Status Update: 2023-02-15

[haixuanTao]

😃

[haixuanTao]

dora vs ROS 2 - Autoware

Points on Autoware (c++):

• They are not using shared memory at the moment
• They need at least one copy for Pointcloud msg on read and a copy on send in order to use the pcl library. See: pcl_conversion source code and pcl source code

Thoughts on migration strategy for ROS 2 projects thanks to Zheng Fei(@liuzf1988) work on autoware.

Migrating ROS 2 project to dora-rs requires keeping ROS 2 compiling system (colcon and catkin, package.xml, CMakeLists.txt, apt install module ... ). This is also true if we want to create bridges in rust between ROS2 and dora, through ros2_rust.

This means that it's difficult to dissociate ROS2 modules, such as in the case of autoware. However, we want a lot of flexibility, reusability and composability in dora.

=> Therefore, we are postponing our effort on ROS2 migration capability for now.

[haixuanTao]

Dora-oasis

Xi'an team is able to run dora-drives with oasis (docker) without major issues.
The issue they have now are more geared toward features for the competition specifically. Examples that have been fixed:

• make yolov5 run without internet... Yolov5 pulls weights and check for updates.
• make docker container smaller...

Current status:

• Installation native is ok
• Installation through docker is ok
• Running scenario is ok
• Stopping scenario is ok

[haixuanTao]

Dora

Minor improvements:

• Expand environment value within the dataflow description

    env:
      YOLOV5_PATH: $HOME/Documents/dependencies/yolov5

• Remove coordinator panic if one node panics. See: Manage node failure: Await all nodes to finish before marking dataflow as finished #183
• Adding a grace period before killing node if it is not responding to stop. See: Adding grace duration #184

[haixuanTao]

dora-documentation

New documentation websites and DNS https://dora.carsmos.ai/
Thanks to Weijun (@wlee-fw)

Current documentation is based on Divio principle.
https://documentation.divio.com/

• Tutorials. Dora-drives documentation: https://dora.carsmos.ai/dora-drives/
  • learn by doing
  • getting started
• How to Guide. Soon in Dora-drives documentation: https://dora.carsmos.ai/dora-drives/
  • Focus on the goal.
  • ex: How to change nodes?
• explanation. Dora-rs documentation https://dora.carsmos.ai/dora/
  • giving context
  • explaining why
• reference. https://dora.carsmos.ai/dora/ and Soon in docs.rs for rust code
  • structure
  • consistency
  • description