Open ADKit Working Group Meeting 2024/10/17

[oguzkaganozt]

Administrative

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

Attendees

Chaired by @oguzkaganozt and David Walmroth (PIX Moving)

• 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

Modular containers- Main discussion
Modular containers-Project board

• Build only RViz plugin packages and split them into a separate container #5076
• Simulator&Visualizer container for TierIV Scenario simulator and RVİZ with VNC support - Related-> Build only RViz plugin packages and split them into a separate container #5076

Open AD Kit Issues & Discussions

- 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 Project Board

• Performance analysis of a multi-container Autoware deployment #5059
• Documentation how to use multi-containerized Autoware #5182
• CUDA is not found in latest Docker image #5219 & https://github.com/orgs/autowarefoundation/discussions/5302

DevOps Dojos: Ros Node Configuration Updates

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

• Spreadsheet for node updates

Proposal of new launch file structure @xmfcx

• https://github.com/orgs/autowarefoundation/discussions/5313

2024 Demo Planning and Activities

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

Open AD Kit Demo Archives

• AWS re:Invent / Dec 2 – 6
• Robeff PoC / Dec 5
• CES 2025 -> TIER IV / Jan 9 2025

Open AD Kit Hardware Availability

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

• ORIN: Recently succesfully tested
  • https://github.com/futurenowx/autoware
• AADP: Being used on various demos
• 7Starlake: we heard that some eval units can be made available for testing

[xmfcx]

Test on host OS

sudo apt update && sudo apt install cyclonedds-tools -y

# Terminal 1
source /opt/ros/humble/setup.bash
ddsperf pong

# Terminal 2
source /opt/ros/humble/setup.bash
ddsperf ping 100Hz size 3M

Test within the container

# Terminal 1
./docker/run.sh --devel
sudo apt update && sudo apt install cyclonedds-tools -y
ddsperf pong

# Terminal 2
## Replace a86125ebedb6 with your container ID
docker exec -it --user $(id -u):$(id -g) a86125ebedb6 /bin/bash
ddsperf ping 100Hz size 3M

With these tests, on my machine, the delays are approximately:

• 2100±100µs on host OS
• 3000±300µs on the container

More detailed analysis could be made but roughly it is slower in the container.