Planning/Control/Vehicle Interface Architecture Design

[maxime-clem]

I would like to initiate the discussion for the design of the Planning/Control/Vehicle modules of Core/Universe.

The overview of the AD stack is being discussed here, and this discussion thread would focus on the details of the Planning/Control/Vehicle modules.

Tier IV has prepared the initial discussion items and some proposals in the following slides.

[mitsudome-r]

Here's the meeting minutes that I wrote during the call. I will summarize the discussion points and action items tomorrow morning.
https://docs.google.com/document/d/1OlmQFEtTTabxknBDfFpBvPzjtUiUJOD34CYTwO_3Zks/edit

[maxime-clem]

I have updated the google document with a summary of the decisions made during the recent discussions as well as the remaining points to discuss. I created new discussion threads for each action item.

Decisions Made

• Publish new steering and actuation topics from the VehicleInterface.
  • Steering as Quaternion ? Actuation as TwistWithCovariance ?
• Focus on Ackermann vehicles in Core for now. Make it clear in the documentation.
• Implement adapter to map Autoware control command into vehicle specific actuation command.
  • Library or Node ?
• Implement vehicle command gate.
  • Independent node or part of VehicleInterface ? Josh wants to create a pros/cons table.
• Move all information about vehicle gear into the VehicleInterface.
• Add a service in Perception to query the value of a traffic light by its ID in the lanelet map.
• Implement a diagnostic manager.
• A detailed design is already being worked on:
  • https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/issues/1233
  • https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/merge_requests/1289

Action Items

• Have more discussions about adding a velocity array to the control command to remove ambiguity about acceleration Improve local2global.cpp #20.
• Make a more detailed proposal for the Planning manager and further discuss Thin color of car and pedestrian for old data. #19.
• Create a pros/cons table for having the vehicle command gate as part of the VehicleInterface and decide between an independent node or part of VehicleInterface Fix road sign warning on Rviz #18.
• Control command adapter: decide if library or node Publish without change in default of vmap #16.