2022-05-11 Simulation Working Group Meeting

[sglee-morai]

Useful Links

Previous Meeting Minutes

2022-04-27 Simulation Working Group meeting

Issue Board

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

Recording from the meeting

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

Agenda Summary

• Reviewing in-progress issues
• Reviewing requirements for the E2E simulator
• Assigning a task: creating a vehicle model for the bus ODD
• Assigning a task: creating environments for the bus ODD
• Another topic:
  • Discuss if we can use E2E sim to "train/tune" the segmentation algorithms

Discussions

Usage of an E2E Simulator for tuning perception algorithm

• related issue: Ground segmentation fails for points behind the low objects autoware.universe#669
• basic concern is that when a certain parameter of a perception algorithm is changed to make it work for a certain scene, it may no longer work for another scene (side effect). Therefore, an automated way of tuning and testing is needed where a simulator can be used (semantic sensor lidar model in the simulator can help)
• besides using the simulator for perception algorithm tuning and testing, this problem it may be possible to solve this problem by adding deterministic, or rule-based algorithms rather than a neural network system

Reviewing in-progress issues - Metric Calculation Node Development

• already created: nodes to create avg. velocity, ... (in the comment section), not merged to Autoware yet
• another node will be created: comparing point cloud semantic segmentation data from Autoware vs. Ground Truth
  • whether this feature can be created from TierIV Sim or MORAI SIM: Drive can be discussed later

Release of TierIV SIM & Open-Sourcing it

• June: updated version in Binary & Documentation will become available
• Open-sourcing the source code of TierIV SIM is postponed

Reviewing in-progress issues - Define Test Procedures to check Simulator's Compatibility with Autoware

• Interface testing code will first be implemented. Related message definition https://github.com/tier4/autoware_auto_msgs
• The test code will be initially created in the root/tools folder in the autoware.universe repository, but it can be moved to elsewhere later

Reviewing requirements for the E2E simulator

Link: Requirements for the E2E Simaultor

• Details on the bus specification was added by Igata san
• A few comments are added which can be discussed later
• A wiki page will be created. (created by Wojciech now: link)

Creating a Vehicle Model

• TierIV will work on this.
• ITRI has shared more data for this

Creating Environments

• MORAI will do this. Initially, MORAI will work on creating ITRI campus map first.
• The decision on whether to use simulation in virtual Hsinchu city will be used for the demo isn't made yet . (TSC)
• However the decision is made, ITRI campus will anyway be used for real-world testing, and therefore creating an environment will have value anyway. That's why MORAI can just start working on that. How much effort will be put into the ITRI map in order to make it look better (mostly manual processes by technical artists) can be decided depending on the decision about Hsinchu city.

Action Items

• Wojciech to create a wiki page for the Bus ODD Simulation requirements: link for the the created wiki page
• Any members to keep discussing the simulator requirements
  • Discussion Page
  • Wiki Page
• Assigned members to keep working on existing issues
  • https://github.com/orgs/autowarefoundation/projects/7/views/1