Open ADKit Working Group Meeting 15/08/2024

[oguzkaganozt]

Administrative

Open AD Kit Project Board
Latest Open AD Kit Documentation - updating

Attendees

Chaired by David Walmroth (PIX Moving) and Oğuz Öztürk (Leo Drive)

Click to expand

• Oğuz Öztürk (MC)
• David Walmroth
• Ryohsuke Mitsudome
• Samet Kütük
• Esteve Fernandez
• Bonolo
• Hiroshi Igata
• Alex Carballo
• Yutaka Kondo

Agenda

DevOps Dojos: Build/Run: Open AD Kit Modular Images

- Agenda item maintainers: @oguzkaganozt , @youtalk

• Explanation of docker build stages
• feat(docker): refine devel image #5045
• Performance Analysis of Modular Containers
• Modular containers discussion

DevOps Dojos: Ros Node Configuration Updates

- Agenda item maintainers: @kaspermeck-arm
Call for volunteers
Step-by-step Documentation
Step-by-step Video Tutorial

• Spreadsheet for node updates

Remote RViz Visualization

- Agenda item maintainers: @oguzkaganozt, @kaspermeck-arm

• https://github.com/orgs/autowarefoundation/discussions/5099

Given the benefits of modern web technologies and the need for flexibility, WebRTC with rosbridge(ROS Web Tools) with the help of aiortc would be the ideal choice.

Related idea: RobotWebTools/rosbridge_suite#757

Related past issues and discussions:

• https://github.com/orgs/autowarefoundation/discussions/2545 & feat(tier4_autoware_api_launch): add rosbridge autoware.universe#779
• https://github.com/orgs/autowarefoundation/discussions/2664

Some reference projects related to use WebRTC&Websockets with ROS 2:

• https://github.com/RobotWebTools/rosbridge_suite
• https://github.com/foxglove/ros-foxglove-bridge
• https://github.com/pgaston/teleopros2
• https://github.com/abizovnuralem/go2_ros2_sdk
• https://github.com/jdgalviss/jetbot-ros2/tree/main
• https://github.com/introlab/opentera-webrtc & https://github.com/introlab/opentera-webrtc-ros
• https://github.com/v-kiniv/rws
• X2GO

Aspect	X11 Forwarding	VNC	NoMachine	WebRTC	ROS Web Tools(rosbridge)
Primary Function	Remote application visualization	Full desktop remote access	High-performance remote desktop	Real-time media and data streaming	Web-based ROS interaction
Protocol	X11 over SSH	RFB (Remote Framebuffer Protocol)	NX protocol	WebRTC (Peer-to-peer)	WebSockets (HTTP)
Compression	Minimal (SSH encryption overhead)	Various (e.g., Tight, H.264)	Advanced compression and caching	High-quality, efficient compression	Depends on web technologies
Bi-Directional ROS Messaging	No	No	No	Yes	Yes
Platform Independence	Limited	Limited	Limited	High	High
Ease of Setup	Low	Moderate	Moderate to High	High	Moderate
Security	Integrated with SSH	Requires secure tunnel (e.g., SSH)	Built-in secure connection	Requires secure setup (DTLS/SRTP)	Can be secured with HTTPS
Performance	Moderate	Moderate	High	High	Moderate

Technical Optimizations for Container Management

- Agenda item maintainers: @youtalk , @oguzkaganozt

• More Strict Dependency Control for ROS Nodes #4599
  • The list of Top 25 ROS nodes that includes most <depend> tags
  • Last years's huge PR related -> build: remove unused <depend> in package.xml files autoware.universe#3606
  • Example of the motivation

Open AD Kit Bugs & Feature Requests

- Agenda item maintainers: @idorobotics, @oguzkaganozt

• Assess open-ad-kit related bugs, issues or feature requests from community channels (github, discord, or other platforms)

Open AD Kit Hardware Availability

- Agenda item maintainers: @HamburgDave, @samet-kutuk

• ORIN: Recently succesfully tested
  • https://github.com/futurenowx/autoware
• AADP: Being used on various demos
• ADLINK presented their autonomy HW lineup in Ref. Des. WG. BSP does not yet support Yocto(?).
• 7Starlake: we heard that some eval units can be made available for testing

2024 Demo Planning and Activities

- Agenda item maintainers: @HamburgDave, @samet-kutuk

• AutoTech Detroit (June 5-6): https://docs.google.com/presentation/d/1UD_0tIhRgfjmQami1nyKxh5feY5TGre4YTOAG1AZWik/edit?usp=sharing
• (Potential) AVTE California / Aug 28-29
• (Potential) IEEE ITSC / Sep 24-27
• (Potential) IROS 2024 / Oct 14-18
• (Potential) ROSCon / Oct 21-23

Active pursuit to find more collaborators

- Agenda item maintainers: @samet-kutuk, @HamburgDave
- Outreach to external collaborators needed to further increase the WG's productivity

[oguzkaganozt]

• https://github.com/tier4/caret

[oguzkaganozt]

• Enable access to modular container branch for demos

[oguzkaganozt]

https://autowarefoundation.github.io/autoware-documentation/main/contributing/pull-request-guidelines/code-owners/#faq