Autonomy Software WG Meeting 2022/06/14

[BonoloAWF]

Administrative

• Previous Meeting Minutes

Attendees

Chaired by Fatih

• Armagan
• Ahmet
• Ambroise
• Berkay K
• Beyza
• Bonolo
• David
• Esteve
• Fatih
• Hatem
• JianKang
• Goktug
• Kaan
• Luca
• Mark
• Mehmet
• Piotr
• Rama
• Ryohsuke
• Sugwan
• Xinyu
• Zeynep

Common Resources

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

Announcements

Autoware.Universe

• Bus ODD issues
• Autoware.Universe reported bugs
• Autoware design discussions and demos

Discussion topics

Open AD Kit

• The Open AD Kit WG is looking for developers familiar with Docker to work on Update Contact of documents #353

Action Items

1. @MertClk to provide updates with vehicle integration
2. @mitsudome-r to create a calibration documentation page Implement any missing calibration tools autoware.universe#679

• Started the PR:
  • docs(how-to-guides): add instructions for sensor calibration autoware-documentation#145

4. @mitsudome-r to review fix(gnss_poser): add local cartesian option for origin value autoware.universe#725 -> merged thanks to Fatih

Review of Issues and Discussions

The following Discussions and Issues were highlighted:

[xmfcx]

Meeting Minutes:

• Merging of the autoware ai into autowarefoundation organizations has started.
• Weekly planner evaluation CI module has been integrated and started running.
  • https://us02st1.zoom.us/web_client/3jktxx3/html/externalLinkPage.html?ref=https://evaluation.tier4.jp/evaluation/reports?project_id=awf
  • You might need access on this, @mitsudome-r will share a discussion thread for this.
  • https://github.com/orgs/autowarefoundation/discussions/411

Mert shared the bus project updates

• Timeline:
  • 
• Vehicle setup:
  • 
• Test campus:
  • 
• Project goals:
  • 
• Project status:
  • 

Discussed issues/PRs:

• Modified correct timestamp #374
• Show UVC camera ID #313
• Runtime Manager, add kill_children flag to RViz cmd for remote termin… #416
• Add model data for simulation #410
• Error in obstacle avoidance direction when using extended lane to avoid obstacles autoware.universe#1076
• Sometimes the sensing module doesn't publish concatenated pointcloud autoware.universe#1009
• Vehicle stops ~1m further away than goal point or stop line autoware.universe#993
• motion_velocity_smoother and behavior_velocity_planner should use the same smoother algorithm autoware.universe#987
• Can't stop before blocking obstacle in parking autoware.universe#980
• Yaw calculation is unstable in obstacle_avoidance_planner when skipping optimization. autoware.universe#966
• Unreasonable freespace planning area in parking scenario autoware.universe#947
• fix: is_in_parking_lot check method autoware.universe#992
• A bug in scenario_simulator in the presence of multiple parking lots autoware.universe#861
• feat(avoidance_module): cancel avoidance when target dissapear autoware.universe#727
  • https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/behavior_path_planner_avoidance-design/
• Ground segmentation fails for points behind the low objects autoware.universe#669
  • @piotr-zyskowski-rai is working on this, once the evaluation node is completed, he will start working on the issue.

[MertClk]

Hi Phillip, we will forward our bag files to @xmfcx to make them online. I'll ping you, when they are available.

[phkarle]

Great. Thank you.

[phkarle]

Hey Mert, Have you already uploaded the bags? Thanks in advance

[MertClk]

Hello Phillip, we were out of the office last week. Hence, we couldn't upload them yet. We are planning to share them this week.

[phkarle]

Hey Mert, Any updates?

[BonoloAWF]

• Goal pose is not aligned to the map autoware.universe#711 - visualisation fix required, assigned to Xinyu
• Yaw calculation is unstable in obstacle_avoidance_planner when skipping optimization. autoware.universe#966 - assigned to Karmen