Autonomy Software WG Meeting 2022/10/04

[BonoloAWF]

Administrative

• Previous Meeting Minutes

Common Resources

• Bus ODD software architecture proposal
• Bus ODD architecture design discussions
• Bus ODD candidate simulator comparisons
• Bus ODD milestone development plan
• Bus ODD Project Board
• Autoware contributors list

Announcements

The meeting will be cancelled on the week of 17th Oct due to ROSCon 2022 conference.

Autoware.Universe

• Bus ODD Sep-Oct Milestone
• Bus ODD high priority issues not in the current milestone
• PRs waiting for review
• Autoware.Universe reported bugs
• Autoware design discussions and demos

Discussion topics

Bus ODD progress updates:

ITRI bus integration update (In meetings with 7am UTC time slot)

LeoDrive bus integration update

• Quality testing process is underway (no update in meeting)

Action Items

None

Review of Issues and Discussions

The following Discussions and Issues were highlighted:

• The detection_area module does not visualize debug markers when some obstacles are not detected by it autoware.universe#1121 - in progress
• Run Lidar Centerpoint with TVM autoware.universe#908 - PR reviewed, waiting for author updates
• Autoware keeps following old local path after behavior_velocity_planner is dead autoware.universe#1253 - docs need to be updated
• Sometimes the sensing module doesn't publish concatenated pointcloud autoware.universe#1009 - under investigation
• Ground segmentation fails for points behind the low objects autoware.universe#669 - Fatih to review
• behavior_path_planner generated path outside of drivable area autoware.universe#1761 - potentially solved locally
• Image messages have latency or dropped autoware.universe#1228 - no updates
• Create speed_bump behavior module autoware.universe#611 - part of ongoing vehicle tests
• Vehicle starts move before the steering angle converged autoware.universe#1543 - package dependencies misconfigured
• Feature: Vehicle Interface autoware.universe#1451 - under review
• Adding NDT reinitalization statement and reinitialization while moving autoware.universe#1375 - no updates
• signal_processing tests rely on uninitialized variable autoware.universe#1959 - disk space increases, closed
• obstacle_avoidance_planner randomly generate zigzagging path while on a straight line autoware.universe#1958 - could be shift point issue (limit shift points to within road boundaries), data needed to reproduce
• obstacle_avoidance_planner::generateOptimizedTrajectory sometimes produce NaN filled trajectories  autoware.universe#1956 - no updates
• Planning simulator doesn't seem to work on Arm autoware.universe#1912 -closed
• accel_brake_map_calibrator sometimes produce invalid map file autoware.universe#1904 - no updates
• behavior_path_planner do not consistently expand the drivable area autoware.universe#1854 - PR is open
• The path of behavior_path_planner is out of lane when obstacle is near intersection autoware.universe#1793 - a new PR should be opened to update logic for shift path
• Some .md files have preview problems autoware.universe#1568 - closed
• obstacle_stop_planner makes the vehicle stop for a far away obstacle autoware.universe#1418 - no updates
• The detection_area module does not visualize debug markers when some obstacles are not detected by it autoware.universe#1121 - low priority
• Dynamically Expanding the Drivable Area #2851 - expansion of drivable area
• velocity planning #2905 - design question
• [proposal] A new pointcloud map interface for dynamic map loading #2812 - design question