Software WG Meeting 2023/12/12

[xmfcx]

Administrative

• Previous Meeting Minutes

Common Resources

• Github Discussions
• Autoware Roadmap 2023
• Autoware contributors list

Attendees

Chaired by Fatih

• Bonolo M
• Ryohsuke Mitsudome

Discussions

Announcements

Autobot - Autoware Discord technical support bot introduction

• https://discord.com/channels/953808765935816715/1183727934188564520/1183727934188564520

Updates from developers

Switch to the obstacle_cruise_planner

• https://github.com/orgs/autowarefoundation/discussions/3964

• Discuss about what prevents us from transitioning to the new planner.

• cc. @miursh @drwnz @kaancolak @TakaHoribe @takayuki5168 @mehmetdogru

• Perception has a lot of delay, depending on sensors, from end of concat to obstacles, it might take up to 300ms.

• Localization shouldn't have effect.

• Why not add tree as a class for an obstacle types?

  • We could have tree, lamp post classes
  • These objects would be assumed static, we would exclude them from prediction.

• Right now, map points are being used to filter out obstacles in some production vehicles.

• Maybe we can use https://github.com/autowarefoundation/autoware.universe/tree/main/control/autonomous_emergency_braking#readme along with obstacle cruise planner as usual.

  • This node will do over-braking for >15km/h velocities.

Actions:

• Switch to the obstacle_cruise_planner and use autonomous_emergency_braking.
• Set the max velocity of the vehicle to 15km/h (Let this be configured in a launch file clearly)
• Align on the data output types from the perception
• Improve the perception
  • AWSIM
    • Create a new environment
    • Test iteratively by improving
  • Rosbag Replay Simulator
    • New data is uploaded, perception is tuned

Distribution of new tasks

Action items

• Developers to add their discussion items to the agenda for the next meeting
• Developers to share updates on their works in the next meeting

[takayuki5168]

@xmfcx
Let me check the actions.
After enabling AEB and setting the maximum velocity to 15km/h with a clear configuration, is it okay to switch to obstacle_cruise_planner?

[xmfcx]

@takayuki5168 -san, thanks for all these updates.

After enabling AEB and setting the maximum velocity to 15km/h with a clear configuration, is it okay to switch to obstacle_cruise_planner?

For me, it's ok to switch with those conditions.

And for all those PRs, could you create an issue in https://github.com/autowarefoundation/autoware/issues so they are all linked correctly and tracked properly?

All PRs should contain 2 lines in the following format:

Part of:
- issue_link

[takayuki5168]

@xmfcx
I did it except for the document PR. I hope I made the correct change.

[xmfcx]

Thank you so much.

I've renamed the issue to encompass the cruise planner switch.

We need a main issue to track this, It's not good to link discussion posts, better to track under issues.
Discussion links are not automatically backlinked and their hyperlink texts are not updated.

Parent Issue:

• Switch to obstacle cruise planner and enable AEB (autonomous emergency braking) #4520

And everything should be tracked there.

[xmfcx]

Discussion -> Issue -> PR ✅
Discussion -> PR 😔

[takayuki5168]

I got your point. Thank you so much!
Finally, the obstacle_cruise_planner becomes default.