Release 1.10

[esteve]

Announcement

• Autoware is now protected under Apache License Version 2.0 (#1707)
• ROS Indigo is no longer supported as announced at Ver.1.9.0 (#1743)
• The following commands are required once when you build from source (#1689)

cd Autoware/ros
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO

• Catkin is deprecated but please use it until transit to colcon (#1704, [Bug] Unable to launch Runtime Manager with colcon #497)
• Obsolete packages and nodes will be removed in the next release (#1812)

New Features

• We can enjoy autonomous driving with LGSVL Simulator without real cars (#1795)
  https://www.youtube.com/watch?v=cBmIiR3jRvE&feature=youtu.be
• points_map_filter filters out point cloud far from ego vehicle (#1658)
  https://www.youtube.com/watch?v=LpKIuI5b4DU&feature=youtu.be
• FLIR ADK camera driver (#1809)
• Ouster LiDAR driver (#1748)
• Blinker for ZMP Minivan (#1667)
• Vehicle Info for Toyota Estima (#1700)

Improvements

• Added functionality to run.sh in docker/generic (#1617)
• Tracking accuracy can be measured by KITTI data (#1671)
• Crossbuild support of multiple gmsl cameras (#1683)
• Added /sim_lidar tf frame to wf_simulator (#1710)
• ymc actuation package uses vehicle_cmd instead of twist_cmd for woriking with twist_gate (#1649)

Bug Fixes

• Disable forced termination when ndt_matching can not write log data (#1824)
• Fixed a bug where the speed is handled as positive when the gear is reverse (#1740)
• Fixed a bug where intrinsic calibration cannot detect OpenCV version (#1696)
• Fixed a bug where ros-kinetic-grid-map-visualization is not installed (#1780)
• Fixed Milee urdf (#1687)
• Fixed a bug where pcd_filter fails when point cloud has large values (#1730)

Known Bugs

• Unable to launch Runtime Manager with colcon build (#1865)

For Developers

• GitLab CI executes build and some tests, and should succeed at pull request (#1563, Replace CI links to GitLab autoware#1777)
• Travis CI executes industrial_ci and should succeed at pull request (#1832)
• Added code coverage report (#1654)

[esteve]

@kfunaoka I've created this ticket so that we can have a list of the planned changes for the 1.10 release and decide what should go in and what should be postponed as suggested by @shinpei0208 https://autoware-developer.slack.com/archives/C3C8XRV99/p1541114851079100

[kfunaoka]

I'd like to also entry https://github.com/CPFL/Autoware/issues/1551 and https://github.com/CPFL/Autoware/issues/1693 once I can make them meaningful :)

[kfunaoka]

New entry: autowarefoundation/autoware#1594

[kfunaoka]

New entry: autowarefoundation/autoware#1645

[kfunaoka]

New entry: https://github.com/CPFL/Autoware/issues/1637

[kfunaoka]

New enty: https://github.com/CPFL/Autoware/issues/1701

[esteve]

@kfunaoka I've added the tickets to the description

[hakuturu583]

Sorry for my late.
New entry autowarefoundation/autoware#1795

[esteve]

@hakuturu583 thanks for letting us know, but unfortunately it's too late for this release to include autowarefoundation/autoware#1795. The goal of this ticket is to list all the features and improvements that will go into a release before starting the release, not after. This helps us have a vision of what the priorities are for a given release/milestone and how efforts should be directed.

In any case, it looks like autowarefoundation/autoware#1795 is a good candidate for Autoware 1.11, we'll add it to the next release.

[kfunaoka]

Open source community should have a certain amount of discipline to work with a lot of people. I added a procedure into Contribution Rules to declare which version each issue is targeting.
https://github.com/CPFL/Autoware/wiki/Contribution-Rules#development-workflow

@hakuturu583 Sorry for the insufficient announcement. Also I'd like to encourage you to improve Autoware more and more. For that, let's talk what you are working on within the community :)

@esteve I've also talked with @hakuturu583. Though we can postpone autowarefoundation/autoware#1795, simulator is a very good tool for autonomous driving, and it's worth for Autoware and users. Since autowarefoundation/autoware#1795 does not affect the essential part of Autoware, we might be able to decide on importing autowarefoundation/autoware#1795 to test Autoware functions by challengers. How do you think in this case?

