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Package Summary
| Tags | No category tags. |
| Version | 0.44.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-04-25 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The autoware_traffic_light_arbiter package
Additional Links
No additional links.
Maintainers
- Kenzo Lobos-Tsunekawa
- Masato Saeki
- Yoshi Ri
Authors
No additional authors.
autoware_traffic_light_arbiter
Purpose
This package receives traffic signals from perception and external (e.g., V2X) components and combines them using either a confidence-based or a external-preference based approach.
TrafficLightArbiter
A node that merges traffic light/signal state from image recognition and external (e.g., V2X) systems to provide to a planning component.
Signal Match Validator
When enable_signal_matching is set to true, this node validates the match between perception signals and external signals.
The table below outlines how the matching process determines the output based on the combination of perception and external signal colors. Each cell represents the outcome when a specific color from a perception signal (columns) intersects with a color from an external signal (rows).
| External \ Perception | RED | AMBER | GREEN | UNKNOWN | Not Received |
|---|---|---|---|---|---|
| RED | RED | UNKNOWN | UNKNOWN | UNKNOWN | UNKNOWN |
| AMBER | UNKNOWN | AMBER | UNKNOWN | UNKNOWN | UNKNOWN |
| GREEN | UNKNOWN | UNKNOWN | GREEN | UNKNOWN | UNKNOWN |
| UNKNOWN | UNKNOWN | UNKNOWN | UNKNOWN | UNKNOWN | UNKNOWN |
| Not Received | UNKNOWN | UNKNOWN | UNKNOWN | UNKNOWN | UNKNOWN |
Inputs / Outputs
Input
| Name | Type | Description |
|---|---|---|
| ~/sub/vector_map | autoware_map_msgs::msg::LaneletMapBin | The vector map to get valid traffic signal ids. |
| ~/sub/perception_traffic_signals | autoware_perception_msgs::msg::TrafficLightGroupArray | The traffic signals from the image recognition pipeline. |
| ~/sub/external_traffic_signals | autoware_perception_msgs::msg::TrafficLightGroupArray | The traffic signals from an external system. |
Output
| Name | Type | Description |
|---|---|---|
| ~/pub/traffic_signals | autoware_perception_msgs::msg::TrafficLightGroupArray | The merged traffic signal state. |
Parameters
{{ json_to_markdown(“perception/autoware_traffic_light_arbiter/schema/traffic_light_arbiter.schema.json”) }}
CHANGELOG
Changelog for package autoware_traffic_light_arbiter
0.44.0 (2025-04-18)
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)
- chore(perception): refactor perception launch
(#10186)
- fundamental change
- style(pre-commit): autofix
- fix typo
- fix params and modify some packages
- pre-commit
- fix
- fix spell check
- fix typo
- integrate model and label path
- style(pre-commit): autofix
- for pre-commit
- run pre-commit
- for awsim
- for simulatior
- style(pre-commit): autofix
- fix grammer in launcher
- add schema for yolox_tlr
- style(pre-commit): autofix
- fix file name
- fix
- rename
- modify arg name to
- fix typo
- change param name
- style(pre-commit): autofix
* chore
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Shintaro Tomie <<58775300+Shin-kyoto@users.noreply.github.com>> Co-authored-by: Kenzo Lobos Tsunekawa <<kenzo.lobos@tier4.jp>>
- Contributors: Hayato Mizushima, Masato Saeki, Yutaka Kondo
0.42.0 (2025-03-03)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- chore: refine maintainer list
(#10110)
- chore: remove Miura from maintainer
* chore: add Taekjin-san to perception_utils package maintainer ---------
- feat(autoware_traffic_light_arbiter): added schema and related
files for autoware_traffic_light_arbiter
(#10100)
- Added schema and related files for autoware_traffic_light_arbiter
- Added traffic_light_arbiter.schema.json
- style(pre-commit): autofix
- fix
* for perform ci ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: MasatoSaeki <<masato.saeki@tier4.jp>>
- Contributors: Fumiya Watanabe, Shunsuke Miura, Vishal Chauhan
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_traffic_light_arbiter): add current time validation
(#9747)
- add current time validation
- style(pre-commit): autofix
- change ros parameter name
- style(pre-commit): autofix
- add validation with absolute function
- add timestamp of topic in test
* fix ci error ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>
- Contributors: Fumiya Watanabe, Masato Saeki
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 - perception (#9569)
- 0.39.0
- update changelog
- Merge commit '6a1ddbd08bd' into release-0.39.0
- 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(autoware_traffic_light*): add maintainer
(#9280)
- add fundamental commit
* add forgot package ---------
- 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, Masato Saeki, Ryohsuke Mitsudome, Yutaka Kondo
0.39.0 (2024-11-25)
- Merge commit '6a1ddbd08bd' into release-0.39.0
- 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(autoware_traffic_light*): add maintainer
(#9280)
- add fundamental commit
* add forgot package ---------
- 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, Masato Saeki, Yutaka Kondo
0.38.0 (2024-11-08)
- unify package.xml version to 0.37.0
- fix(autoware_traffic_light_arbiter): fix build error (#9186) fix build error
- test(autoware_traffic_light_arbiter): add node test
(#8747)
- add test dir
- update test node
- style(pre-commit): autofix
- refactor
- style(pre-commit): autofix
- add std namespace to size_t
* fix typo ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>
- chore(traffic_light_arbiter): missing name changes (#8278) chore: missing name changes
- refactor: traffic light arbiter/autoware prefix
(#8181)
- refactor(traffic_light_arbiter): apply [autoware]{.title-ref} namespace to traffic_light_arbiter
- refactor(traffic_light_arbiter): update the package name in CODEWONER
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>
- Contributors: Go Sakayori, Kenzo Lobos Tsunekawa, Manato Hirabayashi, Masato Saeki, Yutaka Kondo
0.26.0 (2024-04-03)
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| tier4_perception_launch |
Launch files
- launch/traffic_light_arbiter.launch.xml
-
- perception_traffic_signals [default: /internal/traffic_signals]
- external_traffic_signals [default: /external/traffic_signals]
- output_traffic_signals [default: /traffic_light_arbiter/traffic_signals]
- param_path [default: $(find-pkg-share autoware_traffic_light_arbiter)/config/traffic_light_arbiter.param.yaml]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged autoware_traffic_light_arbiter at Robotics Stack Exchange
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