Autonomy Software WG Meeting 2022/12/06

[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

Attendees

Chaired by Ryohsuke

• Armagan
• Berkay
• Beyza
• Bonolo
• Brian
• CY
• Esteve
• Fatih
• Huei-Ru
• Jian Kaan
• Lucas
• Maxime
• Mehmet
• Narendar
• Piotr
• Rama
• Ryohsuke
• ShuKang
• Xinyu
• Zeynep

Announcements

• Autoware to Transition finished
  • Timeline for ROS Humble Transition #2622 (comment)
  • CI is now only running on Humble
  • Humble Docker image is available with documentation
  • A legacy Galactic branch, with a fixed commit hash, is also available
  • The main branch will not be synced with Galactic. Latest features will be implemented in Humble.

Autoware.Universe

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

Bus ODD progress updates

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

• see comments for slides
• planning module is now running on the vehicle
• lateral control error occurs as a result of network problems
• longitudinal control test passed
• on-vehicle dynamic testing (cruise control, lane keeping control, AEB, docking) scheduled to run until 11 Dec

Ryohsuke - are you confident the rest of stack (control, vehicle module etc.) are ready once planning is fixed? Could there be other unknown bugs? Have you tested control on the real vehicle? Brian - only longitudinal control was tested, lateral control still has problems.

LeoDrive bus integration update

• see related issues in comments

Discussions

Autoware Inteface Design (Ryohsuke)

• First version of Autoware external interface (AD API) has been merged
  • Interface Design (AD API) #2464
• We are planning to give presentation on how each API has changed
  • Routing API (send route/goal to Autoware)
  • Motion API (monitor/control Autoware's motion)
  • Operation Mode API (switching manual/autonomous mode)
  • Localization API (initializing Autoware's localization)

Behaviour Planner (Design Discussions)

• https://github.com/orgs/autowarefoundation/discussions/3097
• restructuring of behaviour path planner - this will be presented in a later meeting
• everyone to please review

Demos

AutoCore updates on their recent activities (Lucas)

• see comments for slides
• PRs and Issues in progress include Open AD Kit 2.0 Jetson Xavier setup and documentation, planning and localisation related issues,
  reducing docker size etc.
• Autoware documentation may not be the right place to explain general ROS concepts
• NDT matching sometimes crashes due to lack of features in the environment. Using a de-grounded point cloud for NDT matching gives a more reasonable match score autoware.universe#2044 proposes a new method to obtain feature score such that the localisation loss can be detected earlier.
• future plans includes recording 60km/h driving data to evaluate localisation algorithm

Ryohsuke - could you share the rosbag data with AWF to allow results to be reproduced? Lucas - I need to check with legal team about sharing data. Ryohsuke - have you joined Mapping WG? Lucas - I joined some meetings. Ryohsuke - Mapping WG is doing evaluation on localisation. You should present the proposal at Mapping WG to get feedback on evaluation criteria. Lucas - I will also post on Discord.

Action Items

None

Review of Issues and Discussions

The following Discussions and Issues were highlighted:

• See comments below

[mitsudome-r]

November-December Milestones:

• behavior_path_planner generating invalid path orientation autoware.universe#2125
  • waiting for @beyzanurkaya + @mehmetdogru's update
• planning sometimes fails when using RRT* for parking autoware.universe#2099
  • PR ready for review
• Trajectory planning for long vehicles not working properly autoware.universe#2182
  • @maxime-clem created PR
  • Waiting for LeoDrive/Robotec’s test
• fix(detection_area): add color debug markers autoware.universe#2401
  • review comments made and waiting for @sujithvemi comment
• Vehicle starts move before the steering angle converged autoware.universe#1543
  • Discussion on-going between @brkay54 and @kosuke55
• behavior_path_planner generated path outside of drivable area autoware.universe#1761
  • PR is reviewed. Just needs final check by @takayuki5168
• add configurable lateral_distance for different target objects autoware.universe#2222
  • check @beyzanurkaya for latest status
• Checking only 4 corners in the drivable area autoware.universe#1716
  • PR seems to be almost ready for merging
  • ask @maxime-clem what’s remaining
• Finalize the field type for pointcloud autoware.universe#563
  • ask @xmfcx for the latest status
• Create speed_bump behavior module autoware.universe#611
  • Review on-going by TIER IV
  • We might want to discuss about this comment feat(behavior_velocity_planner): add speed bump module autoware.universe#647 (comment)
• Using a de-grounded point cloud for NDT matching gives a more reasonable match score autoware.universe#2044
  • PR is on-going
  • ask @cyn-liu for current status
• Update deprecated TensorRT 8.5 codes for ROS2 humble autoware.universe#2330
  • waiting for TensorRT to be released
• Vehicle stops in front of non-existing obstacle on the path autoware.universe#2213
  • PR is being reviewed by @maxime-clem
• Refactor mission planning to support when is goal behind start on the same lane autoware.universe#2354
  • @VRichardJP created PR
  • We may want to split into mission_planner and behavior_path_planner

[hueirutseng]

ITRI Autonomous Bus Status Update Slides

[liuXinGangChina]

AutoCore.ai Status Update
AWF ASWG - slide.pdf