Open ADKit Working Group Meeting 23/05/2024

[oguzkaganozt]

Administrative

Open AD Kit Project Board
Latest Open AD Kit Documentation - updating
Team List - WiP
Call for Participation - Step-by-step ROS Node Configuration Task

Attendees

Chaired by David Walmroth (PIX Moving) and Oğuz Öztürk (Leo Drive)

Click to expand

• Oğuz Öztürk (MC)
• David Walmroth
• Ryohsuke Mitsudome
• Samet Kütük
• Esteve Fernandez
• Bonolo
• Hiroshi Igata
• Alex Carballo

Agenda

DevOps Dojos: Build/Run - Modular Images (Oguz, @youtalk )

• The PR needs to be merged ASAP to focus on further stages of containerization -> perception, cloud simulation, webrtc etc.
• Modular containers:
  • Issue: Provide modular images for openadkit: planning, simulator, visualizer #4538
  • PR: feat(docker): provide modular images for openadkit planning simulator visualizer #4673
  • Documentation PR: docs(installation): simplify run.sh commands autoware-documentation#551
  • A CUDA bug will be resolved with this PR
  • A documentation bug will be resolved with this PR
  • Enabling caching for monolithic image build process by @youtalk -> feat(ci): enable Docker build cache to 5 times faster container build #4730
    • Any ways of increasing disk size of github runners ? -> https://docs.github.com/en/billing/managing-billing-for-github-actions/about-billing-for-github-actions
• @mitsudome-r will be assigned as a reviewer
• @samet-kutuk will bring a documentation draft for Open AD Kit v3.0 after merging the PR

Possibility of adding new code maintainers (Oguz, @mitsudome-r )

• As we are gearing towards new phase on Open AD Kit containers we need to increase our code review process
  • Adding new code maintainers or reviewers for the Autoware repo ? - @mitsudome-r
  • Adding Code review tool to help to speed up the process ?- https://github.com/marketplace/actions/ai-code-review-action

DevOps Dojos: Ros Node Configuration Updates (Kasper)

Spreadsheet for node updates
DevOps Dashboard
Call for volunteers
Step-by-step Documentation
Step-by-step Video Tutorial

• Planned deadline for this task is 1st July, we need to speed this up with active collaborators and reviewers
• We're seeking collaborators from AWF members and non-AWF member organizations: (Samet)
  • EduTech: an email thread is ongoing
  • ELM Company: had several meetings, waiting on feedback
  • CoE members: a few members proposed a handful contributors. Conversations are ongoing
  • Leads from social media: we continue to engage with invididuals who shown interest
• Reach out to Vignesh

Perception Containerization Discussion ( Kasper, Oguz, David, CJ..)

• Issue Perception Containerization #4646
• Branch https://github.com/autowarefoundation/autoware/tree/4646-perception-containerization
• Testing ORIN for perception running with x86 on PIX chassis (Mark, David)
• Assess the rosbag sent by TIER IV and feedback
• Retrieve and assess the rosbag from Robeff
• Reach out to @drwnz for feedback and initial consult

Testing modular containers with Reaction Analyzer Tool ( Oguz, @batuhanbeytekin, @brkay54 )

• Reaction analyzer can be used to measure latency tests while developing ideal containerization
• https://github.com/autowarefoundation/autoware.universe/blob/3eed12c36903a3763f0ccd73f7bdce75c0bb3622/tools/reaction_analyzer/README.md#L4

RViz Visualization by using WebRTC (Oguz, Esteve, Kasper)

• Assess the strengths and weaknesses of using Ros bridge and rvizweb
• https://github.com/RobotWebTools/webrtc_ros
• https://github.com/pgaston/teleopros2/tree/main
• https://github.com/aiortc/aiortc
• Jeremy from Amazon has shown interest in the subject with AWS Kinesis
• Reconnect with Jeremy (AWS) to help us bootstrap this

Active pursuit to find more collaborators for the Open AD Kit WG (Samet, David, Kasper, Oğuz)

• Outreach to external collaborators
  • Talking to VicOne (a member) on a use case to incorporate their IDPS (Intrusion Detection and Prevention System) with the Open AD Kit
  • Talking to EPAM Systems on the general architectures of SDV and understanding load balancing of automotive workloads in heterogeneous computing.
  • Talking to TUM on their PoC work on massive Autoware containerization
    • They are open-sourcing their study and work (performance analysis of containerized Autoware workloads)
    • They will be able to present their work soon at the Open AD Kit WG

More Strict Dependency Control for ROS Nodes (Oguz, Dogan)

• Re-working dependencies to reduce the size of the containers and for making maintenance easier
• The list of Top 25 ROS nodes that includes most <depend> tags
• A new task added to Build/Run Dojo - for refining ros nodes dependencies - More Strict Dependency Control for ROS Nodes #4599
• Last years's huge PR related -> build: remove unused <depend> in package.xml files autoware.universe#3606
• Example of the motivation

AWSIM Integration and Testing (Oguz, Mitsudome-san, Kasper)

• AWSIM seems to be working fine on new containers but thorough testing is required to validate
• Docker container for AWSIM tier4/AWSIM#7
• how to gui for unity3d in docker? mviereck/x11docker#186
• Validating new Open AD containers on the AWSIM environment
• Running AWSIM on x86 and Autoware on ARM

2024 Demo Planning and Activities

• ICRA 2024 (May 13-17): a setup with PIXKit 3.0 will be demonstrated. Storyboard is expected from @alexandrx
• AutoSens 2024 (May 21-23) Static vehicle display, potentially live sensors, PIX RoboBus platfrom.
• AutoTech Detroit (June 5-6): Challenges with AADP availability and lead times. Implications and alternatives are being discussed, updates envisioned in Friday meeting.
• (Potential) AVTE California / Aug 28-29
• (Potential) IEEE ITSC / Sep 24-27
• (Potential) IROS 2024 / Oct 14-18
• (Potential) ROSCon / Oct 21-23

Open AD Kit Hardware Availability

• ADLINK presented their autonomy HW lineup in Ref. Des. WG. BSP does not yet support Yocto(?).
• AADP: Allocating all available units around the world
• 7Starlake: we heard that some eval units can be made available for testing
• Reach out to Joe Speed for 7starlake eval units (BSP/Yocto question pending).

[oguzkaganozt]

• @idorobotics will review ROS Node configuration spreadsheet and then we can re-assign some of the nodes

[idorobotics]

Please see my comments in RED.

[samet-kutuk]

Tobias from TUM will join us next week to give a presentation about their work on fine-grained Autoware containerization.
If you want to prepare yourself on the topic, please refer to their dissertation: https://arxiv.org/abs/2404.12683

Also, potentially the source code might be made available to ones that are interested in taking a look.

Let me or @oguzkaganozt know, thanks!