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autoware_behavior_velocity_virtual_traffic_light_module package from autoware_universe repo

autoware_adapi_specs autoware_agnocast_wrapper autoware_auto_common autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_gyro_odometer autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_ndt_scan_matcher autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initializer autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_tf_generator autoware_bytetrack autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_crossing_objects_noise_filter autoware_radar_fusion_to_detected_object autoware_radar_object_clustering autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simple_object_merger autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_mission_planner_universe autoware_obstacle_cruise_planner autoware_obstacle_stop_planner autoware_path_optimizer autoware_path_smoother autoware_planning_validator autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_component_monitor autoware_component_state_monitor autoware_default_adapi autoware_adapi_adaptors autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_processing_time_checker autoware_system_diagnostic_monitor autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_mission_details_overlay_rviz_plugin autoware_overlay_rviz_plugin autoware_string_stamped_rviz_plugin autoware_perception_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_datetime_rviz_plugin tier4_localization_rviz_plugin tier4_planning_factor_rviz_plugin tier4_planning_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

Package Summary

Tags No category tags.
Version 0.43.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2025-04-04
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The autoware_behavior_velocity_virtual_traffic_light_module package

Additional Links

No additional links.

Maintainers

  • Kosuke Takeuchi
  • Tomoya Kimura
  • Shumpei Wakabayashi
  • Mamoru Sobue

Authors

  • Kosuke Takeuchi

Virtual Traffic Light

Role

Autonomous vehicles have to cooperate with the infrastructures such as:

  • Warehouse shutters
  • Traffic lights with V2X support
  • Communication devices at intersections
  • Fleet Management Systems (FMS)

The following items are example cases:

  1. Traffic control by traffic lights with V2X support traffic_light

  2. Intersection coordination of multiple vehicles by FMS. FMS

It’s possible to make each function individually, however, the use cases can be generalized with these three elements.

  1. start: Start a cooperation procedure after the vehicle enters a certain zone.
  2. stop: Stop at a defined stop line according to the status received from infrastructures.
  3. end: Finalize the cooperation procedure after the vehicle reaches the exit zone. This should be done within the range of stable communication.

This module sends/receives status from infrastructures and plans the velocity of the cooperation result.

System Configuration Diagram

@startuml
!theme cerulean-outline

' Component
node "Autoware ECU" as autoware_ecu {
  component "Behavior Planner" as behavior_planner
  component "Autoware API" as autoware_api
  database "Vector Map" as vector_map
  note bottom of vector_map
    Communication metadata is stored.
  end note
}

package "Infrastructures" as infrastructures {
  node "FMS" as fms
  node "Automatic Shutter" as automatic_shutter
  node "Manual Shutter" as manual_shutter
  node "Remove Controllable Traffic Light" as remote_controllable_traffic_light
  node "Warning Light" as warning_light
}

' Relationship
'' Behavior Planner <-> Autoware API
behavior_planner -up-> autoware_api : infrastructure\n command
autoware_api -down-> behavior_planner : infrastructure\n state

'' Vector Map
vector_map -left-> behavior_planner : vector map

'' Autoware API <-> Infrastructure
autoware_api -up-> fms : <color:blue>lock\n <color:blue>request
fms -down-> autoware_api : <color:blue>right-of-way\n <color:blue>state

autoware_api -up-> automatic_shutter : <color:green>approach\n <color:green>notification
automatic_shutter -down-> autoware_api : <color:green>shutter\n <color:green>state

autoware_api -up-> manual_shutter : <color:blue>open/close\n <color:blue>command
manual_shutter -down-> autoware_api : <color:blue>shutter\n <color:blue>state

autoware_api -up-> remote_controllable_traffic_light : <color:green>light change\n <color:green>command
remote_controllable_traffic_light -down-> autoware_api : <color:green>light\n <color:green>state

autoware_api -up-> warning_light : <color:blue>activation\n <color:blue>command
warning_light -down-> autoware_api : <color:blue>warning light\n <color:blue>state

' Layout
'' Infrastructure
fms -[hidden]right-> automatic_shutter
automatic_shutter -[hidden]right-> manual_shutter
manual_shutter -[hidden]right-> remote_controllable_traffic_light
remote_controllable_traffic_light -[hidden]right-> warning_light

@enduml

Planner and each infrastructure communicate with each other using common abstracted messages.

