Autonomy Software WG meeting 2020/02/04
Attendees
- Geoffrey Biggs
- Dejan Pangercic
- Adam Dabrowski
- Brian Holt
- David Wong
- Efimia Panagiotaki
- Eric Fang
- Hadi
- Josh Whitley
- Ryohsuke Mitsudome
- Sandro Merkli
- Simon Thompson
- Tarun Belagodu
- Walbroel
Agenda
- AI2: We do need a node, but we don't need it for MS1
- AI3: There has been discussion around the frames and message formats; the discussion has been settled so now work on implementation can proceedd
- AI4: Need to know the topic coming from LGSVL and the topic name for MPC to get its current pose
- AI5: An issue has been filed
- AI6: New simulation build works with the Autoware.Auto messages, including control over velocity and steering and the joystick interface
- AI8: Tested and working.
-
Run through the tickets for Milestone 1
- MPC controller will be shifted to Milestone 2. Milestone 1 will limit scope to controlling the simulated car with a joystick and trajectory record/playback.
-
Overview of ticket preparation for Milestone 2 (due on 2019/02/21)
Other topics
- Demonstration from Dejan of work done by Apex.AI on planning and control
- Trajectory spoofer
- Implementation of the pure pursuit algorithm
- Integration with the latest version of LGSVL, including recording pose
- Identified issues have been documented in this issue
Action items
-
@smerkli-embotech to get access to the Apex.AI hackathon code from @dejanpan -
@JWhitleyAStuff to create an issue relating to action item 2 from the previous meeting -
Re AI4 from previous meeting: @dejanpan to get the topic names for LGSVL odometry output and MPC pose input from Apex.AI hackathon for @JWhitleyAStuff -
Re AI6 from previous meeting: @dejanpan to get correct instructions for using LGSVL -
Get a colourised point cloud map of the AutonomouStuff carpark from LG (Original point cloud is available here: https://discourse.ros.org/t/parking-lot-map/9052/12) @dejanpan and Hadi -
Do items 4, 6 and 7 of #174 (closed) (Hadi) -
Do item 5 of #174 (closed) @bdholt1 -
@bdholt1 and Hadi to get on a call to sort out colourised point clouds -
Add robot_localization git submodule @JWhitleyAStuff -
@gbiggs to move issues for MPC to MS2 -
@dejanpan to add context to #221 (closed) -
@JWhitleyAStuff Create initial launch files for the demo, starting with MS1
Edited by Joshua Whitley