Autonomy Software WG Meeting 2022/09/27

[BonoloAWF]

Administrative

• Previous Meeting Minutes

Common Resources

• Bus ODD software architecture proposal
• Bus ODD architecture design discussions
• Bus ODD candidate simulator comparisons
• Bus ODD milestone development plan
• Bus ODD Project Board
• Autoware contributors list

Announcements

Map WG Started

• TSC has approved the start of the Autoware Mapping WG. WG leaders will be nominated soon, meeting invites are available on the Autoware calendar. See slides below for short and long term goals.
• https://docs.google.com/presentation/d/1WwU64JT-l-a4HNYZs6h-nVHxIZ-JH5saZLU5oB9z8v0/edit?usp=sharing

Autoware.Universe

• Bus ODD Sep-Oct Milestone
• Bus ODD high priority issues not in the current milestone
• PRs waiting for review
• Autoware.Universe reported bugs
• Autoware design discussions and demos

Discussion topics

Bus ODD progress updates:

ITRI bus integration update (In meetings with 7am UTC time slot)

• No updates this week

LeoDrive bus integration update

• LeoDrive will start final validation next week.
• LeoDrive is working on their fork right now. They will share the feedback after the validation test.
• Autoware seems to fail with high CPU usage. Launching Foxglove UI causes CPU usage to rise 90-95%
  • Is there any workaround?
  • Easiest solution would be to add a new PC, but it does not match with LeoDrive's system design so needs more research.
  • Running Autoware alone would consume 60-70% (8 core,16 thread)
  • In Rviz, there are some options for reducing CPU usage (FPS, selecting different visualization marker for pointcloud).
• Armagan: how about localization? how much CPU usage for NDT?
  • Mert: We haven't checked it yet.

Dynamic Map Loading

• The post is there for over a month now. @kminoda would like to proceed with implementation
• [proposal] A new pointcloud map interface for dynamic map loading #2812
• If there are no objects by tomorrow, we will start implementing the feature with proposal B.

Action Items

None

Review of Issues and Discussions

The following Discussions and Issues were highlighted:

• The detection_area module does not visualize debug markers when some obstacles are not detected by it autoware.universe#1121 - no updates
• Map Based Prediction Incorrect Predictions autoware.universe#494 - Ryohsuke will discuss v_y component with authors of prediction nodes
• Checking only 4 corners in the drivable area autoware.universe#1716 - no update
• Run Lidar Centerpoint with TVM autoware.universe#908 - Xinyu working on converting Tensor implementation to TVM script
• Sometimes the sensing module doesn't publish concatenated pointcloud autoware.universe#1009 - Lucas will look into this
• Finalize the field type for pointcloud autoware.universe#563 - in progress
• Ground segmentation fails for points behind the low objects autoware.universe#669 - comparison of two segmentation algorithms in progress
• Image messages have latency or dropped autoware.universe#1228 - will reproduce high CPU usage from bag files
• Create speed_bump behavior module autoware.universe#611 - merge upstream required
• Planning simulator doesn't seem to work on Arm autoware.universe#1912 - will be discussed in Open AD Kit WG
• Vehicle starts move before the steering angle converged autoware.universe#1543 - tested on real vehicle without issues, will also be tested in planning simulator
• feat(base_interface): add base_interface package autoware.universe#1512 - final review will happen this week
• planner node dies inside RCLCPP_COMPONENTS_REGISTER_NODE macro autoware.universe#1389 - low priority for now
• surround obstacle checker rarely dies in local environment with segmentation fault autoware.universe#1231 - to be assigned to Tier IV
• accel_brake_map_calibrator does not want to calibrate some values autoware.universe#1910 - only required if low level axle peddle controller is not available
• Remove duplicated ControlMode msgs autoware.universe#1509 - duplicate msgs are being removed
• feat: add rtc manager rviz plugin autoware.universe#1936 - more details required in documentation
• refactor(probabilistic_occupancy_grid): transfer probabilistic_occupancy_grid package from sensing to perception directory autoware.universe#1923 - will merge when CI passes
• refactor(ekf_localizer): use covariance index util of tier4_autoware_util autoware.universe#1917 - no updates
• obstacle_avoidance_planner randomly generate zigzagging path while on a straight line autoware.universe#1958 - map to be investigated
• obstacle_avoidance_planner sometimes crash when the vehicle goes beyond goal point autoware.universe#1930 - ongoing
• ARM64 image don't work in Jetson and Nvidia Orin autoware.universe#1929 - related discussion noted
• Duplicate topic names used for different message types autoware.universe#1927 - closed
• obstacle_avoidance_planner sometimes crash when the vehicle goes beyond goal point autoware.universe#1930 - ongoing
• build autoware.universe Error #2881 - error due to mirror server being used
• Odmfuse.sh error #2890 - more information required
• Driver for ARS408 Radar #2699 - ongoing
• refactor(setup): use pipx for Ansible to avoid conflicts between pip and apt packages #2897 - ongoing
• AWSIM: Autoware doesn't plan trajectory #2783 - related to Simulation WG
• [Discussion] LiDAR Localization Process #2891 - instruction updates
• Handling lateral tracking error #2859 - an alternative path for collision checking will be provided