Core/Universe Planning meeting 2022/03/16

[mitsudome-r]

Participants

• Kenji MIyake
• Bonolo Mathibela
• Haoru Xue
• M. Fatih Cirit
• Xinyu Wang
• Ryohsuke Mitsudome
• Christian John
• Kasper Ornstein Mecklenburg
• Shinpei Kato
• Daniel Shih

Discussion Topics:

• Milestones for bus ODD shared in ASWG

  • https://docs.google.com/document/d/1jwjyFmsIehjbQAtyDoMnI_EgGHR_bM7ht6wNd5C57MU/edit#
  • CJ: Which tools are we using to evaluate perception/localization
    • We will be using public dataset which has test data with ground truth. We are still open about how we integrate dataset to Autoware
    • Can utilize Open AD Kit?
      • We can discuss how we can integrate the benchmark tools to CI, but FYI some public dataset is only allowed for non-profit use case so we should be aware of that.
  • Daniel: From past experience, just having KITTI dataset wasn't enough and requires actual data from the target environment.
  • Is there realtime simulation tool?
    • We don't have HILS or realtime simulation tool.

• Review new discussion threads:

  • Microservice architecture
    • https://github.com/autowarefoundation/autoware/discussions/92
  • Fatih created discussion to share alternative autonomous vehicle software architecture
    • Remove needless dependencies #102
  • Point Type Interface
    • Modified scan2image & calibration_test for calibration_publisher node #101
    • Daniel: Is there any field to indicate the source of the time (e.g. ROS clock, System Time...)
      • Some hardware might not have a way to synchronize with other time source (e.g. GNSS)
      • Detail discussion can be done on the thread

• WG management

  • WG best practices shared to WG leads.
    • should this be shared in public place?
  • Have trouble giving correct access writes to the repositories.

• How should we move forward with the architecture design?

  • Autoware high level architecture: https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/issues/1421
  • Localization: Smooth acceleration and deceleration at crossroads #1
  • Planning/Control: Fix compile warnings #4
  • Sensing/Perception: bag file to try autoware software-suites #3
  • docs: add bus-odd arch discussion summary autoware-documentation#48

Action Items

• @alexandrx to create PR for install instruction without ansible script
• Daniel to post a comment on Modified scan2image & calibration_test for calibration_publisher node #101 to propose the issue with clock source.
• @xmfcx to create PR for Sensing to the design doc: https://autowarefoundation.github.io/autoware-documentation/pr-57/design/autoware-interfaces/component/planning-control-vehicle-interface/