Open ghost opened 2 years ago
ghost
commented
2 years ago @mitsudome-r Would it be possible to provide any links related to the interface discussion so that we can track progress of that to better understand when work on this issue can continue?
mitsudome-r
commented
2 years ago @LalithVipulananthan Here are the minutes from the Architecture WG discussions: https://github.com/autowarefoundation/autoware/discussions?discussions_q=label%3Aarchitecture_wg
Although in theory, it should be possible to reproduce an error by recording all raw sensor and vehicle data, ROS 2 is not deterministic and so this is not guaranteed. One possible approach is to only replay processed input data into the specific part of the pipeline where an error has occured.
| At least we can start with minimal raw sensor data, and other primary data. This includes the following topics: | Source | topic name | message type |
|---|---|---|---|
| Lidar | /sensing/lidar/{lidar_name}/pointcloud_raw | sensor_msgs/PointCloud2 | |
| Camera | /sensing/camera/{camera_name}/image_raw | sensor_msgs/Image | |
| Camera | /sensing/camera/{camera_name}/camera_info | sensor_msgs/CameraInfo | |
| GNSS | /sensing/gnss/{gnss_name}/nav_sat_fix | sensor_msgs/NavSatFix | |
| GNSS | /sensing/gnss/{gnss_name}/orientation | autoware_sensing_msgs/GnssInsOrientationStamped.msg | |
| GNSS | /sensing/gnss/{gnss_name}/twist | geometry_msgs/TwistWithCovarianceStamped | |
| GNSS | /sensing/gnss/{gnss_name}/acceleration | geometry_msgs/AccelWithCovarianceStamped | |
| Vehicle | /vehicle/status/control_mode | autoware_auto_vehicle_msgs/ControlModeReport | |
| Vehicle | /vehicle/status/steering_status | autoware_auto_vehicle_msgs/SteeringReport | |
| Vehicle | /vehicle/status/velocity_status | autoware_auto_vehicle_msgs/VelocityReport | |
| - | /tf | ||
| - | /static_tf | ||
| - | /map/pointcloud_map | sensor_msgs/PointCloud2 | |
| - | /map/vector_map | autoware_auto_mapping_msgs/msg/HADMapBin |
| Some of the intermediate topics could include: | topic name | message type | remark |
|---|---|---|---|
| /localization/kinematic_state | nav_msgs/Odometry | final position/velocity output | |
| /localization/acceleration | geometry_msgs/msg/AccelWithCovarianceStamped | final accelaration output | |
| /localization/acceleration | geometry_msgs/msg/AccelWithCovarianceStamped | final accelaration output | |
| /perception/object_recognition/objects | autoware_auto_perception_msgs/msg/PredictedObjects | object recognition output | |
| /perception/traffic_light_recognition/traffic_signals | autoware_auto_perception_msgs/msg/TrafficSignalArray | traffic light recognition result | |
| /planning/mission_planning/route | autoware_auto_planning_msgs/msg/HADMapRoute | planned route | |
| /planning/scenario_planning/trajectory | autoware_auto_planning_msgs/msg/Trajectory | planned trajectory | |
| /control/command/control_cmd | autoware_auto_control_msgs/msg/AckermannControlCommand | control command output |
stale[bot]
commented
2 years ago This pull request has been automatically marked as stale because it has not had recent activity.
Checklist
Description
List the minimum set of ROS topics that should be recorded in order to enable reproduction of errors that occur during field testing
Purpose
In order to fix Autoware errors or failures that occur during field testing, a minimum data set must be defined. Doing so will enable developers to:
A minimum data set will also provide a foundation for developing functionality to automatically record data when field testing on time or maximum file size requirement (eg: record for one hour or until 1TB of storage is used up, then overwrite the previous ROSBAG file).
Possible approaches
Although in theory, it should be possible to reproduce an error by recording all raw sensor and vehicle data, ROS 2 is not deterministic and so this is not guaranteed. One possible approach is to only replay processed input data into the specific part of the pipeline where an error has occured.
eg: to try and reproduce a planning error, only replay the relevant input data into the Planning module
Definition of done
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