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## Attendees
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- Esteve Fernandez (The Autoware Foundation)
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- Brian Holt (Parkopedia)
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- Sandro Merkli (Embotech)
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- Ryohsuke Mitsudome (Tier IV)
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- Stefan Schuermans (Silexica)
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- Dejan Pangercic (Apex.AI)
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- Liyou Zhou (Arm)
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- Dmitry Zelenkovsky (LGE)
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- Josh Whitley (AutonomouStuff)
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- Sanjay Krishnan (Apex.AI)
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- Tobias Augspurger (Streetscooter)
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- Riko Brandes (Streetscooter)
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**Minutes** Esteve Fernandez
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## Agenda:
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- 100% Understand the interfaces and the algorithms behind the architecture that Chris proposed last week
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- Architecture drawing 4)
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- Write down work packages (= Gitlab issues) that each party should do
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- Understand how to write ROS 2 nodes (example ROS 2 node 3)
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- Understand how to write ROS 2 launch files (example ROS 2 launch file)
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- Understand how to write unit and launch_testing tests (example launch test)
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- Make sure everyone is comfortable with ade and the forking/branching model (documentation on installation and development setup 1)
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## Discussion
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- Additional agenda item (Brian Holt): Safety cases from the recent publications in https://avp-project.uk/ can be used as a reference for what we need.
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## The following diagram (link to PDF)
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# MS1:
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- MotionPlanner2 (Sandro)
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- Localization (from simulation, publish ground truth) (Dmitry)
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- mpc_controller (already exists, Esteve)
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- vehicle_interface (joystick driver https://github.com/ros2/joystick_drivers, it can talk with LGSVL, Apex.AI open sources it) (Esteve)
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- Simulation (acc is binary, we need some vehicle dynamic in the simulator) (Dmitry)
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- Simulator docker container (Dmitry)
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- Waypoint paths (Brian Holt)
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- Node to translate from ENU to GPS (?)
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- Produce a transform between map origin and vehicle location in ENU coordination (Dmitry)
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- Port robot_pose_ekf from ROS 1 to ROS 2 for the vehicle_state_estimator (Josh)
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# MS2: follow waypoints with the ndt_localizer
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- ndt_localizer (Esteve)
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- lidar_detector (Esteve)
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- Extend MotionPlanner2 to take bounding boxes from the lidar_detector (Sandro)
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- map_publisher (Brian Holt)
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# MS3: integration of MS2 on the actual vehicle and replace trajectory record/replayer with a motion planner
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- ssc controller (Josh)
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- Car ready to go: pacmod updates from AS, sensors, ECU, etc. (Esteve)
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- Parking motion planner (Sandro)
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- Mock traffic management system via rviz2 plugin for pose clicking (Esteve)
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# MS4: test on the vehicle with the real motion planner and integrate HD map
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- hd_map_producer (Brian Holt)
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- Parking motion planner to take in contstraints from the HD map (Sandro)
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- import HD map from parkopedia into LGSVL sim (Dmitry) =>
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- https://avp-project.uk/downloads
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- Embotech to give Parkopedia tips on how they expect "/lanes" message to look today (Sandro)
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- https://avp-project.uk/path-planning-using-the-osm-xml-map => Embotech to try out this
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- Demo designate three dropoff points then three summon points, one parking spot and hardcode them in the map.
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# MS5: integration on the vehicle and physical parking lot
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- Simple state tracker to keep the track of the states - is the car in the drop-off point, parking spot, summon spot. (Brian Holt)
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- Behaviour Planner: start with the designated drop-off point, summon point and parking spot. (?)
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- Once that works expand on the number of parking spots (Ryosuke)
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- Embotech would need a geometric information as an output
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Architecture diagram including milestones is here in PDF and PNG: Apex.AI, Geoff and Esteve can access here.
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# TODOs:
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- Explain the LifeCyleNode states better
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- Look for examples of a LifecycleNode transitioning to the active state based on required topics in callbacks
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- Error management on the node level
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- Josh had problems with the Composable Nodes and LifeCycle nodes
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- Check why composable nodes and lifecycle nodes can’t be instantiated via ROS 2 Launch
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- https://avp-project.uk/publication-of-safety-documents
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- Remove Atom from the Autoware documentation
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- External contributions should be as ROS packages (ROS build arm)
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- In general implement code in Autoware.Auto, then spun it off => document it
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- Chris has used acado, Sandro asks about casadi
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- Esteve : uses wrapper package ament_acado => this can be submitted to the build farm
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- To document this
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- Map box:
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- Split map into HD map and PCD map.
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- PCD map to be published
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- HD map => to be figured out, Lanelet2 is being improved
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- agree on the coordinate transform part
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- hd_map_publisher is currently publishing a binary blob which is then converted back on the Behavior Planner side. How do you convert (memcpy, serialize byte by byte, => there is a written class in LAnelet2 (uses boost serialization).
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- lanelet2_extension => adds modules that are not in the original Lanelet2 repo, also a traffic light class, |
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