Perception Containerization

[oguzkaganozt]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

Produce stand-alone perception container to further iterate containerization efforts in Open AD Kit. With this last container, the first phase of the Open AD Kit will be concluded with the following containers:

- planning-control
- perception-localization
- simulator
- visualizer

After that users would be able to deploy distinct Autoware workloads that are OTA-ready.

Purpose

• Enable users to deploy Autoware easily on different platforms with the help of pre-built containers.
• Make it easier to orchestrate whole Autoware workloads with the help of container orchestration tools
• Ensure resource optimization and enhance efficiency of the entire host system.
• Isolate runtime environments of distinct functionalities, increasing deterministic behavior of the whole system and also enhancing bug traceability.

Possible approaches

Standardization and Compatibility

• Develop standardized, cross-platform compatible container images for all Autoware components.

Orchestration

• Utilize Kubernetes for managing container lifecycle, deploying updates, and scaling workloads effectively.

Resource Management Optimization

• Integrate tools for dynamic resource allocation and optimization to enhance system efficiency and performance.

Documentation and Community Engagement

• Provide comprehensive documentation and engage with the community for feedback and continuous improvement.

Definition of done

• Compose perception container,
• Provide at least one orchestration tool for the containers
• Validate containerized deployment on multiple HW platforms ( arm, x86)
• Document new containers and compose a getting started guide for the new containerized deployment

[oguzkaganozt]

Deep investigation of reaction and end-to-end latency has been made thanks to @brkay54. Hopefully we can leverage these data along with containerization performance analysis:

• https://docs.google.com/spreadsheets/d/1vPWfAfba6vsPu4sFLXpypNAc3NqCepM11d6rKnp2u4Y/edit#gid=0

[oguzkaganozt]

Rosbags and necessary maps has provided thanks to Robeff:

• https://drive.google.com/drive/folders/1VLPVCE7xOaY7eS38y3I2EiYBQQWmbDVG