  • Special handling for each infrastructure is not scalable. The interface is defined as an Autoware API.
  • The requirements for each infrastructure are slightly different, but will be handled flexibly.

FMS: Intersection coordination when multiple vehicles are in operation and the relevant lane is occupied

  • Automatic shutter: Open the shutter when approaching/close it when leaving
  • Manual shutter: Have the driver open and close the shutter.
  • Remote control signal: Have the driver change the signal status to match the direction of travel.
  • Warning light: Activate the warning light

Support different communication methods for different infrastructures

  • HTTP
  • Bluetooth
  • ZigBee

Have different meta-information for each geographic location

  • Associated lane ID
  • Hardware ID
  • Communication method

FMS: Fleet Management System

@startuml
!theme cerulean-outline

' Component
node "Autoware ECU" as autoware_ecu {
component "Behavior Planner" as behavior_planner
component "Autoware API" as autoware_api
component "Web.Auto Agent" as web_auto_agent
note right of web_auto_agent : (fms_bridge)
database "Vector Map" as vector_map

package "Infrastructure Bridges" as infrastructure_bridges {
  component "Automatic Shutter Bridge" as automatic_shutter_bridge
  component "Manual Shutter Bridge" as manual_shutter_bridge
  component "Remove Controllable Traffic Light Bridge" as remote_controllable_traffic_light_bridge
  component "Warning Light Bridge" as warning_light_bridge
}
}

cloud "FMS" as fms {
  component "FMS Gateway" as fms_gateway

  component "Intersection Arbitrator" as intersection_arbitrator
  database "Intersection Lock Table" as intersection_lock_table

  component "Vector Map Builder" as vector_map_builder
  database "Vector Map Database" as vector_map_database
}

package "Infrastructures" as infrastructures {
  node "Automatic Shutter" as automatic_shutter
  node "Manual Shutter" as manual_shutter
  node "Remote Controllable Traffic Light" as remote_controllable_traffic_light
  node "Warning Light" as warning_light
}

' Relationship
'' Behavior Planner <-> Autoware API
behavior_planner -up-> autoware_api : infrastructure\n command
autoware_api -down-> behavior_planner : infrastructure state\n as virtual traffic light

'' Autoware API <-> Web.Auto
autoware_api -up-> web_auto_agent : infrastructure\n command
web_auto_agent -down-> autoware_api : infrastructure state\n as virtual traffic light

'' Autoware API <-> Infrastructure Bridge
autoware_api -right-> infrastructure_bridges : infrastructure\n command
infrastructure_bridges -left-> autoware_api : infrastructure state\n as virtual traffic light

'' Infrastructure Bridge <-> Infrastructure
automatic_shutter_bridge -right-> automatic_shutter : approach notification
automatic_shutter -left-> automatic_shutter_bridge : shutter state

manual_shutter_bridge -right-> manual_shutter : open/close command
manual_shutter -left-> manual_shutter_bridge : shutter state

remote_controllable_traffic_light_bridge -right-> remote_controllable_traffic_light : light change command
remote_controllable_traffic_light -left-> remote_controllable_traffic_light_bridge : light state

warning_light_bridge -right-> warning_light : activation command
warning_light -left-> warning_light_bridge : warning light state

'' Web.Auto
web_auto_agent -up-> fms_gateway : infrastructure\n command
fms_gateway -down-> web_auto_agent : infrastructure state\n as virtual traffic light

fms_gateway -up-> intersection_arbitrator : lock request
intersection_arbitrator -down-> fms_gateway : right-of-way state

intersection_arbitrator -up-> intersection_lock_table : lock request
intersection_lock_table -down-> intersection_arbitrator : lock result

vector_map_builder -down-> vector_map_database : create vector map
vector_map_database -left-> intersection_arbitrator : vector map

