# Autoware Hackathon - London

**URL:** <https://discourse.openrobotics.org/t/autoware-hackathon-london/10270>\
**Category:** Autoware\
**Created:** [August 13, 2019, 1:52pm UTC](https://discourse.openrobotics.org/t/autoware-hackathon-london/10270 "2019-08-13T13:52:51Z")\
**Posts on this page:** 11\
**Page:** 1

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**Author:** ![Brian\_Holt](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/brian_holt/32/1658_2.png) [@Brian\_Holt](https://discourse.openrobotics.org/u/Brian_Holt)\
**Post date:** [August 13, 2019, 1:52pm UTC](https://discourse.openrobotics.org/t/autoware-hackathon-london/10270/1 "2019-08-13T13:52:51Z")

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It is my pleasure to invite you to the next Autoware Hackthon, hosted at Parkopedia’s offices in London.

As usual with hackathons, there will be lots of flexibility for everyone to work on the topic that is of most interest to them. Suggested topics of interest to us are

1. to port the minimal self-driving car stack that Parkopedia has developed in ROS1 to ROS2 and submit MR’s to Autoware.Auto.
2. to integrate Lanelets and OSM XML maps into Autoware.ai

Feel free to propose your own topics.

Dates:  
25th - 27th September

Address:  
1st Floor Apex House  
29-35 Long Lane  
London  
SE1 4PL

Please indicate if you plan to attend by replying to this thread. I need to ensure enough space is available.

On 26th (Thursday evening), feel free to join in with the London Self-Driving Car Meetup at the same venue. Please [register for the event](https://www.meetup.com/London-Self-Driving-Autonomous-Car-Technology-Meetup/events/263656144/).

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**Author:** ![Antonis\_Skardasis](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/antonis_skardasis/32/3285_2.png) [@Antonis\_Skardasis](https://discourse.openrobotics.org/u/Antonis_Skardasis)\
**Post date:** [August 13, 2019, 4:13pm UTC](https://discourse.openrobotics.org/t/autoware-hackathon-london/10270/2 "2019-08-13T16:13:18Z")

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Great news! Happy to participate.  
Antonis

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**Author:** ![maximosipov](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/maximosipov/32/2953_2.png) [@maximosipov](https://discourse.openrobotics.org/u/maximosipov)\
**Post date:** [August 17, 2019, 3:09pm UTC](https://discourse.openrobotics.org/t/autoware-hackathon-london/10270/3 "2019-08-17T15:09:58Z")

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Would love to participate, but the working day dates make it impossible ☹ Why not plan for a weekend?

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**Author:** ![LiyouZhou](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/liyouzhou/32/3966_2.png) [@LiyouZhou](https://discourse.openrobotics.org/u/LiyouZhou)\
**Post date:** [August 20, 2019, 10:20am UTC](https://discourse.openrobotics.org/t/autoware-hackathon-london/10270/4 "2019-08-20T10:20:42Z")

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Unfortunately clashes with linaro connect. Would love to attend the next one.

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**Author:** ![Brian\_Holt](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/brian_holt/32/1658_2.png) [@Brian\_Holt](https://discourse.openrobotics.org/u/Brian_Holt)\
**Post date:** [August 21, 2019, 12:25pm UTC](https://discourse.openrobotics.org/t/autoware-hackathon-london/10270/5 "2019-08-21T12:25:12Z")

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Most of the people working on Autoware seem to be doing so through their company, which means we are able to get more people to join during the week than on a weekend.

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**Author:** ![Brian\_Holt](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/brian_holt/32/1658_2.png) [@Brian\_Holt](https://discourse.openrobotics.org/u/Brian_Holt)\
**Post date:** [August 28, 2019, 11:22am UTC](https://discourse.openrobotics.org/t/autoware-hackathon-london/10270/6 "2019-08-28T11:22:14Z")

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@yunus.caliskan, I’ve just sent you an invitation on a Parkopeda letterhead following [your request](http://discourse.ros.org/t/about-the-autoware-hackathon/10449). If anyone else has a similar request, please let me know as soon as possible!

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**Author:** ![esteve](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/esteve/32/12_2.png) [@esteve](https://discourse.openrobotics.org/u/esteve)\
**Post date:** [August 31, 2019, 9:27am UTC](https://discourse.openrobotics.org/t/autoware-hackathon-london/10270/7 "2019-08-31T09:27:21Z")

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<div class="post-metadata">

**Author:** ![Brian\_Holt](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/brian_holt/32/1658_2.png) [@Brian\_Holt](https://discourse.openrobotics.org/u/Brian_Holt)\
**Post date:** [September 12, 2019, 9:13am UTC](https://discourse.openrobotics.org/t/autoware-hackathon-london/10270/8 "2019-09-12T09:13:46Z")

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Please [sign up](https://www.eventbrite.co.uk/e/autoware-hackathon-tickets-72484802997) if you plan to attend! There will be a live link for those who want to join in remotely.

