2024-10-30 Simulation Working group Meeting

[WJaworskiRobotec]

Useful links

Previous Meeting Minutes

https://github.com/orgs/autowarefoundation/discussions?discussions_q=label%3Ameeting%3Asimulation-wg

Issue Board

AWF Simulation Working Group Issue Board

Wiki Pages

• Bus ODD E2E Simulator Requirements

Recording from the meeting

Not available

Agenda Summary

AWSIM Labs -> AWSIM merging

Discussion about the features introduced in AWSIM Labs

• https://docs.google.com/presentation/d/1s3J2VGpPYokP23sk6yebnc4FurFtthD1P0TNPwER7_o/edit#slide=id.p21

• Merging AWSIM-Labs into AWSIM autoware-projects#72

• Fatih: Is TierIV specifically interested in any of the feautres:

• Tsutake-san : We are interested in 3 features:

  • VPP
  • Graphics quality settings
  • Full compatibility with the latest Autoware

• Makino-san : there might be a license issue

  • https://assetstore.unity.com/packages/tools/physics/vehicle-physics-pro-community-edition-153556 - it is a free version of VPP
  • The problem might occur with Pro version, that TierIV was planning to integrate
  • With VPP-CE it might be interesting for TierIV, but looks like only one vehicle can be used in the free version.
  • How can we get the data for configuration ?
  • Fatih : Only one vehicle is not a problem for Autoware, we test only one Ego at the time
  • Tsutake-san : We want to create a cluster for distributed simulation (separate machines for sensors), multiple Ego
  • Fatih: as a first step we can use default parameters, it will work better than the current solution. Accel-brake map calibration can be performed with Autoware
  • Tsutake-san : how can we test VPP in AWSIM
  • Fatih: you can just test it following QuickStartDemo of latest AWSIM Labs release
  • URP: TierIV had some issues with AWSIM Labs URP version
    • TierIV has not measured the performance of URP vs HDRP, but they created URP version on their own and seems to work better.
  • Compatibility with Autoware:
    • Continuous testing with Autoware
  • Mitsudome-san: the biggest difference is related to interfaces
  • Graphic quality settings:
    • It's related to URP, just changing settings of graphics in real time
    • It can be done in HDRP as well, but it is a separate work
  • Mitsudome-san: Can we create PRs with functionaliteis interesting for TierIV ? No compatibility issues ?
    • Fatih : should not be a problem

• Other features:

  • Setting pose from RVIZ
    • It is not interesting for TierIV, as we are more focused on Scenario Testing
    • Fatih : it makes it possible to use AWSIM as a sandbox, it was requested by Component team from TierIV
    • Tsutake-san : we will check it with our internal team
    • Mitsudome-san: we should use the same API as in scenario-simulator
      • Maybe we can create additional plugin, for now using the solution used by planning team that is a simple RVIZ message
    • repositioning vehicle from RVIZ:
      • Similar functionality, to quickly use simulator without changing positions in Editor / scenario
      • Our main customer don't need it, so it's not high priority for us.
    • Bird-eye view
      • Tsutake-san has this feature in some way, configuration of camera
    • Runtime control of sensors
      • requested by sensing team
      • it's useful for testing faults, what happens when sensor stops working
      • Tsutake-san : it can be easily done in Unity Editor
      • Tsutake-san : we have features for modifying / removing pointcloud
      • Fatih : editor is slower
      • Tsutake-san : then user can create a binary
      • AWSIM users should not be required to have Unity license / knowledge
    • Scenario Simulator integrated in the same binary
      • In AWSIM lab, scenario simulator is the new map inside the same binary
      • Tsutake-san : we can use separate binary, we don't see a value in it
      • Mitsudome-san : I'm not sure, using different binaries is not convenient for the users in my opinion. Users need to manage many releases.
      • Tsutake-san : we have support for changing vehicles, but we had no requests for changing map
      • Decomposition of scenes was introduced, any vehicle can be introduced on any map
      • The next step is to use Asset Bundles, then vehicles/maps can be loaded to the binary, distribution of assets is much easier

• Fatih: Right now LeoDrive will not work on AWSIM Labs, If requested by TierIV, LeoDrive can provide functionalites / PRs as a service

• We should create Issues for VPP for now, and request AWF to create PRs