@hakuturu583 Any other comments?

[kfunaoka]

Sorry, I have to withdraw autowarefoundation/autoware#1693 and #324.

[esteve]

@kfunaoka It was mostly because I think that we should be stating what we're going to work on for the current cycle, so we can anticipate and properly test everything before making a new release. That doesn't mean we can't squeeze in a new feature in the middle of the cycle, but they should have a rationale and give enough time to test it.

Unfortunately this wasn't the case with autowarefoundation/autoware#1795, it broke the build, doesn't have any tests at all and was merged in a rush.

autowarefoundation/autoware#1795 is a very valuable contribution and I'd really like it getting merged, but it'd be good to be a bit more disciplined with releases and plan a bit better, it'd help users anticipate any potentially incompatible changes before a release, for example.

[hakuturu583]

@esteve autowarefoundation/autoware#1795 have already merged to develop, and travis CI said that the develop branch was not broken.
Please show me the CI log.

[esteve]

@hakuturu583 we no longer use Travis for CI, and these are the tickets that report that the simulator bridge broke the build:

https://github.com/CPFL/Autoware/issues/1802
https://github.com/CPFL/Autoware/issues/1807

[hakuturu583]

@esteve OK, I am fixing now.

[esteve]

@hakuturu583 no worries, it's really not big of a deal :-) I think the work you did in autowarefoundation/autoware#1795 is really valuable, but let's plan releases in advance so we can have more time to test them more thoroughly.

[kfunaoka]

@hakuturu583 @esteve That'll make the process more workable :) I'd like to request not only contributers but reviewers to check the release plan of each pull request. I'll create the check list that reviewers reference.

Regarding this release 1.10, I'd like to provide autonomous driving to who has no real cars if it is not critical. Were the problems fixed or not? I found autowarefoundation/autoware#1808 was merged.

Finally, I apologize to @zelenkovsky and @hakuturu583. I knew they were working for the release 1.10. But I forgot to request to declare on the issue.
https://github.com/CPFL/Autoware/issues/1724#issuecomment-441248170

[kfunaoka]

@sgermanserrano @esteve Would you list pull requests that are better to be merged into v1.10? My understanding is:

• Use colcon as the build tool Use colcon as the build tool autoware#1704
• Switch to Apache 2 license (develop branch) Switch to Apache 2 license (develop branch) autoware#1741
• feature/ndt_matching_disk_full feature/ndt_matching_disk_full autoware#1824

[sgermanserrano]

@kfunaoka @aohsato @cirpue49 as discussed in Slack #motion-planning channel A* is better used with costmap_generator than with points2costmap (which seems older -> can be deprecated and substituted by costmap_generator?).
I'd suggest pushing [Feature] Improve Hybrid A* planner autowarefoundation/autoware#1594 from v1.10 to v1.11 to:

• Update from nav_msgs::OccupancyGrid to GridMap
• Review and improve tests: Feature/test astar planner autoware#1753
• Add tests for freespace_planner and astar_avoid

[kfunaoka]

@sgermanserrano I heard the discussion from @aohsato. Let's postpone to 1.11!

[esteve]

@kfunaoka I postponed autowarefoundation/autoware#1704 because I thought it'd make it for the original 1.10 cutoff, but since it was delayed, I think we can try. I'll keep testing it locally, I'd appreciate your (and @sgermanserrano 's) feedback, since it will have a direct impact on the users.

autowarefoundation/autoware#1741 should be mergeable, but I need another +1.

[kfunaoka]

I've updated the status.

• I've added feature/ndt_matching_disk_full autoware#1824 into the 1.10 list above since localization death is fatal for autonomous driving. It became a problem in our long duration test.
• Use colcon as the build tool autoware#1704 is almost ready to merge.
• Switch to Apache 2 license (develop branch) autoware#1741 is lamost ready to merge but need a fix.

