Josh: Does the Velodyne driver support multiple physical Velodynes?
Chris: You need to run an extra driver node for each physical Velodyne, and a fusion node to make a fused point cloud.
Missing nodes (about half the stack):
Josh: AS is doing the vehicle interface using its closed-source SSC, which supports many vehicles but not the full range supported by Autoware.AI.
We will need to keep the interface generic and make an SSC-specific wrapper for that.
There is a lot of variation in what people want to support via their vehicle interface (e.g. SSC wants a target velocity, acceleration and curvature; there are at least two organisations interested in tank tread style), so we will need to trim down the target use cases initially.
The current controllers in Autoware.Auto (pure pursuit and MPC) output longitudinal acceleration and wheel angle.
For the AVP demo, focus on the needs of the hardware we have now, and then expand/abstract the interface in the future so we can have swappable vehicle models (both for controller and for hardware interface).
Josh: The box marked "planner" seems like it holds a lot of stuff - world model, obstacles, semantic representation of lanes, etc. So it might be incredibly complex and we should consider breaking it down.
Chris: Are there any existing functional safety requirements that we can use?
Geoff: Nothing is available currently. Operationally, Apex.AI has existing plans that will be used.