'' Vector Map
vector_map_database .down.> web_auto_agent : vector map
web_auto_agent -left-> vector_map : vector map
vector_map -down-> behavior_planner : vector map

' Layout
'' Infrastructure Bridge
automatic_shutter_bridge -[hidden]down-> manual_shutter_bridge
manual_shutter_bridge -[hidden]down-> remote_controllable_traffic_light_bridge
remote_controllable_traffic_light_bridge -[hidden]down-> warning_light_bridge

'' Infrastructure
automatic_shutter -[hidden]down-> manual_shutter
manual_shutter -[hidden]down-> remote_controllable_traffic_light
remote_controllable_traffic_light -[hidden]down-> warning_light

@enduml

Module Parameters

Parameter Type Description
max_delay_sec double [s] maximum allowed delay for command
near_line_distance double [m] threshold distance to stop line to check ego stop.
dead_line_margin double [m] threshold distance that this module continue to insert stop line.
hold_stop_margin_distance double [m] parameter for restart prevention (See following section)
check_timeout_after_stop_line bool [-] check timeout to stop when linkage is disconnected

Restart prevention

If it needs X meters (e.g. 0.5 meters) to stop once the vehicle starts moving due to the poor vehicle control performance, the vehicle goes over the stopping position that should be strictly observed when the vehicle starts to moving in order to approach the near stop point (e.g. 0.3 meters away).

This module has parameter hold_stop_margin_distance in order to prevent from these redundant restart. If the vehicle is stopped within hold_stop_margin_distance meters from stop point of the module (_front_to_stop_line < hold_stop_margin_distance), the module judges that the vehicle has already stopped for the module’s stop point and plans to keep stopping current position even if the vehicle is stopped due to other factors.

![example](docs/restart_prevention.svg){width=1000}
parameters
![example](docs/restart.svg){width=1000}
outside the hold_stop_margin_distance
![example](docs/keep_stopping.svg){width=1000}
inside the hold_stop_margin_distance

Flowchart

@startuml
!theme cerulean-outline
start

if (before start line?) then (yes)
  stop
else (no)
endif

if (after end line?) then (yes)
  stop
else (no)
endif

:send command to infrastructure;

if (no stop line?) then (yes)
  stop
else (no)
endif

:check infrastructure state;

if (timeout or not received?) then (yes)
  :stop at stop line;
  stop
else (no)
endif

if (no right of way?) then (yes)
  :stop at stop line;
else (no)
endif

if (finalization is requested?) then (yes)
  if (not finalized?) then (yes)
    :stop at end line;
  else (no)
  endif
else (no)
endif

stop
@enduml

Map Format

  • To avoid sudden braking, the length between the start line and stop line of a virtual traffic light must be longer than $l_{\mathrm{min}}$ calculated as follows, assuming that $v_0$ is the velocity when passing the start line and $a_{\mathrm{min}}$ is minimum acceleration defined in Autoware.
\[\begin{align} l_{\mathrm{min}} = -\frac{v_0^2}{2 a_{\mathrm{min}}} \end{align}\]

Known Limits

  • tbd.
CHANGELOG

Changelog for package autoware_behavior_velocity_virtual_traffic_light_module

0.43.0 (2025-03-21)

  • Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
  • chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
  • fix(behavior_velocity_planner): planning factor integration (#10292)
    • fix: blind_spot
    • fix: crosswalk
    • fix: detection_area
    • fix: intersection
    • fix: no_drivable_lane
    • fix: no_stopping_area
    • fix: run_out
    • fix: stop_line
    • fix: traffic_light
    • fix: virtual_traffic_light

