Autonomy Software WG Meeting 2022/08/16

[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
• Autoware contributors list

Announcements

• Zhijie (George) joined the Autoware Foundation as a software developer based at the Autoware Centre of Excellence (USA)
• Haoru is leaving Autoware Foundation at the end of this month

Autoware.Universe

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

Discussion topics

Bus ODD feature set

The scope of the bus ODD feature set has been finalised. Meeting minutes are available here: autowarefoundation/autoware.universe#1468

Everyone to please review this issue regarding the upcoming demonstrations.

Improving NDT Localiser performance on AArch64

An update on the testing procedure has been provided https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/issues/1479

Bus ODD progress updates:

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

• See presentation slides in the comments for details
• In lab integration is on track for completion by the end of August
• The lidar perception IPC was upgraded to Ubuntu 20.04 but there are CPU overload issues. The pointcloud is sometimes freezing during visualization. Possible solutions include adjusting the decay time for pointcloud msg in rviz, using a longer rosbag or real-time data, clicking the reset button in rviz, or unchecking the pointcloud topic to clear the data then rechecking it again.
• Velocity planner was modified to incorporate a scene register checker
• Behaviour planner is crashing when encountering a specific stop line - see Behavior Planner Crash when encounter more than one STOP Line #2791

LeoDrive bus integration update

• See presentation slides in the comments for details
• Localisation problem with EKF shift in time was solved by creating a 3D vehicle model and geo-referencing the pointcloud map. The base_link orientation was corrected which improved the results.
• PR to publish visualisation of vehicle polygon is ready for review: feat(surround_obstacle_checker): add vehicle footprint with offset autoware.universe#1577
• Bus doors can be controlled automatically
• During testing it was observed that the planner showed a route that was off-road and offset from the lanes in the map - this issue will be investigated further.

Action Items

• @HaoruXue to set up meetings with Zhijie (George) and @mitsudome-r to handover his tasks

Review of Issues and Discussions

The following Discussions and Issues were highlighted:

• Image messages have latency or dropped autoware.universe#1228 - Fatih to share rosbag files
• Run Lidar Centerpoint with TVM autoware.universe#908 - in progress
• Add TVM inference capability autoware.universe#628 - PR waiting for review
• Evaluate control modules in Universe autoware.universe#567 - findings will be shared in the next meeting
• Finalize the field type for pointcloud autoware.universe#563 - ongoing
• Implement sensor drivers for ROS 2 autoware.universe#551 - radar and GNSS drivers outstanding
• Positioning error in wrong zone when NDT starts autoware.universe#1421 - fix by publishing initial pose multiple times
• Help needed in matching a PCD map created within a simulator with a Lanelet2 data created in real-world autoware.universe#1496 - suggestions were provided
• Bus ODD specific features autoware.universe#1468 - update on bus ODD feature scope
• Feature: Vehicle Interface autoware.universe#1451 - no update
• Speed profile in incorrect in slopes autoware.universe#1420 - closed
• ray_ground_filter can not remove ground points autoware.universe#1384 - Fatih will look into this
• planning mode doesn't change if lane change path can't be executed in behavior path planner autoware.universe#1328 - map updates required
• Map Based Prediction Incorrect Predictions autoware.universe#494 - ongoing
• bug scenario_test_runner speed limit doesn't work autoware.universe#1524 - closed
• StepPolygon of obstacle_stop_planner is instable when changing the params of avoidance_module autoware.universe#1499 - not started
• feat(behavior_velocity_planner): add speed bump module autoware.universe#647 - changes from review are underway

[MertClk]

Leo Drive Bus Project Update: Presentation

Vehicle Footprint PR: #1577

[hueirutseng]

ITRI Bus Update: Presentation

Issue Report: Behavior Planner Crash when encounter more than one STOP Line
https://github.com/orgs/autowarefoundation/discussions/2791

[xmfcx]

@brkay54 to share control evaluation findings next week: autowarefoundation/autoware.universe#567