Changelog & Release Notes

Releases are listed newest-first. Unreleased work lives under Unreleased until it is tagged.

Unreleased (since v2.0)

Major refactor: Autoware components are now vendored directly into the Zephyr application. The previous Actuation Service / Message Converter / Actuation Player split has been retired, along with the separate Autoware workspace.

New features

  • Direct integration of Autoware modules (MPC lateral, PID longitudinal, trajectory follower node) into the Zephyr application.

  • fvp_baser_aemv8r_smp target for Arm Fixed Virtual Platform simulation.

  • AVH deployment flow via avh.py, using the aem8r64-lan9c111 instance flavor.

  • Simplified top-level build.sh replaces the previous multi-step build.

Changed

  • Removed the dependency on a separate Autoware workspace and pre-compiled binaries. Autoware components are now compiled as part of the Zephyr application.

  • Replaced the ROS 2-based Message Converter and Actuation Player with direct DDS communication and integrated control logic.

  • The project is now a standalone Zephyr application with Autoware libraries linked in.

Third-party repositories

name:   cyclonedds
url:    https://github.com/eclipse-cyclonedds/cyclonedds.git
branch: master
commit: f7688ce709e53f408e30706ebc27bd052c03d693

name:   zephyr
url:    https://github.com/zephyrproject-rtos/zephyr.git
branch: main
commit: 339cd5a45fd2ebba064ef462b71c657336ca0dfe

v2.0

New features

  • Lighter deployment mode that does not require the full Autoware pipeline on the main compute:

    • Actuation Player component that replays recorded messages as DDS traffic.

    • Packet Analyzer that validates actuation commands against a reference recording.

Changed

  • Simplified the user guide; new Dockerfile replaces the previous multi-step reproduce instructions. Board flashing moved from the IDE to the command line.

  • Autoware updated to the 2023.10 release, moving the underlying ROS 2 distribution from Galactic to Humble.

  • Zephyr updated to 3.5.0 (with an additional patch for S32Z support beyond the release tag).

  • CycloneDDS updated for compatibility with the new Zephyr version.

  • Autoware pipeline (main compute) and Actuation Service (safety island) now use distinct ROS domain IDs.

Limitations

  • A devicetree overlay at actuation_module/boards/s32z270dc2_rtu0_r52@D.overlay is used as a workaround to set a unique MAC address for the NXP S32Z270DC2_R52 board, which otherwise reuses the same MAC on every build (tracked in Zephyr Project #61478).

  • The AVA Developer Platform and the S32Z need to share a sub-network.

  • RViz2 has been seen to crash on machines with NVIDIA Optimus graphics (libGL error: failed to create drawable). Run the visualizer on a different machine when this occurs.

Resolved issues

  • The S32Z no longer needs to be re-flashed between runs.

  • Official Zephyr support for the S32 Debug Probe has landed, so the IDE workaround and manual register pokes are no longer required.

Third-party repositories

name:   autoware
url:    https://github.com/autowarefoundation/autoware.git
branch: release/2023.10
commit: 78e5f575b258598e6460e6f04cc00211e7e7e604

name:   cyclonedds
url:    https://github.com/eclipse-cyclonedds/cyclonedds.git
branch: master
commit: f7688ce709e53f408e30706ebc27bd052c03d693

name:   zephyr
url:    https://github.com/zephyrproject-rtos/zephyr.git
branch: main
commit: 339cd5a45fd2ebba064ef462b71c657336ca0dfe

v1.0

Initial release: Pure Pursuit controller as the Zephyr application, with autoware.universe driving the main pipeline.

Limitations

  • No official support for the NXP S32 Debug Probe (debugging the S32Z required workarounds).

  • The AVA Developer Platform and the S32Z need to share a sub-network.

Known issues

  • The S32Z must be re-flashed before each run of the demo (tracked in CycloneDDS #1682).

Third-party repositories

name:   autoware
url:    https://github.com/autowarefoundation/autoware.git
branch: main
commit: 3a9bbd0142b453563469b8a3a6d232e98a51280a

name:   cyclonedds
url:    https://github.com/eclipse-cyclonedds/cyclonedds.git
branch: master
commit: 87b31771ad4dda92afccc6ad1cb84cb7f752b66b

name:   zephyr
url:    https://github.com/zephyrproject-rtos/zephyr.git
branch: main
commit: 07c6af3b8c35c1e49186578ca61a25c76e2fb308