    * fix: walk_way ---------

  • feat(Autoware_planning_factor_interface): replace tier4_msgs with autoware_internal_msgs (#10204)
  • Contributors: Hayato Mizushima, Satoshi OTA, Yutaka Kondo, 心刚

0.42.0 (2025-03-03)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
  • feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (#10023)
  • feat(planning_test_manager): abstract message-specific functions (#9882)
    • abstract message-specific functions
    • include necessary header
    • adapt velocity_smoother to new test manager
    • adapt behavior_velocity_planner to new test manager
    • adapt path_optimizer to new test manager
    • fix output subscription
    • adapt behavior_path_planner to new test manager
    • adapt scenario_selector to new test manager
    • adapt freespace_planner to new test manager
    • adapt planning_validator to new test manager
    • adapt obstacle_stop_planner to new test manager
    • adapt obstacle_cruise_planner to new test manager
    • disable test for freespace_planner
    • adapt behavior_velocity_crosswalk_module to new test manager
    • adapt behavior_path_lane_change_module to new test manager
    • adapt behavior_path_avoidance_by_lane_change_module to new test manager
    • adapt behavior_path_dynamic_obstacle_avoidance_module to new test manager
    • adapt behavior_path_external_request_lane_change_module to new test manager
    • adapt behavior_path_side_shift_module to new test manager
    • adapt behavior_path_static_obstacle_avoidance_module to new test manager
    • adapt path_smoother to new test manager
    • adapt behavior_velocity_blind_spot_module to new test manager
    • adapt behavior_velocity_detection_area_module to new test manager
    • adapt behavior_velocity_intersection_module to new test manager
    • adapt behavior_velocity_no_stopping_area_module to new test manager
    • adapt behavior_velocity_run_out_module to new test manager
    • adapt behavior_velocity_stop_line_module to new test manager
    • adapt behavior_velocity_traffic_light_module to new test manager
    • adapt behavior_velocity_virtual_traffic_light_module to new test manager
    • adapt behavior_velocity_walkway_module to new test manager
    • adapt motion_velocity_planner_node_universe to new test manager
    • include necessary headers

    * Odometries -> Odometry ---------Co-authored-by: Takayuki Murooka <<takayuki5168@gmail.com>>

  • Contributors: Fumiya Watanabe, Mitsuhiro Sakamoto, Ryohsuke Mitsudome, 心刚

0.41.2 (2025-02-19)

  • chore: bump version to 0.41.1 (#10088)
  • Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • feat(autoware_planning_test_manager): remove dependency of VirtualTrafficLightState and ExpandStopRange (#9953)
    • feat(autoware_planning_test_manager): remove dependency of virtual traffic light

    * modify obstacle_stop test code ---------

  • chore(planning): move package directory for planning factor interface (#9948)
    • chore: add new package for planning factor interface
    • chore(surround_obstacle_checker): update include file
    • chore(obstacle_stop_planner): update include file
    • chore(obstacle_cruise_planner): update include file
    • chore(motion_velocity_planner): update include file
    • chore(bpp): update include file
    • chore(bvp-common): update include file
    • chore(blind_spot): update include file
    • chore(crosswalk): update include file
    • chore(detection_area): update include file
    • chore(intersection): update include file
    • chore(no_drivable_area): update include file
    • chore(no_stopping_area): update include file
    • chore(occlusion_spot): update include file
    • chore(run_out): update include file
    • chore(speed_bump): update include file
    • chore(stop_line): update include file
    • chore(template_module): update include file
    • chore(traffic_light): update include file
    • chore(vtl): update include file
    • chore(walkway): update include file

    * chore(motion_utils): remove factor interface ---------

  • feat(behavior_velocity_planner)!: remove velocity_factor completely (#9943)
    • feat(behavior_velocity_planner)!: remove velocity_factor completely

