Autonomy Software WG Meeting 2022/03/22

[BonoloAWF]

Administrative

• Previous Meeting Minutes

Attendees

Chaired by Ryohsuke

• Ryohsuke Mitsudome (AWF)
• Bonolo
• Armagan
• David
• Maxime
• Piotr Zyskowski
• Stephen
• Xinyu

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

• Autoware has moved to Discord from Slack. In this slide you can find detailed information about the move. Join using the invite link: https://discord.gg/Q94UsPvReQ

Mitsudome - we want feedback on Discord (both positive and negative) since we are evaluating it. There is still the possibility of moving back to Slack should the feedback suggest this.

Autoware.Auto

• Review Cargo MS10 Cleanup & Technical Debt Issues
• Updates on bug fixes and documentation bugs
• Release of Autoware.Auto v2.0.0

Autoware.Universe

• msg architecture finalisation discussion
• Discuss creating Issues for the Bus ODD Project Milestones associated with a timeframe milestone
• Autoware.Universe Issues - should these be placed in LTB?

Discussion topics

Autoware.Universe Update

• We will migrate autoware_auto_msgs and modify them according to the various design discussion threads. Bonolo created project milestones for the bus ODD and Mitsudome started to add issues to the various milestones. See: https://github.com/orgs/autowarefoundation/projects?type=beta
• Please go through these project milestones and indicate which feature milestone you would like to work on. Leodrive has already indicated they want to work on planning and tracking.

Armağan(A) - Does Autoware support traffic light detection? Mitsudome (M) - for now we assume that this information is available in the map. A - what about perception? M - we are focusing on object and traffic light recognition and lane detection. We should think of the use cases for such detections however (for example lane detection is nice for lane keeping or localisation but could be unnecessary if localisation is very good). For the bus ODD we are working with the ODD WG to define features to be implemented. Feel free to create PRs in Universe for any perception feature you wish to implement. You can also contact me if you need more information on the available packages in Autoware.

Proposed by Armağan

• We have reviewed the current radar architecture proposal with the radar manufacturer smartmicro. Could we learn more about the plans for the radar perception pipeline and what's needed from the radar hardware in order to achieve the goals?

Mitsudome (M) - radar architecture was tested internally at TierIV so they will propose an architecture for Autoware.Universe. We are open to discussions and learning from others who have implemented this in the past. Radar has different outputs depending on the vendor so it is tricky to create an abstracted interface. Armağan (A) - This was a misunderstanding, I thought that the architecture was already finalised. I worked with Continental tools in the past which have multiple radar calibration and localisation. Such features could be developed in the future. M - I think TierIV may also know a bit about these tools. Our design is not yet fixed so please go ahead and create a Discussion. David - also ping Alex who is knowledgeable in this area. A - can someone use Autoware to calibrate their sensors? M - there are not that many tools available.

David - do we have documentation for hardware ODD (URDF, hardware reference list etc.) ? Mitsudome - we will create a space in the docs for this.

Proposed by Haoru

• I would like to discuss the outstanding MRs for Autoware.Auto on F1TENTH

1. Have 1362 assigned to someone to review. It is fully ready. https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/merge_requests/1362
2. Have 1380 assigned to someone to review. I’ll finish up the test portion this week. https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/merge_requests/1380
3. Update on the merge of 1347 ( F1Tenth): it is currently blocked by the two aforementioned MRs. I’ll work on resolving the CI failures on this MR once the two MRs are done. https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/merge_requests/1347

Mitsudome will review the MRs since he has access to the vehicle platform.

Action Items

1. @mitsudome-r to contact NE Raptor developers to discuss https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/issues/1102
2. @BonoloAWF to create an issue in the documentation repo. for adding instructions for uninstalling Autoware.Auto => Documentation showing how to uninstall Autoware.Auto autoware-documentation#56

Review of issues

[armaganarsln]

• We have reviewed the current radar architecture proposal with the radar manufacturer smartmicro. Could we learn more about the plans for the radar perception pipeline and what's needed from the radar hardware in order to achieve the goals?