2022-04-12 ODD working group weekly meeting (88)

[Igata-ctrl]

Attendee

• Huei-Ru Tseng (ITRI)
• Arpan Chakraborty (Ridecell)
• Predrag (Arm)
• Mert Çolak (Leo Drive)
• Dvid Walmroth (Ann Arbor Autonomous Vehicle Group)
• M. Fatih Cirit (AWF)
• @mitsudome-r Ryohsuke Mitsudome (TIER IV)
• @Igata-ctrl Hiroshi Igata (TIER IV)

Agenda/Minutes

• ITRI has provided AWF the HD map data of its campus In case that AWF bus demonstration to happen in ITRI campus instead of Hsinchu city public road. The data has been uploaded onto the map menu of the CI/CD pipeline.

• The latest Hsinchu-city HD map (Point Cloud and Lanelet2) are available on the CI/CD pipeline for registered members. Though the Lanelet2 data has been updated for the compatibility with Autoware and CI/CD pipeline and the crosswalks were added it seem to have some residual issues e.g. Lanelet fractions in some of the intersection which disables turning at the intersection, traffic signal ID issue which causes errors, etc. Alex is kindly talking with ZATiTECH.

• Scenario creation Q&A.

  • Q: Should we adjust the parameter including the distance to NPCs to make the scenarios more realistic?
  • A: Yes. We might want to adjust the parameters when we run the scenarios with Autoware (in CI/CD pipeline).
  • Q: Why does the NPC automatically (willfully) slow down when following the EGO vehicle?
  • A: In the scenario test runner, simple hypothetic algorithms are applied to NPCs. In the preview mode (isEGO=false), this is also applied to EGO vehicle. With this hypothetic algorithm, NPC (and EGO), slows down to avoid crashes, stops at the stop lines and the red signals, etc.

• The instruction for the scenario testing framework environment setup has been updated (see Action Items below).

• The volunteer member names are assigned to the initial set of use cases for creating the machine readable scenarios.

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

• April ODD WG meetings are held in [Pattern B] below.

• [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)

• The members are encouraged to create the machine readable scenarios from the use case list which is assigned to his/her name and upload to Gitlab repository in terms of MR.

• 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
  • For the official Autoware Foundation projects like Cargo Delivery
  • The user guide in the ODD working group Google Driver
  • 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.

• New meeting minutes are posted on Github. If you're lost, Autoware Foundation home (wiki) is here.

• The ODD working group shared document folder is here.

• Recurring weekly meetings have been scheduled. Please check Autoware Foundation events calendar and/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.

• Gitlab project for ODD WG scenarios.

• The working group members who are interested in creating scenarios in the future 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 in to your new Tier IV account.

• Some of the working group member are having a voluntary casual garage-type event on weekends. The default time is 3:00pm, Saturday, but for next weekend, it will be an event from IAC venue, IMS. More information is available on AWF Slack.

• The scenarios you will create will ultimately be uploaded to the CI/CD pipeline for use by ASWG.

• Should you have any questions, you can either add comment to this minutes or ask questions in the oddwg Slack.

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.