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**Author:** ![cho3](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/cho3/32/3714_2.png) [@cho3](https://discourse.openrobotics.org/u/cho3)\
**Post date:** [September 23, 2019, 7:18pm UTC](https://discourse.openrobotics.org/t/autoware-hackathon-london/10270/9 "2019-09-23T19:18:07Z")

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In an effort to get the Autoware.Auto implementation of NDT as high quality as possible, @yunus.caliskan and I have been hard at work coming up with an initial design and supporting documents for NDT. You can find them listed below:

1. [Literature review](https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/merge_requests/81)
2. [High level design](https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/merge_requests/90)
3. [Failure analysis](https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/blob/master/src/localization/ndt/design/ndt_failure_analysis.md)
4. [APIs and architecture](https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/merge_requests/94/diffs)
5. [Psuedocode/Review of Autoware.AI implementation](https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/merge_requests/92/diffs)
6. [Metrics](https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/merge_requests/93)

Of these, I would 100% recommend anyone planning on working on NDT take a look at our currently proposed API and architecture (point 4, work in progress). The psuedocode (5), and high level localization architecture/design (2) might also be useful to skim through for a higher-level overview.

Further, if anyone has suggestions for improvements in _any_ of these documents, those are super welcome too.

Finally, based on the [proposed API](https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/merge_requests/94/diffs) (which is prospective; feel free to diverge or make or suggest changes), I would like to suggest the following work packages or parts of the proposed architecture that any one person can grab:

1. Map publisher (pcd → publish map)
2. Map (format) validation
3. `PointCloud2` → `NdtRepresentation`
4. Adapt voxel grid to make a plain `NdtRepresentation`
5. Some kind of simple `Point` representation for scan
6. Newton’s method
7. Simple line search
8. Gradient and hessian computation in `P2D optimization problem`
9. `LocalizerBase`
10. initial guess stuff
11. `LocalizerBaseNode`

* * *

1. `NdtLocalizer`
2. `NdtLocalizerNode`

Where I would guess the first 11 or so items can be done independently, and the last two should be done jointly in the final integration.

For the map-related items (1-3), I would like to suggest the following format in `PointCloud2` (there’s no other good place to document this):

```auto
// PointCloud2
fields = {
  // centroid
  PointField{"x", 8, FLOAT64, 1},
  PointField{"y", 8, FLOAT64, 1},
  PointField{"z", 8, FLOAT64, 1},
  // covariance, row major
  PointField{"cov_xx", 8, FLOAT64, 1},
  PointField{"cov_xy", 8, FLOAT64, 1},
  PointField{"cov_xz", 8, FLOAT64, 1},
  PointField{"cov_yy", 8, FLOAT64, 1},
  PointField{"cov_yz", 8, FLOAT64, 1},
  PointField{"cov_zz", 8, FLOAT64, 1},
}

```

@Brian_Holt @Antonis_Skardasis @esteve If you could forward this information to anyone else who you know is attending the hackathon, that would be great!

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<div class="post-metadata">

**Author:** ![mitsudome-r](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/mitsudome-r/32/3116_2.png) [@mitsudome-r](https://discourse.openrobotics.org/u/mitsudome-r)\
**Post date:** [September 25, 2019, 1:37am UTC](https://discourse.openrobotics.org/t/autoware-hackathon-london/10270/10 "2019-09-25T01:37:52Z")

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> 1. to integrate Lanelets and OSM XML maps into Autoware.ai

Unfortunately, I wouldn’t be able to participate the hackathon, but if you are planning to integrate lanelets into autoware.ai, I would like to share my work that I have been working on for last few weeks.

This is the issue thread about lanelet2 integration. [Adding Lanelet2 support for all nodes that use Aisan Vector Map (#17) · Issues · Autoware Foundation / MovedToGitHub / autoware · GitLab](https://gitlab.com/autowarefoundation/autoware.ai/autoware/issues/17)

and here’s my list of branches related to Lanelet2. Some are already merged into autoware.ai main repository.

**messages repository**  
• [feature/lanelet2\_msgs](https://gitlab.com/mitsudome-r/messages/tree/feature/lanelet2_msgs) (MR merged)  
**Common repository**  
• [feature/lanelet2\_extension\_mr](https://gitlab.com/mitsudome-r/common/tree/feature/lanelet2_extension_mr) (This is library to handle lanelet2, MR merged)  
• [feature/lanelet2\_loader\_mr](https://gitlab.com/mitsudome-r/common/tree/feature/lanelet2_loader_mr) (MR merged)  
**core\_perception**  
• [feature/lanelet2\_feat\_proj\_mr](https://gitlab.com/mitsudome-r/core_perception/tree/feature/lanelet2_feat_proj_mr) (MR under review)  
• [feature/lanelet2\_imm\_ukf\_track](https://gitlab.com/mitsudome-r/core_perception/tree/feature/lanelet2_imm_ukf_track)  
**core\_planning**  
• [feature/lanelet2\_decision\_maker](https://gitlab.com/mitsudome-r/core_planning/tree/feature/lanelet2_decision_maker)  
• [feature/lanelet2\_velocity\_set](https://gitlab.com/mitsudome-r/core_planning/tree/feature/lanelet2_velocity_set)  
• [feature/lanelet2\_lane\_rule](https://gitlab.com/mitsudome-r/core_planning/tree/feature/lanelet2_lane_rule) (MR under review)

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<div class="post-metadata">

**Author:** ![Brian\_Holt](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/brian_holt/32/1658_2.png) [@Brian\_Holt](https://discourse.openrobotics.org/u/Brian_Holt)\
**Post date:** [September 25, 2019, 8:55am UTC](https://discourse.openrobotics.org/t/autoware-hackathon-london/10270/11 "2019-09-25T08:55:37Z")

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For those who would like to join remotely, feel free on [Launch Meeting - Zoom](https://zoom.us/j/4048290287). I’ll keep it open as long as I can.