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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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## The following diagram
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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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- 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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# Action items not tied to a specific milestone:
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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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- Document how dependencies are managed with the help of the ROS buildfarm
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- Describe upstream first approach: develop code in Autoware.Auto and then spun it off as much as possible
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# Pending issues
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- Flesh out LifeCycleNodes guidelines with examples
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- Figure out why Composable nodes and LifeCycle nodes can't be instantiated via ROS 2 Launch
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- Agree on the coordinate transform part
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- hd_map_publisher performance. Serialization is binary and neds to be converted back on the Behavior Planner side
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- Split map into HD map and PCD map
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- PCD map is published
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- HD map used as a library via Lanelet2. Extend Lanelet2 library with additional features
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- Integrate safety documents https://avp-project.uk/publication-of-safety-documents
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- Design error management on the node level |
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