Open ADKit Working Group Meeting 09/05/2024

[oguzkaganozt]

Administrative

Open AD Kit Project Board
Latest Open AD Kit Documentation - updating
Team List - WiP
Call for Participation - Step-by-step ROS Node Configuration Task

Attendees

Chaired by David Walmroth (PIX Moving) and Oğuz Öztürk (Leo Drive)

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• Oğuz Öztürk (MC)
• David Walmroth
• Ryohsuke Mitsudome
• Samet Kütük
• Esteve Fernandez
• Bonolo
• Hiroshi Igata
• Alex Carballo

Agenda

DevOps Dojos: Build/Run - Modular Images (Oguz)

• Impressions on new containers/suggestions.
• Modular containers:
  • Issue: Provide modular images for openadkit: planning, simulator, visualizer #4538
  • PR is now live: feat(docker): provide modular images for openadkit planning simulator visualizer #4629
  • Branch: https://github.com/autowarefoundation/autoware/tree/4538-provide-modular-images-for-openadkit-planning-simulator-visualizer
  • A documentation bug has reported - https://github.com/orgs/autowarefoundation/discussions/4695
  • A new discussion from @youtalk about containerization - https://github.com/orgs/autowarefoundation/discussions/4661
• @mitsudome-r and @xmfcx will be assigned as reviewers
• @samet-kutuk will bring a documentation draft for Open AD Kit v3.0 on next week

DevOps Dojos: Ros Node Configuration Updates (Kasper)

Spreadsheet for node updates
DevOps Dashboard
Call for volunteers
Step-by-step Documentation
Step-by-step Video Tutorial

• Great increase (approx. 15) in nodes assigned from efforts of William He and UDel as well as Alex Carballo and Gifu U.
• Campaigning for additional ROS node update support and and consideration of a bounty/reward program may be scaled back due to an envisioned path to completion with existing resources. (Oz).
• We're seeking collaborators from AWF members and non-AWF member organizations: (Samet)
  • EduTech: an email thread is ongoing
  • ELM Company: had several meetings, waiting on feedback
  • CoE members: a few members proposed a handful contributors. Conversations are ongoing
  • Leads from social media: we continue to engage with invididuals who shown interest
• Reach out to Vignesh
• Reach out to Rahul (CoE) for his reposting
• Reach out to the F1Tenth organization through Slack
• Do a repost of Call for Participation on announcement

Perception Containerization Discussion ( Kasper, Oguz, David, CJ..)

• Issue Perception Containerization #4646
• Branch https://github.com/autowarefoundation/autoware/tree/4646-perception-containerization
• Testing ORIN for perception running with x86 on PIX chassis (Mark, David)
• Assess the rosbag sent by TIER IV and feedback
• Retrieve and assess the rosbag from Robeff
• Reach out to @drwnz for feedback and initial consult

RViz Visualization by using WebRTC (Oguz, Esteve, Kasper)

• Assess the strengths and weaknesses of using Ros bridge and rvizweb
• https://github.com/aiortc/aiortc
• Jeremy from Amazon has shown interest in the subject with AWS Kinesis
• Reconnect with Jeremy (AWS) to help us bootstrap this

Active pursuit to find more collaborators for the Open AD Kit WG (Samet, Oğuz, Kasper, David)

• Outreach to external collaborators
  • Talking to VicOne (a member) on a use case to incorporate their IDPS (Intrusion Detection and Prevention System) with the Open AD Kit
  • Talking to EPAM Systems on the general architectures of SDV and understanding load balancing of automotive workloads in heterogeneous computing.
  • Talking to TUM on their PoC work on massive Autoware containerization
    • They are open-sourcing their study and work (performance analysis of containerized Autoware workloads)
    • They will be able to present their work soon at the Open AD Kit WG

More Strict Dependency Control for ROS Nodes (Oguz, Dogan)

• Re-working dependencies to reduce the size of the containers and for making maintenance easier
• The list of Top 25 ROS nodes that includes most <depend> tags
• A new task added to Build/Run Dojo - for refining ros nodes dependencies - More Strict Dependency Control for ROS Nodes #4599
  • Discussions on making this the next DevOps Dojo
• Example of the motivation

AWSIM Integration and Testing (Oguz, Mitsudome-san, Kasper)

• Docker container for AWSIM tier4/AWSIM#7
• how to gui for unity3d in docker? mviereck/x11docker#186
• Validating new Open AD containers on the AWSIM environment
• Running AWSIM on x86 and Autoware on ARM

2024 Demo Planning and Activities

• ICRA 2024 (May 13-17): a setup with PIXKit 3.0 will be demonstrated. Storyboard is expected from @alexandrx
• AutoSens 2024 (May 21-23) Static vehicle display, potentially live sensors, PIX RoboBus platfrom.
• AutoTech Detroit (June 5-6): Challenges with AADP availability and lead times. Implications and alternatives are being discussed, updates envisioned in Friday meeting.
• (Potential) AVTE California / Aug 28-29
• (Potential) IEEE ITSC / Sep 24-27
• (Potential) IROS 2024 / Oct 14-18
• (Potential) ROSCon / Oct 21-23

Open AD Kit Hardware Availability

• ADLINK presented their autonomy HW lineup in Ref. Des. WG. BSP does not yet support Yocto(?).
• AADP: Allocating all available units around the world
• 7Starlake: we heard that some eval units can be made available for testing
• Reach out to Joe Speed for 7starlake eval units (BSP/Yocto question pending).

[oguzkaganozt]

• ping @ambroise-arm, @drwnz about to perception workloads

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• Create WebRTC issue

[oguzkaganozt]

• Issue from autoware.universe - Planned trajectory is not aligned with the vehicle's heading when the car is initialized at the intersection. autoware.universe#6443