Open AD Kit WG Meeting 2022/07/07

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Administrative

• Previous meeting minutes
• Open AD Kit project board
• Open AD Kit 2.0 schedule

Attendees

Chaired by Lalith

• Armağan (Leodrive)
• CJ (AWF)
• Daisuke Hashimoto (T4)
• David W (A3VG)
• Eiji Sekiya (T4)
• Fatih (AWF)
• Fumihito Ito (T4)
• Kei Kato (T4)
• Lalith Vipulananthan (T4)
• Naoyori Tanzawa (T4)
• Ryohsuke Mitsudome (T4)
• Stephen Li (Autocore)
• Tsigigenet Dessalgn (Marvell)
• Yoshi Takashima (T4)

Agenda

• Introduction of new members
• Announcements
• Review of backlog actions
• Discussion topics
  • Data Collection (GDPR)
  • Sharing the supported hardware list
  • AOB

Introduction of new attendees/members

• N/A

Announcements

• Foxglove proposal was not made during this week's SPC meeting
  • Idea is an alliance with Foxglove Studio (design discussion here)
  • CJ and Armağan to discuss offline
  • Lalith to ask for feedback on the discussion in Discord, and also ask if any developers have JavaScript or TypeScript experience and would be interested in contributing in some way.

Review of backlog actions / open issues / schedule

• Integrate Autoware Universe with Open AD Kit and review the results
  • Verify that Autoware Universe can be run with Open AD Kit 1.0 autoware-projects#32
  • T4 is having trouble loading the Lanelet2 map on AVA, but works fine on Ubuntu, so plan to test a native ARM build next
  • Autocore's testing is progressing, but will need another week
  • Stephen to confirm whether Autocore is using pre-built Docker images or building from source
• Document Autoware Universe ROS nodes
  • https://github.com/autowarefoundation/autoware.universe/issues/827
  • Autoware documentation link
  • Issue closed!
• Create an autoware.org meeting invitation group for the Open AD Kit WG and add it to each meeting as an invitee
  • New group created: https://groups.google.com/a/autoware.org/g/open-ad-kit-working-group-meeting-invitations/
  • Invitation group is not quite configured correctly -> need to ask the AWF admin to take a look
• Create separate containers for testing Open AD Kit #2454
  • Faith is currently working on two areas in parallel
    • Using Miyake-san's visualisation tool to analyze launch files and their dependent nodes
      • This isn't working, possibly due to an incorrect Python or ROS version so working with Miyake-san to resolve
    • Using the existing Docker script to build containers
      • Docker script isn't actually used to build the Docker images stored on GitHub, but should work, except it's not working for Fatih
      • Plan is to separate the image into more layers (a multi-stage build) to see where the build is failing and reduce time spent debugging
• Schedule review
  • Although we will need a robust way of building a multi-container Autoware, multi-stage builds and orchestration of containers are looking very unlikely given the timelines we are working towards, so these have been placed out of scope at this time
  • OTA (eSync)
    • T4 have got this running on a Raspberry Pi but need to talk to Excelfore about how to run eSync on AVA
  • Use cases with ConOps/OpsCons
    • Hashimoto-san is updating this and will present in next week's WG meeting

Discussion topics

Data Collection (GDPR)

• Creating our own datasets
  • We need to be compliant with GDPR (General Data Protection Regulation), so that we can record and store camera data. GDPR is an EU regulation but similar regulations apply in other countries.
  • For example, if ITRI were to share data with other AWF partners, they could be in breach of such regulations unless the AWF has a formal compliance process set up.
  • We also need to anonymise the (visual) data that we collect
• Leodrive has wanted an anonymising pipeline for a long time and found a paid for product ArcGIS License Plate Blurring, but that pipeline is based on an open-source model Anonymizer model by understand.ai which Leodrive is now testing and results will be presented to the software working group.
  • Using this tool to anonymize data, Leodrive can share Izuzu camera image data
• Fatih has looked at the repository
  • It uses TensorFlow image detection and applies a Gaussian blur filter, comes with a pretrained network)
  • He also looked at other maintained OSS libraries but couldn't find anything
  • AWF could do a mini-project to add this to Autoware since we already have a detection pipeline
  • License is Apache 2.0, so could fork the project and adapt it to take rosbag files as input
• GDPR needs to be discussed with SPC and the board
  • We need to get ahead of this - ignorance is not a defense
  • This is the first step to having Autoware data sets that can be publicly shared
  • Who can CJ work with to write up what we are planning to do for data collection, and what we need to achieve this plan?
  • CJ will work with Armağan to bring this to the SPC and AWF board

Sharing the supported hardware list

• This should be added to the public-facing Autoware documentation, but where should it go?
  • Main Autoware documentation (under a new section)?
  • Open AD Kit documentation?
• Fatih thinks that this should go in the main Autoware documentation. Mitsudome-san requested some time to consider where this information should go.
• Lalith to create a discussion about where the supported hardware list should go to get feedback from the community

AOB

• Yoshi asked about demo plan related tasks in the schedule - are all the tasks in the schedule everything that needs to be done to be ready for the demo or are there any other tasks that need to be considered?
  • Other tasks need to be considered
  • Two basic plans for the demo exist based on what Fatih is able to achieve with his multi-container testing, but there is no detailed plan, nor a description of how the actual demo would be run (eg: how many computers, how many displays, which computers, pre-recorded rosbag data, script etc etc)
• As a starting point, CJ and Samet will write up a more detailed plan for the MIH demo

Actions

• CJ and Armağan to discuss the Foxglove alliance proposal offline
• Lalith to ask for feedback on the Foxglove Studio discussion in Discord, and to ask if there are any developers with JavaScript or TypeScript experience https://discord.com/channels/953808765935816715/953808766657241121/994430748713033779
• Stephen to confirm whether Autocore is using pre-built Docker images or building from source to test Open AD Kit 1.0 with Universe
• CJ to work with Armağan to bring the topic of GDPR compliance to the SPC and AWF board
• Lalith to create a discussion about where the supported hardware list should go to get feedback from the community https://github.com/orgs/autowarefoundation/discussions/2710
• CJ and Samet to write up a more detailed plan for the MIH demo