2022-08-03 Simulation Working Group Meeting #2772

WJaworskiRobotec · 2022-08-03T08:55:28Z

WJaworskiRobotec
Aug 3, 2022
Collaborator

Reviewing in-progress issues
- (New Issue) Compatibility tests - new issues
- (New Issue) Digital Twin Simulation documentation
- (New Issue) Integration of AWSIM for ITRI
- (New Issue) Integration of MORAI SIM for ITRI
- (New Issue) Design of experiments for High Fidelity Simulators
Others:
- Next iteration of AWSIM binary shared and tested by the community (working with autoware universe + added camera)

perception based metrics still in progress
Dominik to create PR to develop branch of AWSIM with GT localization
Metric calculation nodes will be used for evaluation of Localization and Perception - Only GT publication needs to be implemented on the simulator side. Then metrics can be calculated with any integrated simulator

AWSIM will have random traffic available in OSS version - can be controlled by seed value
critical to synchronize Autoware with NPC control - MORAI has it available
Possible synchronization by monitoring Autoware state in the simulation - Wojciech will try to solve it

Possibly better structure of tutorials can be suggested - Wojciech to create a discussion about the structure

We should test Localization, Perception and E2E stack of Autoware
Scenarios should be based on similar conditions that ODD WG defined tests
Perception should be test independent of other Autoware components - static ego, possibly NPCs moving. Wojciech to check with Piotr Zyskowski if perception-only launcher is available
gap between virtual and real world - Igata san will contact ITRI once initial set of tests for simulators is ready, if they can test similar scenarios on real bus