2022-06-22 Simulation Working Group Meeting

[sglee-morai]

Usefu links

Previous Meeting Minutes

2022-06-08 Simulation WG Meeting Minutes

Issue Board

https://github.com/orgs/autowarefoundation/projects/7/views/1

Wiki Pages

• Bus ODD E2E Simualtor Requirements

Recording from the meeting

https://drive.google.com/drive/folders/1IX3h2MLvs3TTncQrnvm3kCNRmbXHyp12

Agenda Summary

• Reviewing in-progress issues
• Bus ODD E2E Simualtor Requirements (wiki) (discussion)
• Sharing Environment Model & Vehicle Model
• MORAI SIM: Drive Evaluation Version Update
• CARLA

Discussions

Metric calculation node development

Define Test Procedures to check Simulator's Compatibility with Autoware

• PR is created, review the comments
• Readme document is to be created
• Refactoring is to be done
• After doing these, just commit & push, make some comments to let reviewers to check again

Creating a Simulation Environment (ITRI Campus)

• After the meeting, MORAI will share the map with TierIV in Unity Package
• Asked TierIV for feedback
• For now preferred format: Unity Package
• For CARLA use, MORAI needs to share that in .fbx or .obj, but that would require manual work from CARLA (e.g. placing trees)

Creating a Bus Model (ITRI Bus)

• Last meeting: Almost finished. Asked ITRI a few questions.
• Updating ITRI Bus - fixing height & lights
• Need Vehicle Description of ITRI Bus
  • Example
  • Explanation (Comment) for each variable needed
  • Ask ITRI again for values again
• Next TSC Meeting: July 21th

Define the requirements for Autoware-compatible simulators

Refer to the comment on the discussion page.

• virtual / ground truth sensors' output format
• to discuss detailed use cases of an E2E simulator: test configurations and scenarios for each use case.

Data usage

• ITRI lanelet2 data
• ITRI 3D model
• Concern: Since TierIV SIM will become open-sourced, if we cannot share lanelet2 & 3D model publicly, it would be difficult for users to use TierIV SIM to test the Autoware stack in the ITRI map.

Action Items

• Share the environment & vehicle model from both sides
• Discuss more on the simulation requirements
• Follow up about CARLA