[esteve]

@kfunaoka I've added autowarefoundation/autoware#1704 to the list of tickets for this release and merged the PR.

[esteve]

Once autowarefoundation/autoware#1741 passes, I'll merge it as well.

[sgermanserrano]

@isamu-takagi @messi49 do #375 and #408 have associated PRs? or are they features on a planning/developing stage?

[isamu-takagi]

@sgermanserrano
Sorry, Autoware Launcher is under development. I'll release it in v1.11.

[kfunaoka]

@amc-nu @sgermanserrano @esteve How about creating release branch for v1.10 from HEAD of develop, merging autowarefoundation/autoware#1837 into the release branch, and staring test on the release branch?

• [fix] SSD detector, cmake colcon autoware#1837: Should be merged into v1.10.
• [Feature] Autoware Maps: Next Generation Autoware Map Format #408: Need more discussion. -> v1.11
• [feaure ] Initial release of Object Filter autoware#1645: Might take some time. -> v1.11?

[kfunaoka]

• Enable industrial-ci on Travis  autoware#1832: Can be merged into v1.10 to minimize time and effort for test.

[amc-nu]

Hello @esteve @sgermanserrano and @kfunaoka

Please don't include autowarefoundation/autoware#1704 as it is in 1.10
I found the following problems:

1. run script won't work, as it is.
   Please refer to https://github.com/CPFL/Autoware/blob/develop/ros/run#L52
2. Even after updating the script to install space. Since currently most of the packages do not include the install command for launch, and companion files. Only manual ros run commands will work, which are mostly not used by the UI and the current documentation.
   https://github.com/CPFL/Autoware/blob/develop/ros/src/util/packages/runtime_manager/scripts/computing.yaml
3. Compiling with catkin_make workflow is also broken, so it cannot be used as an alternative.

Fixing the above points will require a considerable amount of work. For this reason, I consider appropriate

1. First to apply Remove obsolete packages and nodes #389 , then
2. Fix the file installation commands in the CMakeFiles and
3. Finally include Use colcon as the build tool autoware#1704 + fixes in a release.

Otherwise, current users (ourselves included) will face a lot of problems. Please let me know your thoughts on this.

[esteve]

@amc-nu I've reverted autowarefoundation/autoware#1704 in autowarefoundation/autoware#1838, please have a look at it. However, the real problem is that for a long time the Autoware run script assumed that it was using the devel space, which is not a correct workflow in ROS. colcon is stricter about that, there's no devel space at all, only build and install, so if the packages are not properly written and they don't have an install target, they can't be used.

What I find strange is that catkin fails for you. Doesn't catkin_make_release work for you?

[kfunaoka]

It seems all issues and problems are solved by some directions.
I've created the release/1.10.0 branched from f77b784.
Let me know if something should be done additionally.

Since we changed the build tool from catkin to calcon,
we might need test time a little longer than usual.
How about these target plan?

Version	Merged	Release
v1.10	Jan. 8th, 2018 (today)	Jan. 17th, 2018

Also I'm thinking the docker image for test such as autoware/autoware:1.10.0-kinetic-rc1 will be useful.

[esteve]

@kfunaoka looks good to me.

[kfunaoka]

I found the error #490. I'll check.

[kfunaoka]

I've uploaded autoware/autoware:1.10.0-kinetic-rc1 based on b21b663 into dockerhub.

[kfunaoka]

@esteve @sgermanserrano @amc-nu
I've created the release note at the headline of this issue.
Let me know if something should be added or modified.
I'll release tomorrow.

[kfunaoka]

@sgermanserrano Where can I look the latest code coverage report (#1654)?

[sgermanserrano]

@kfunaoka https://cpfl.gitlab.io/Autoware/

[kfunaoka]

Thanks!

I've updated the wiki page for the new docker scripts.
https://github.com/CPFL/Autoware/wiki/Generic-x86-Docker

[bdholt1]

Congrats on the release! Can this issue be closed now?

[kfunaoka]

Thank you for reminding!