Racing Working Group Meeting 2024/12/12

[pojenwang]

Administrative

Previous Meeting Minutes

Attendees

• Po-Jen Wang (AWF)
• David Walmroth (Open AD Kit / Pix-Moving)
• Atanasko
• Tran-Huu-Nhat

Minutes: Po-Jen Wang

Topics

OpenAD Kit on CoE platforms

• I have been helping out the OpenAD Kit group CES demo in the past 3 weeks. Demo preparation is now completed and will focus on the racing projects again.
• Worked on deploying Autoware modulized Docker containers(perception/planning/simulation/visualization) on ARM-based machines including a Jetson AGX Orin.
• CoE projects including the AV4EV gokart, F1tenth, and the off-road vehicle are good candidate platforms for implementing the OpenAD Kit. We are potentially getting OpenAD Kit tested on our platforms.
• Potentially building containers for our racing packages for easy deployment

Autoware on F1tenth

• Currently troubleshooting an issue starting the planning simulation: There's a high chance that Auto mode will not be available after setting the estimated pose and goal pose.
• The trajectory can always be generated correctly; however, MRM is triggered and stays in the stop state, preventing the switch to Auto mode.
• The control cmd output will output normally for a short period(~1 sec), and then stop generating any output for a short period(~1 sec) and repeat. Many planning and control nodes also have this behavior.
• Some transform lookup warnings(timestamp mismatch) from perception and planning nodes indicate having issues with publishing frequencies
• planning_sim_bug

Other topics:

• AWF Work Group overview: https://autoware.org/join-a-work-group/