2022-05-24 ODD working group weekly meeting (94)

[Igata-ctrl]

Attendee

• Brett Aldrich (RobosoftAI)
• Pablo Iñigo Blasco (RobosoftAI)
• Frederick (Arm)
• Predrag D. (Arm)
• Stephan Li (Autocore)
• Huei-Ru Tseng (ITRI)
• Sugwan Lee (MORAI Inc.)
• Mert Çolak (Leo Drive)
• Alexander Carballo (Nagoya University)
• David Walmroth (Ann Arbor Autonomous Vehicle Group)
• @mitsudome-r Ryohsuke Mitsudome (TIER IV)
• @Igata-ctrl Hiroshi IGATA (TIER IV)

Agenda/Minutes

• ITRI kindly provided the vehicle 3D CAD data of their AD bus experiment vehicle for simulation model building, as well as the higher resolution point cloud map data of ITRI campus for creating 3D simulation environment.

• The CI/CD pipeline requires additional modification to work with the Autoware in the latest architecture. Hopefully, we'll be seeing the initial simulation result by next week.

• Mehmet (Leo Drive) kindly tested the scenarios with Autoware on the local environment and identified issues.

• Discussion

  • Even if the stop lines are not defined on the LL2 map, Autoware is supposed to set the virtual stop line to maintain safety at the intersections. (In the NPC/preview/theorization mode, EGO may not stop in some cases if the stop line is not defined.)

• Scenario Editor User Guide (for use within CI/CD pipeline) has been stored in ODD WG Google Drive. )[updated]

• Scenario creation status as of May 24th.

  • [Completed] Mert, Sugwan, Hiroshi, Huei-Ru, Ryohsuke, (Mert for David)
  • [Expected to complete this week] Alex

• The use case list which was assigned to the members is here.

• Please upload the scenarios you created to the Gitlab repository by issuing the merge requests.

Note: The files and folders in the ODD WG Google drive have been (re)organized. If you lost your access to your files, please let @Igata-ctrl know.

Action Items

• The CI/CD pipeline has become available for use with Autoware universe. @Igata-ctrl will import the scenarios collected on the Gitlab repository into the scenario storage of the CI/CD pipeline.

• Q&As in AWF Discord ODD WG channel are also encouraged.

• [Updated] The ODD WG members are encouraged to set up the necessary environment by following the steps below.

  • [Step1] Setting up Scenario testing framework
    • (Caveat) The docker mode for the Scenario Testing Framework is currently unavailable.
    • (New) Please note that the "colcon build" option in the tutorial/build instruction has been updated.
    • (New) Now ROS2/Galactic is supported by the Scenario Testing Framework, so you can proceed with ROS2/Galactic in the tutorial/build instruction above.
  • [Step2] Setting up CycloneDDS
    1. Change the DDS from FastRTPS (ROS2 default) to Cyclone DDS (for Autoware)
    • Add the following line to ~/.bashrc
      export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
    • Install
      sudo apt install ros-galactic-rmw-cyclonedds-cpp
    1. The setting of CycloneDDS to do multicast on localhost
    • Create the following file
      /opt/autoware/cyclonedds_config.xml
    • copy and paste the following lines into this file (cyclonedds_config.xml)

<?xml version="1.0" encoding="UTF-8" ?>
<CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
    <Domain id="any">
        <General>
            <NetworkInterfaceAddress>logging_bond0</NetworkInterfaceAddress>
            <AllowMulticast>spdp</AllowMulticast>
            <MaxMessageSize>65500B</MaxMessageSize>
            <FragmentSize>4000B</FragmentSize>
        </General>
        <Internal>
            <MinimumSocketReceiveBufferSize>10MB</MinimumSocketReceiveBufferSize>
            <Watermarks>
                <WhcHigh>500kB</WhcHigh>
            </Watermarks>
        </Internal>
        <Tracing>
            <Verbosity>config</Verbosity>
            <OutputFile>/tmp/cyclonedds.log</OutputFile>
        </Tracing>
    </Domain>
</CycloneDDS>

3. Add the following line in the ~/.bashrc file  

export CYCLONEDDS_URI=file:///opt/autoware/cyclonedds_config.xml

4. Change maximum receive buffer size (This command is necessary each time you open a new terminal before executing scenario simulation)

sudo sysctl -w net.core.rmem_max=2147483647

5. Set localhost to support multicast (This command is also necessary each time you open a new terminal before executing scenario simulation)  

sudo ifconfig lo multicast

• Then you can create machine-readable scenarios by using the GUI Scenario editor, export your scenario (in YAML format) and test run it locally inn NPC mode (without running Autoware behind) for now.
• The scenarios created in this environment will ultimately be uploaded to the CI/CD pipeline which will become available with Autoware universe by the end of March, 2022.
• Should you have any questions, you can either add comment to this minutes or ask questions in the ODD WG Discord. <-NEW

Scenario Tool Summary

• [CI/CD pipeline] cloud-based
  • For the official Autoware Foundation projects like Cargo Delivery, public road bus
  • The user guide in the ODD working group Google Drive.
  • As it consumes AWS resource, the (batch) execution of the scenario simulation is managed by the ASWG lead.
• [Scenario testing framework] local
  • For other projects than the official Autoware Foundation projects like Cargo Delivery
  • The documentation of the Scenario Testing Framework (OSSed from Tier IV) is on GitHub
    • The GUI Scenario editor. (You can create and export scenarios with this web interface.) (You can test run (preview) the scenarios you created and exported using the scenario editor.)
    • You can install the framework (the primary tool for scenario generation in ODD working group) by following the tutorial page. ('Build Instructions (Native mode)' is recommended. One caveat is that you need Ubuntu 20.04 for this 'Native mode' installation of the scenario test runner, etc.)

Administrative

• Please check the ODD WG wiki page.
• The ODD working group shared document folder is here.
• Recurring weekly meetings have been scheduled. Please check Autoware Foundation events calendar or add this Calendar ID to your (Google) calendar and/or add your contact to ODD WG invitation group to receive invitations for future meetings.
• ODD WG meetings are held in the following two patterns flipping every month.

• [Pattern A] for the odd-numbered months

  • 3:00pm, every Monday (PDT) / 2:00pm, every Monday (PST)
  • 6:00pm, every Monday (EDT) / 5:00pm, every Monday (EST)
  • 1:00am, every Tuesday (CET)
  • 6:00am, every Tuesday (TST)
  • 7:00am, every Tuesday (JST)

• [Pattern B] for the even-numbered months

  • 8:00pm, every Monday (PDT) / 7:00pm, every Monday (PST)
  • 11:00pm, every Monday (EDT) / 10:00pm, every Monday (EST)
  • 6:00pm, every Monday (CET)
  • 11:00pm, every Monday (TST)
  • 0:00am, every Tuesday (JST)

• Current tool available on Google drive is capable of importing previously created scenarios.

• Gitlab project for ODD WG scenarios.

• Q&A on scenario contents in the assigned scenarios/use cases.) which is proposed by Tier IV in the Simulation working group has been up loaded to the ODD working group Google drive. The scenario editor and the simulator are integrated as a CI/CD pipeline, and you can preview scenarios with Autoware.Auto running in the background.

• The working group members who are interested in creating scenarios on the CI/CD pipeline are advised to create a free Tier IV account at https://account.tier4.jp/accounts/signup/. Once you have created an account, please let @Igata-ctrl know the 4-digit number which appears in the URL (ex. "https://account.tier4.jp/users/4688/") of your initial page after logging in to your new Tier IV account.