2023-12-07 Racing Working Group Meeting

[pojenwang]

Administrative

Previous Meeting Minutes

Attendees

• Po-Jen Wang (AWF)
• Mitsudome-san (Tier.IV)
• Jack Silberman (UCSD)

Minutes: Po-Jen Wang

Topics

JetPack 6 released:

• JetPack 6 which runs Ubuntu 22.04 was released this week by NVIDIA. It supports ROS2 humble instead of galactic which is the version used by Autoware's main branch (up-to-date).
• I will get a Jetson Orin Nano and begin porting F1tenth branch to this version.

AV4EV Go-Kart on AWSIM:

• The team is working to create our version of AWSIM that simulates our AV4EV Go-kart running around UPenn's Pennovation Center.
• We have explored AWSIM as well as AWSIM racing, a version designed for simulating IAC racing which is still a work in progress.
• We have begun 3D modeling UPenn's Pennovation Center building and its surrounding area to create a digital twin. They will later be ported to Unity and then AWSIM. This area is where the UPenn team tests the Go-Kart and F1tenth. Images of the Pennovation Center (first) and the current rendered version (second) are attached.
• The Purdue Grand Prix track where the Autonomous Karting Series (AKS) competition takes place will be modeled next
• After the Unity map is generated, its Lidar and lanelet maps will need to be generated as required by Autoware.

Other topics:

• AWF Work Group overview: https://autoware.org/join-a-work-group/