2024-08-29 Racing Working Group Meeting

[pojenwang]

Administrative

Previous Meeting Minutes

Attendees

• Po-Jen Wang (AWF)
• Mitsudome-san (Tier.IV)
• David Walmroth (Open AD Kit / Pix-Moving)
• Atanasko

Minutes: Po-Jen Wang

Topics

Improved Autoware on F1tenth

• Successfully ran Autoware's planning simulation using pointcloud and vector map generated from F1tenth's 2D occupancy map
  
• Demo video
• Created the F1tenth model with two new packages(modified from sample_vehicle_description and sample_vehicle_launch):
  -- f1tenth_vehicle_description
  -- f1tenth_vehicle_launch
• Tutorial on how to create a customized model
• The F1tenth vehicle packages include vehicle parameters such as vehicle dimensions and control parameters for simulation. The mirror parameter values were set to 0 since f1tenth does not come with mirrors.
• An RC car model for Rviz display was also added to replace the full-scale Lexus car model. The model was resized to the F1tenth dimension.
  
• The Rviz UI was updated to reflect the F1tenth's smaller vehicle size
  -- pointcloud size was made larger so walls are more apparent
  -- Drivable boundary was made thinner
  -- Need to remove sensor links from the original Lexus model
• There's a bug that once the car reaches the goal, it can not set a new goal pose and determine a new trajectory.

Next Steps

• Currently, everything was tested on an x86 PC, will test the planning simulation on a Jetson Orin Nano to check its performance
• Update and include Lidar sensing and localization stacks for the simulation.
• 2D Lidar simulation can be done manually (we did this on the gokart) or merge this function from the f1tenth_gym simulator
• Use f1tenth's particle_filter and the original 2D map for localization
• Update the F1tenth car model to include sensors (Lidar) and rear tower

Other topics:

• AWF Work Group overview: https://autoware.org/join-a-work-group/