Autonomy Software WG Meeting 2022/06/21

[BonoloAWF]

Administrative

• Previous Meeting Minutes

Attendees

Chaired by Ryohsuke

• Bonolo
• Brian
• Esteve
• Fatih
• Hatem
• Haoru
• Jiang
• Kaan
• Maxime
• Piotr
• Ryohsuke
• Shark
• Sugwan
• Soohyeok
• Xinyu
• Yonghwan
• Zeynep
• Zulfaqar

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

None

Autoware.Universe

• Bus ODD issues
• Autoware.Universe reported bugs
• Autoware design discussions and demos

Discussion topics

Scenario evaluator presentation by @mitsudome-r (see slides in comments below):

Summary of presentation:

• ODD WG has created test scenarios for the bus ODD
• TierIV provided a simulator and web service to run weekly tests on the scenarios
• Details on how to create an account to use the platform are in the presentation
• Goal is to make all the tests pass
• Autoware Evaluator shows the status of each scenario run and the source code for testing is also provided
• Only the ODD WG leader has access to modify or add new scenarios
• Failing scenarios can be investigated by clicking on the scenario ID (you can download the recorded rosbag, log file and playback)
• Detailed scenario reports are available
• Scenarios can also be tested on your local machine (download scenarios + map to get started)

Hatem - are only scenarios in the custom TierIV editor format accepted? Will Open Scenario format also work?
Ryohsuke - the format is actually based on Open Scenario v1 but mapped to YAML format to allow better control of params. To use scenarios written in the exact Open Scenarioo format, I can ask the Simulation team to provide steps for generating the format. See https://tier4.github.io/scenario_simulator_v2-docs/user_guide/scenario_test_runner/ScenarioFormatConversion/

How users can share their own modules by @maxime-clem

See discussion here: https://github.com/autowarefoundation/autoware/discussions/409
Max - What is the best way to communicate this planner to the open source community? Ryohsuke - we want to create a way to easily replace modules. What is the size? Max - it is multiple packages and will grow into a large planning module as more features are added. Ryohsuke - if you're creating a new repo put the link to it in the Discussion thread so we can discuss whether or not to merge with Universe or if there is a better way to integrate. I will think about this some more and provide guidance by month end.

Hatem - maybe you can join the Open Planner WG since we are working on the same issues? Max - that's a good idea since we share the same target audience. I will try to join the next WG meeting.

Fatih - will the new planner have dependency on Autoware.Universe or will it run on different platforms with different use cases? If you plan to make it a standalone package it should have its own repository and be included in the .repos of Autoware. Max - good point, I need to think carefully about this.

Action Items

None

Review of Issues and Discussions

The following Discussions and Issues were highlighted:

• Avoid point cloud copies autoware.universe#1109 inefficient copying of pointclouds. Fatih will create an issue to use the pointcloud_wrapper from Autoware.Auto
• Creating Test Codes to Check Simulator Compatibility with Autoware autoware.universe#1105 - ongoing. Refactoring code to be used on Carla and TierIV sim as well
• Improve shape estimator performance for vehicles autoware.universe#1019 - assigned to Xinyu
• feat(crosswalk_traffic_light_estimator): add new package for crosswalk traffic light signals estimation autoware.universe#944 - no updates
• feat(steering_offset_estimator): add steering offset estimation package autoware.universe#930 - ready to merge
• The output of the gnss_poser package is not suitable for ekf autoware.universe#800 - sensing msgs created (to be linked)
• Add another crop_box_filter node autoware.universe#703 - closed
• Collect rosbag of sensor data for camera autoware.universe#680 - LeoDrive asked at TSC collected data anonymization
• Implement any missing calibration tools autoware.universe#679 - create PR to update docs
• Ground segmentation fails for points behind the low objects autoware.universe#669 - metrics still in progress
• Evaluate control modules in Universe autoware.universe#567 - several PRs created, awaiting review
• Evaluate performance of object detection pipeline autoware.universe#565 - PRs waiting review
• Implement sensor drivers for ROS 2 autoware.universe#551 - radar and GNSS porting ongoing so we may need to provide an adapter
• Update planning simulation autoware.universe#1011 - new map should have wider lane and smoother corner turns to improve planning trajectory estimation
• Sometimes the sensing module doesn't publish concatenated pointcloud autoware.universe#1009 - closed
• Vehicle stops ~1m further away than goal point or stop line autoware.universe#993 - assigned to Taka
• free space planner may collide obstacles with vehicle front autoware.universe#662 - PR waiting for review
• Fix errors of clang-tidy-pr-comments autoware.universe#382 - ongoing
• There are duplicate parameters and functions in behavior_velocity_planner autoware.universe#361 - closed
• Time monitor #388 - integrating vehicle and IMU information
• Add model data for simulation #410 - creating a GUI for Autoware
• Runtime Manager, add kill_children flag to RViz cmd for remote termin… #416 - list out all the duplicate params as a first step

[mitsudome-r]

Here's the presentation that I shared today.
Autoware CI_CD Pipeline.pdf

I will also create a documentation or wiki later.