Reference Design WG Meeting (11/06/2024)

[chishengshih]

Date: 2024-11-06

Time: 14:00 (UTC)

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Administrative

• Previous meeting minutes
• Reference Design project board
• Reference Design Roadmap

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Participants:

• Daniel Shih (Tier4/NTU)
• Stephen Li
• Rahul Razdan (Razdan Research Institute)
• Mahesh Menase
• Eddie Liu (ADLink)
• ChenYing Kuo (ADLink):
• Yoshihito Takashima (Tier IV)
• Paul Yeh (Tier IV)
• Armagan Arslan (Hardware/Opening AD Kit WG)
• David Walmroth (Opening AD Kit WG)
• Chetan (Marvel)
• Ryohsuke Mitsudome (Tier4)
• William Yuankai He: (Detrio, MI, Uni. of Delaware (soon))
• Markus Schratter (Virtual Vehicles Research, Austria)
• Abinesh L (DanLaw)
• Lucaus Xingang Liu (Autocore)
• Gernot Heiser (seL4)
• Nilay Sener
• Mark Jin (PixMoving)
• Tomonori Kaneko (eSol)
• Akihiko Tsukuda (eSol)
• Christ John (Tier4)
• Bonolo (AWF)
• Samet Kutuk
• oguz (LeoDrive)
• Ahmet ( Robeff )
• Ben (Benoit le Bourgeois) (VDK)
• Ozkan (Robeff)
• Coskun (Robeff)
• Hiroshi Igata (TierIV)
• Hans/Ming-Hong (KWT)
• Mark (KWT)
• Jun Su (MiiVii Tech)
• Armagan Arslan (LeoDrive)
• Nancy Lee (PixMoving)
• Armagan Arslan (LeoDrive)

Agenda:

• New Member Introduction
• Update on Zenoh at ROSCon

[chishengshih]

• New members: Manish ES

• ROS 2 with Zenoh:

• rmw_zenoh is released on ROSCon 2024

• Better performance, out-of-box configuration., and

• ROS 2 nods establish zenoh sessions in peer mode but with multicast UDP disabled.

• Gossip scouting is relied upon by peers and the router for discovery.

• P2P data transmission. (Different from DDS in ROS2?) (P.6)

• Why Zenoh router when ROS2 removes roscore? (P.7)
  ** Better connectivity management, traffic shaping, security and access control.
  ** easier for configuration.
  ** Compared to ROS1, the system needs to be restarted when roscore crashes. In Zeonh, the problem is solved.

• The status of rmw_zenoh: (P.8)
  ** ROS 2 version: only used in Iron, Jazzy, and Rolling.
  ** Zenoh 1.0.0 version waiting in review, upgraded from Zenoh 0.11.0
  ** Future:
  *** Using zenoh-cpp instead of zenoh-c
  *** Spport SHM in ROS 2

• Demo (P.9)
  ** The communication remains even the zenoh router crashes.
  ** restart Zenoh daemon does no affect the system operations.

• github repo for the demo at ROSCon 2024:
  ** seven exercises to practice Zenoh.

• Video demo for Zenoh on Robots

• How autoware can adopt Zenoh (P.10)
  ** Best way: use rmw_zenoh directly
  ** Alternative: Zenoh-bridge-ros2dds

1. Zenoh Carla Bridge
2. Fleet management system prototype

• Architecture of the CARLA Bridge:
  ** connect multiple containerized Autoware to CARLA.

• Architecture of the Fleet Management Systems using Zenoh (P.12)

• Remote driving using FMS.

[chishengshih]

Update for Zenoh:

• PDF
• VIdeo