeting, so Samet or CJ will update the Open AD Kit WG next week
• Kasper to create an issue for the task of adding benefits of proposed architecture/infrastructure changes such as microservices to the Open AD Kit wiki
  • Update Open AD Kit wiki to explain the benefits of a microservices architecture autoware-documentation#102
  • Assigned issue to Kasper who will work with Girish to draft an update to the Open AD Kit wiki
  • Action: Kasper to add his proposed changes to the issue and ask the WG to provide feedback
• Kasper and David to write up a presentation for the Microservices PoC and create a discussion
  • In progress, but does require the complete list of Autoware nodes and interdependencies above
  • Action: Kasper / David to create a discussion to get feedback on the proposal and to hear other opinions

Discussion topics

Review of open discussions

Open AD Kit use-cases and roadmap proposal

Roadmap proposal comment in the Open AD Kit scope discussion
Roadmap proposal document

• The proposal is a breakdown of high-level use cases to benefits to more granular use cases to provide the basis for a discussion on candidate key technologies
• Although a microservices based architecture with a corresponding CI/CD system is the eventual goal for Open AD Kit, it will be challenging to achieve all of that this year, so the roadmap is a proposal for what we should aim to achieve for Open AD Kit 2.0 in 2022, and then what should be left for Open AD Kit 3.0 and later versions next year and beyond.
• Comments/feedback?
  • Hashimoto-san asked Mitsudome-san and Tanzawa-san if microservices and containerization had been officially decided upon.
    • Mitsudome-san said that they had
    • Kasper mentioned the architecture diagram at the bottom of the AWF Open AD Kit page
  • Tanzawa-san noted that the key issue is to agree on what can be achieved this year, set the scope and start working
• Action: WG to review this document and provide feedback in the discussion for review by next week

Open AD Kit 2.0 scope

• Potential tasks/features for inclusion in 2.0
  • Integrate Autoware Universe with Open AD Kit and review the results
    • What is required to complete this task and confirm that the existing start guide can be modified to work with Autoware Universe?
    • Kasper: Everything should be the same up to step 7 ("Run Autoware.Auto and scenario editor"), but do the launch files (map, perception, planning, vehicle) need to be modified?
    • Action: Create an issue to track the overall work, including a task to provide launch files to run Universe
      • Once launch files are confirmed, create an issue for Ito-san (T4) to test the AVA platform and for Stephen (Autocore) to test the Autocore PCU
    • For step 8 ("Cloud native CI/CD - Web.Auto), do we know if Universe works with T4's CI/CD system?
      • Work is currently in progress to update the Web.Auto config file for Universe. Sekiya-san to confirm when this will be complete
  • Prepare and share with everyone the benefits, problems that could be addressed, target users, and applications of Open AD Kit architecture
    • This should be covered by Hashimoto-san's roadmap proposal and Kasper's updates to the wiki (should the information about Open AD Kit benefits be merged?)
  • Define candidate computing platforms for demonstration of the final work
  • Define an operational concept demonstration and create issues around it
  • Create a microservices application around Bus-ODD for field testing (live sensor data)
    • PoC is being developed by Kasper and David
  • Investigate orchestration methods for self-driving vehicles
    • Requires a microservices architecture to be in place, but once the microservices PoC is complete, this can be investigated with help from SUSE?
  • Integration testing using containers and orchestrator (cloud deployment, CI/CD)
  • OTA field application (eSync or similar)
  • Find more researchers or groups who are willing to contribute, test & demonstrate

Action Items

• Lalith to create a discussion to solicit feedback on the proposed WG meeting schedule change: https://github.com/orgs/autowarefoundation/discussions/305
• Kasper to edit the nodes/dependencies issue to include adding documentation as an additional task @kasperornmeck
• Kasper / David W to create a discussion to get feedback on the microservices PoC proposal and to hear other opinions
• WG to review Hashimoto-san's roadmap proposal document and provide feedback in the discussion for review by next week
• Lalith to create an issue to track the tasks required to verify that Autoware Universe can be used with Open AD Kit 1.0