    * minimize diff ---------

  • feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (#9927) Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>> Co-authored-by: Ryohsuke Mitsudome <<43976834+mitsudome-r@users.noreply.github.com>> Co-authored-by: satoshi-ota <<satoshi.ota928@gmail.com>>
  • feat(behavior_velocity_planner): remove virtual traffic light dependency from behavior_velocity_planner and behavior_velocity_planner_common (#9746)
    • feat: remove-virtual-traffic-light-dependency-from-plugin-manager
    • build passed
    • fix test
    • fix test
    • fix

    * fix typo ---------

  • feat(behavior_velocity_modules): add node test (#9790)
    • feat(behavior_velocity_crosswalk): add node test
    • fix
    • feat(behavior_velocity_xxx_module): add node test
    • fix
    • fix
    • fix
    • fix

    * change directory tests -> test ---------

  • refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (#9799)
    • split into planer_common and rtc_interface

    * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp Co-authored-by: Mamoru Sobue <<mamoru.sobue@tier4.jp>> * Update planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/include/autoware/behavior_velocity_rtc_interface/scene_module_interface_with_rtc.hpp Co-authored-by: Mamoru Sobue <<mamoru.sobue@tier4.jp>> * fix ——

    Co-authored-by: Mamoru Sobue <<mamoru.sobue@tier4.jp>>

  • Contributors: Fumiya Watanabe, Mamoru Sobue, Satoshi OTA, Takayuki Murooka

0.40.0 (2024-12-12)

  • Merge branch 'main' into release-0.40.0
  • Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
  • fix: fix ticket links in CHANGELOG.rst (#9588)
  • chore(package.xml): bump version to 0.39.0 (#9587)
    • chore(package.xml): bump version to 0.39.0
    • fix: fix ticket links in CHANGELOG.rst

    * fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

  • fix: fix ticket links in CHANGELOG.rst (#9588)
  • fix(cpplint): include what you use - planning (#9570)
  • feat(behavior_velocity_planner)!: remove stop_reason (#9452)
  • 0.39.0
  • update changelog
  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
  • chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
    • unify package.xml version to 0.37.0
    • remove system_monitor/CHANGELOG.rst
    • add changelog

    * 0.38.0

  • Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Yutaka Kondo

0.39.0 (2024-11-25)

0.38.0 (2024-11-08)

  • unify package.xml version to 0.37.0
  • test(virtual_traffic_light): add unit tests for utils (#9107)
  • chore(virtual_traffic_light): add soblin to maintainer (#9147)
  • refactor(virtual_traffic_light): move to utils for unit test (#9106)
  • fix(autoware_behavior_velocity_virtual_traffic_light_module): fix unusedFunction (#8670) fix:unusedFunction
  • fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (#8376) Co-authored-by: Ryuta Kambe <<ryuta.kambe@tier4.jp>>
  • fix(autoware_behavior_velocity_virtual_traffic_light_module): fix unusedStructMember (#8394) fix:unusedStructMember
  • fix(behavior_path_planner, behavior_velocity_planner): fix redefinition errors (#7688)
  • feat: add [autoware_]{.title-ref} prefix to [lanelet2_extension]{.title-ref} (#7640)
  • fix(autoware_behavior_velocity_planner_common): remove lane_id check from arc_lane_util (#7710)
    • fix(arc_lane_util): remove lane_id check from arc_lane_util

    * modify test_arc_lane_util.cpp ---------

  • refactor(universe_utils/motion_utils)!: add autoware namespace (#7594)
  • refactor(motion_utils)!: add autoware prefix and include dir (#7539) refactor(motion_utils): add autoware prefix and include dir
  • feat(autoware_universe_utils)!: rename from tier4_autoware_utils (#7538) Co-authored-by: kosuke55 <<kosuke.tnp@gmail.com>>
  • chore(behavior_velocity_planner): move packages (#7526)
  • Contributors: Fumiya Watanabe, Kosuke Takeuchi, Ryuta Kambe, Takayuki Murooka, Yukinari Hisaki, Yutaka Kondo, kobayu858, taisa1

0.26.0 (2024-04-03)

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