Autonomy Software WG Meeting 2022/06/28

[BonoloAWF]

Administrative

• Previous Meeting Minutes

Attendees

Chaired by Fatih

• Armagan
• Ambroise
• Bonolo
• Chris
• Esteve
• Fatih
• JianKang
• Goktug
• Mark Jin
• Maxime
• Melike
• Mert
• Piotr
• Ram
• Ryohsuke
• Shark
• Sugwan
• 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

@mitsudome-r has completed the merging of Autoware.AI with Autoware Foundation organisation. See #2629 for details.

• There were some unintended consequences such as corruption in issue/discussion numbers and pfd links breaking.
• A workaround is to append the URL with "autoware_prototype", "autoware_core_universe_prototype" etc. to get back to the "old" referencing structure
• https://github.com/autowarefoundation/autoware now has an autoware-ai branch for a more unified approach.
• Developers should re-fork repos if experiencing issues
• Updates on permanent fixes for the above-mentioned issues will be posted in [IMPORTANT] Merging Autoware-AI Community and Autoware Core/Universe Community #2629

Autoware.Universe

• Bus ODD issues
• 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

Update from Mert:

• Integrated and tested lidar-camera object tracking pipeline. Projection of lidar points in camera frame works fine
• Apollo is more accurate for object detection but bounding boxes don't fit correctly unlike centerpoint. Centerpoint however has more false positives.
• Possible DDS issue where camera FPS drops (15Hz processing is not working). ITRI previously reported similar issues
• Sometimes concatenated pointcloud is missing (reported in Sometimes the sensing module doesn't publish concatenated pointcloud autoware_universe#1009)
• Autoware needs an image rectification model
• Need to add GNSS pose to EKF (issue has been opened)
• Not all the vehicle_description parameters are explained
• Lane following and obstacle avoidance was tested
• Blinkers (indicators) not working correctly
• Next steps include vehicle in the loop testing to validate the ODD scenarios (an issue will be opened)

Action Items

1. @xmfcx to create an issue to use the pointcloud_wrapper from Autoware.Auto Avoid point cloud copies autoware_universe#1109

Review of Issues and Discussions

The following Discussions and Issues were highlighted:

• Avoid point cloud copies autoware_universe#1109 - next step is to check each identified file for unnecessary copy and fix
• Improve shape estimator performance for vehicles autoware_universe#1019 - Xinyu is collecting more data to test before implementing a solution
• Test the perception stack on the raw lidar data autoware_universe#1008 - Kaan has tested and shared videos. Using a temporal NN could be a possible solution
• Yaw calculation is unstable in obstacle_avoidance_planner when skipping optimization. autoware_universe#966 - no update
• Use crosswalk traffic light signal in behavior planning module autoware_universe#937 - in progress
• The output of the gnss_poser package is not suitable for ekf autoware_universe#800 - More discussion required around whether or not to use the new GnssInsPosition.msg and GnssOrientation.msg or just use the standard NatSatFix.msg and IMU.msg which don't have velocity and angular acceleration fields
• <arg> is overwritten when including multiple launch files because <include> does not scope autoware_universe#1160 - assigned to Xinyu
• The detection_area module does not visualize debug markers when some obstacles are not detected by it autoware_universe#1121 - assigned to Ram
• Point Types #2480 - everyone to please review
• Scope and use cases for a new "Runtime Manager" GUI for Autoware Core/Universe #2659 - Ram will start to work on this