Introduction
When I started working after my Master Studies, I had the opportunity to work in an environment with very motivated individuals; developing a complete robotics stack which would later expand into an automated driving stack. While being a part of this project, although I specialized in a particular field, I wanted to learn about the entire stack on a general level. For this purpose, I devised a general plan to test the available stacks in a simulator. The key word would be modularity.
In the Nepal Bhasha, the language of the Newar people from the Kathmandu Valley, Pha means pig (as there is no word for wild boar). This name was chosen because when I devised the idea back in 2021, I told my self "I will achieve this when pigs will fly!".
Goals
The goal of this project is to combine my work that expands into different organisations. The idea is to create an envrionment for the easy setup of an autonomous drivind stack. The environment should be modular enough to allow ease in switching any of the individual modules within the stack. The concept would be tested in simulation, namingly in Carla which would itself be a module within the stack (This mean it should also be switchable). The driving stack in question would be Autoware Auto.
Possible Future Ideas
These are ideas that not in the current plan (atleast within the PHA Project) but were interesting ideas founding during the research of the articles:
- Live Stick: Create a USB Stick to easily run a script or process that installs everything required outside the docker container including the operating system.
- Privileged Alternatives: Methods to pass the relevant devices without using the privileged tag.
- Analysis of the Claims in the Ubuntu White Paper and of the state of snap.
