Autonomy Software WG Meeting 2022/05/10

[BonoloAWF]

Administrative

• Previous Meeting Minutes

Attendees

Chaired by Ryohsuke

• Bonolo
• Berkay K
• Berkay B
• Beyza
• Chenying
• Esteve
• Fatih
• Gizem
• Jian
• Goktug
• Haoru
• Kaan
• Maxime
• Mehmet
• Mert
• Naoyori
• Norah
• Shark
• Piotr
• Rama
• Xinyu
• Zeynep

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

The meeting last week was cancelled due to national holidays in Japan and Turkey.

Autoware.Auto

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

Autoware.Universe

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

Discussion topics

No topics this week.

Action Items

1. @armaganarsln to create a Discussion for investigating radar in Autoware when he receives a new radar from SmartMicro -> He will do it once he receives the device.
2. @xmfcx to create an issue to test the existing lidar-only perception pipeline with the data provided Collect raw sensor data to test sensor drivers autoware.universe#562 (comment)

Review of Issues and Discussions

The following Issues and Discussions were reviewed (see comments for details):

• Potential collision risk with long obstacles autoware.universe#833 - in progress
• The output of the gnss_poser package is not suitable for ekf autoware.universe#800 - we can either create a new msg or use 2 separate msgs. The msgs for localisation will be discussed in the Architecture WG meetings
• Choose GPU device before running tensorrt_yolo 2D detection node  autoware.universe#736 - there is an existing API to select a device but tests are required on a machine with multiple GPUs
• Add another crop_box_filter node autoware.universe#703 - in progress
• Collect rosbag of sensor data for camera autoware.universe#680 - this will be split into smaller issues by Fatih
• Implement any missing calibration tools autoware.universe#679 - the opensource calibration tool needs to be tested on a rosbag
• Ground segmentation fails for points behind the low objects autoware.universe#669 - the rosbag will be split into smaller size since the bug occurs somewhere near the start so it is tricky to reliably reproduce
• feat(control_performance_analysis): add new functionalities to evaluate the control modules autoware.universe#659 - Ali will review this again
• Add TVM inference capability autoware.universe#628 - NN packages should be separate to handle the download step and allow a user to provide custom NN if required. Core will provide inference via TVM but Universe still implements tensorRT. See Correct waypoint_follower dependnecy about message header #226
• Create speed_bump behavior module autoware.universe#611 - in progress
• Review of the processing of turn_signal_decider autoware.universe#605 - solution appears to have been merged
• Implement sensor drivers for ROS 2 autoware.universe#551 - ITRI can confirm which sensors still require ROS 2 drivers
• Wrong path planned by avoidance module in a special case autoware.universe#706 - in progress
• the "crop_box_filter" can cause error in the subsequent module. autoware.universe#705 - in progress
• Problems when add NPC to the scenario editor autoware.universe#558 - closed
• Fix errors of clang-tidy-differential autoware.universe#456 - low priority
• unit test of trajectory follower sometimes fails ramdomly autoware.universe#432 - closed (related to Feature/dataprocessor #649)
• Modified scan2image & calibration_test for calibration_publisher node #101 - Robotec will provide artificial dataset of a large pointcloud to test
• Runtime Manager, update for immediately reflection of sys CPU setup #279 - TomTom has open sourced their tool for converting from HD Map (TomTom AutoStream) to Lanelet 2 format required by Autoware. The conversion is offline even though AutoStream supports live map updates. Autoware does not yet support online updates of maps.
• Update manuals #275 - Kenji created a tool to visualise the Autoware system, showing the relationship between launch files.
• Add synchronization system for perception #234 - TSC decision was to use the TierIV simulator as the default for the bus ODD. The simulation working group will continue to investigate Carla and MORAI Sim performance and suitability for use with Autoware.