Software WG Meeting 2025/09/23

[mitsudome-r]

Administrative

• Past Meeting Minutes

Common Resources

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• Past Meeting Minutes
• Autoware Contributors
• Autoware Software WG Project Board
• Autoware Foundation Events Calendar

Attendees

Chaired by Ryohsuke

- Fatih - Bonolo

Autoware.Universe

• PRs waiting for review not in the current milestone/high priority.
• Autoware.Universe reported bugs not in the current milestone/high priority.
• Autoware design discussions and demos

Discussions

Announcements

Updates from developers

BEVFormer PR

• feat(autoware_bevformer): implementation of bevformer using tensorrt autoware_universe#11076
  • Fatih made the latest review. We are seeing some large latency in preprocessing.
  • MCW made comment to the PR: feat(autoware_bevformer): implementation of bevformer using tensorrt autoware_universe#11076 (comment)
  • The orientation of the marker array message and detected objects message are not aligned
  • Dhinesh has output of frequency about 2-3hz

ROS Jazzy Update

• Merged:
  • chore: jazzy-porting:fix missing header file #630
  • chore: jazzy-porting:fix dangling reference #633
  • feat: jazzy-porting, add jazzy distro condition for jazzy related compiling autoware_cmake#35
• Under Review:
  • chore: jazzy-porting:fix qos profile issue #634
  • chore: jazzy-porting : Add Jazzy Support to GitHub Actions Workflows (Excluding ARM64) #636
  • chore: add build option -Wno-error=maybe-uninitialized autoware_lanelet2_extension#79
  • chore: jazzy-porting, autoware_trajectory, add array size assignment to solve compile failure #644
• Draft:
  • ci: add jazzy docker build process in current ci pipeline autoware#6453

Vehicle Testing

• The integration of the latest version of Autoware is integrated with ADASTEC bus.
  • video pedestrian detection
    • The vehicle is able to detect pedestrians and vehicles. Parameters for perception is default
  • video: pedestrians following
  • video: Parent lidar ethernet connection failure test
    • Lidar ether net cable is disconnected while driving, but the vehicle does not trigger MRM. We have to configure diagnostic graphs properly for triggering MRM.
  • Bus stop test
  • video obstacle avoidance
  • Node killing test
    • EKF node was killed while the vehicle is driving and MRM is triggered.
  • Localization is still unstable at sharp turns. ADASTEC will collect rosbag
    • necessary topics are: /tf, lidar data, vehicle velocity, vehicle steering, IMU, preprocessed data that goes into ndt_scan_matcher, kinematic pose output from EKF

API Related Updates

• skipping for this week.

Distribution of new tasks

Action Items

• Developers to add their discussion items to the agenda for the next meeting
• Developers to share updates on their works in the next meeting