Autonomy Software WG Meeting 2022/07/19

[BonoloAWF]

Administrative

• Previous Meeting Minutes

Attendees

Chaired by Fatih

• Alptug
• Ambroise
• Berkay
• Bonolo
• Brian
• Esteve
• Fatih
• Hyeongseok
• Harrison
• Huei-Ru
• Maxime
• Mehmet
• Mert
• Mike
• Piotr
• Ram
• Ryohsuke
• Shark
• ShuKang
• Sugwan
• Xinyu
• Yi-Ling
• YongHwan
• Zeynep
• Zulfaqar

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 high priority issues
• Bus ODD Project Board
• Bus ODD July-Aug Milestone
• Autoware.Universe reported bugs
• Autoware design discussions and demos

Discussion topics

Bus ODD progress updates:

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

• See slides in comments for details
• Module upgrade is 90% complete
• Camera is running at 22 fps
• DriveNet engine to be integrated with ITRI weights
• Map of ITRI campus and vehicle model can be loaded
• Throttle control module to be tested
• Module upgrades will be completed by the end of the month

LeoDrive bus integration update

• No updates due to public holidays
• Issues will be opened this week, data to be shared this week

Action Items

1. @raminterpl to post a comment about requirements for Runtime Manager GUI for Autoware Scope and use cases for a new "Runtime Manager" GUI for Autoware Core/Universe #2659

Review of Issues and Discussions

The following Discussions and Issues were highlighted:

• surround obstacle checker rarely dies in local environment with segmentation fault autoware.universe#1231 assigned
• Image messages have latency or dropped autoware.universe#1228 - rosbags will be shared tomorrow
• Collect training/test data for object detection for Bus ODD autoware.universe#564 - no updates
• Autoware keeps following old local path after behavior_velocity_planner is dead autoware.universe#1253 - monitoring node should check for crashed critical nodes
• Run Lidar Centerpoint with TVM autoware.universe#908 - no updates
• Investigate available open source tools for calibration. autoware.universe#677 - assigned to Ram
• Add TVM inference capability autoware.universe#628 - no updates
• Create speed_bump behavior module autoware.universe#611 - in progress, motion planner crashing occasionally
• Evaluate performance of object detection pipeline autoware.universe#565 - PR to be reviewed
• planning mode doesn't change if lane change path can't be executed in behavior path planner autoware.universe#1328 - lane change works under certain constraints
• Sometimes the sensing module doesn't publish concatenated pointcloud autoware.universe#1009 - further investigation and testing needed
• Yaw calculation is unstable in obstacle_avoidance_planner when skipping optimization. autoware.universe#966 - more investigation needed
• free space planner may collide obstacles with vehicle front autoware.universe#662 - waiting for review
• The planning simulator does not work as per the tutorial. autoware.universe#641 - closed
• Cannot get Velodyne Lidar UDP packet in docker container ( --host network mode ) by tier4 Velodyne driver autoware.universe#549 - no updates
• Map Based Prediction Incorrect Predictions autoware.universe#494 - high priority, assigned
• Proposal for Autoware Universe Teleoperation System #2742 - ongoing