Autoware Reference Platform Working Group Meeting #2

Autoware
2

Thank you everyone for having attended these meetings !
Please find minutes.

Meeting 2019-10-15 & 2019-10-16 Reference Platform Working Group Call #2

Agenda

  • Introduction of the role of the Reference Platform Working Group
  • Process
  • Requirements
  • Initial Reference Platform
  • AOB

Introduction

Process

  • The process is being defined by Autoware TSC - In Progress
  • This will be iterative process with review and approval

Requirements

  • Very initial lists

High Level Requirements for Platform

  • De facto usable platform for Autoware.Auto
  • Reference Platform must be road testing capable platform (in car)
  • Code base available to the relevant gitlab
  • Using silicon from our members
  • Using software from our members
  • Privilege/Promote of Autoware and foundation members technologies
  • Not supporting only development but validation/testing
  • Getting hardware into the testing in the loop
  • Out-of-the-box experience is a key for success
  • AWF is testing code on those platforms
  • Comments Tuesday
    • Alignment with existing development for Autoware.Auto HW support (e.g. LiDAR => listing sensors such as Velodyne)
    • Code for drivers should be pushed upstreamed as much as possible (limiting maintenance)
    • Drivers for boards should be provided by members
  • Wednesday’s Comments
    • Safety related requirements

High Level Requirements for Working Group

  • Maintenance facilitation
  • Proving which Autoware functions is working on which Autoware platforms
  • WG must define information acceptance, and specifications
  • Definition of specs by WG is about silicon, sensors, capabilities
  • WG must coordinate the system validation and members to make the acceptance
  • Responsibility of setting up the board for use cases is up to the user
  • To define level of acceptance of platform+software
  • Tuesday’s Comments
    • Hardware agnostic interfaces definition
    • Definition of vehicle interfaces
    • Open :: to figure out how RP WG is working with .IO
    • Physical level interface with the car, while msg should be defined by .IO
    • RP WG must interact with Vehicle Interface WG to ensure consistency for RP
  • Wednesday’s Comments
    • Architecture definition (specs/arch)
    • System level test cases and test plans (integration within vehicle as a system)

Initial Reference Platform

  • Activity started already

/Ref Platform 1st map.png

  • Driven by Autocore + 96boards, supported by Kalray
  • Initiated prior creation of Working Group
  • Aligning with Working Group as very first platform, helping on defining Working Group and adoption of platform
  • Current status
    • Board designed
    • Board bring-up in progress, expecting first samples out of Autocore end of October
  • Next steps
    • Integration Autoware 1.12 => Autocore
    • Integration of Accelerator (CNN) => Kalray
    • Submission to Working Group for review and adoption
  • Short description
    • TI + NXP Apps chips
    • MPPA Bostan Accelerator Chip
    • Autocore 1.12

/1st PCU Autocore.png

  • Yang introduction (Tuesday’s Comment)
    • Answering desire to have first and perfect platform at first: never happening
    • Proposing to have the ball rolling, by having active work going on
    • Creating tangible way to capture requirements and support activities
    • Enabling development (integration, ROS2, Autoware.AUTO…)
    • Sensor fusion and apps running on NXP (on the board) and on Xilinx
    • Mezzanine card developed for Xilinx chip
    • Intents is to keep a modular approach to demonstrate the actual flexibility of the SW stack
    • Design contributed by Autocore (https://discourse.ros.org/t/wg-rp-autoware-reference-platform-definition-documentation/9949)
    • Will use this environment for contributing requirements as well

AOB

  • Wednesday’s Comments
    • Safety links activity
    • Schematics from Autocore for HCP

Attendees

  • Tuesday’s session
    • Stephane (Kalray)
    • Yang (96boards)
    • Geoff (TierIV)
    • Leo Surico (NXP)
    • Arthur Rocks (HiSilicon)
    • Cheng Chen (Autocore)
    • Josh Whitley (AutonomouStuff)
    • Emmanuel Toillon (Kalray)
    • Dan (Xilinx)
  • Wednesday’s session
    • Vincent Richard (Kalray)
    • Arnaud (NXP)
    • Poonam (NXP)
    • Stephane (Kalray)
    • Emmanuel Toillon (Kalray)

Next Meetings

  • Wednesday 16th of October 9:00AM CET => TOMORROW (APAC friendly)
  • Tuesday 29th of October 5:00PM CET (NA friendly | be careful about Daylight saving Time)
  • Wednesday 30th of October 5:00PM CET (APAC friendly | be careful about Daylight saving Time)