2022-08-17 Simulation Working Group Meeting

[sglee-morai]

1. Useful links

Previous Meeting Minutes

• 2022-08-03 Simulation Working Group Meeting

Issue Board

• https://github.com/orgs/autowarefoundation/projects/7/views/1

Wiki Pages & Documentation

• Bus ODD E2E Simulator Requirements (WIP)
• AWSIM Setup Page (WIP)
• MORAI SIM: Drive, July/2022 Ver. (will be merged into the Autoware document, WIP)
• MORAI SIM: Drive, June/2022 Ver. (will be merged into the Autoware document, WIP)
• Autoware Documentation
• Autoware Universe Documentation

Recording from the Previous Meetings

• https://drive.google.com/drive/folders/1IX3h2MLvs3TTncQrnvm3kCNRmbXHyp12

2. Agenda Summary

• Reviewing in-progress: link for the issue board
• Others
  • [New Topic] Sensor configuration of ITRI bus
  • [New Topic] How to make adding another simulation map easier (in a map creation perspective)

3. Discussions

Metric Calculations

• update from another topic: link
• what's needed: how to label each point (provide ground truth to the real-world data)
  • maybe another tool should be created? (Manually label each point)
  • It seems sensor_msgs/PointCloud2 can handle that.

ITRI Bus Model

• correct value from the vehicle model would be provided

NPC Control

Documentation

• AWSIM Simulator Setup Page

Design of tests for bus ODD

• Related Discussion Page

Sensor configuration of ITRI bus

• Sensor attachment (dimensions) will be provided.

  • At least the attachment (dimensions) for the previous ITRI bus model is available (Igata san has the file)
  • Front 3 Lidar: Lower Left/Right + Upper Center

• [List of sensors, copied from ITRI Bus]https://github.com/autowarefoundation/autoware-projects/wiki/Bus-ODD-Simulation-requirements#vehicle-sensors

  • 3 x Ouster LIDAR OS1-64
  • RADAR Delphi ESR (optional)
  • GNSS + IMU Trimble BX992-INS
  • Camera On Semi AR0231:
    • 1 x AC-AR0231-H30
    • 2 x AC-AR0231-H120
    • 5 x AC-AR0231-H60

How to make adding another simulation map easier (in a map creation perspective)

• Problem
  • PCD Map and Lanelet2 should have the same origin
• Suggestion
  • PCD Map -> .yaml -> GeoReference value -> reproject -> origin of lanelet2

Action Items