Following the successful release 1.0.0 of Autoware.Auto we have explored how we can pair it with a Kubernetes setup to easily distribute and manage the different modules.
To showcase the simplicity of the distributed approach we have taken the 3D Perception stack demo and split it into 3 Kubernetes deployments:
One to replay the Velodyne pcap data.
One responsible for the sensing module, which in this case kicks off the front and rear Velodyne drivers.
The last one to run all the 3D Perception stack nodes, namely point cloud filter transform, ray ground classifier and the euclidean cluster.
To get it closer to what a working configuration on a vehicle would look like we have created individual Docker images for each deployment where the minimal set of nodes have been built, so they are lighter than a full Autoware.Auto image.
As for the hardware we are using AutoCore's PCU to run the Autoware.Auto work and a laptop for visualization purposes.
To get the full step-by-step blog post is here.