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Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2024-09-19 |
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 traffic_light_arbiter package
Additional Links
No additional links.
Maintainers
- Kenzo Lobos-Tsunekawa
- Shunsuke Miura
Authors
No additional authors.
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.
Inputs / Outputs
Input
Name | Type | Description |
---|---|---|
~/sub/vector_map | autoware_auto_mapping_msgs::msg::HADMapBin | The vector map to get valid traffic signal ids. |
~/sub/perception_traffic_signals | autoware_perception_msgs::msg::TrafficSignalArray | The traffic signals from the image recognition pipeline. |
~/sub/external_traffic_signals | autoware_perception_msgs::msg::TrafficSignalArray | The traffic signals from an external system. |
Output
Name | Type | Description |
---|---|---|
~/pub/traffic_signals | autoware_perception_msgs::msg::TrafficSignalArray | The merged traffic signal state. |
Parameters
Core Parameters
Name | Type | Default Value | Description |
---|---|---|---|
external_time_tolerance |
double | 5.0 | The duration in seconds an external message is considered valid for merging |
perception_time_tolerance |
double | 1.0 | The duration in seconds a perception message is considered valid for merging |
external_priority |
bool | false | Whether or not externals signals take precedence over perception-based ones. If false, the merging uses confidence as a criteria |
CHANGELOG
No CHANGELOG found.
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
Deps | Name |
---|---|
ament_cmake_auto | |
autoware_cmake | |
ament_lint_auto | |
autoware_lint_common | |
autoware_auto_mapping_msgs | |
autoware_perception_msgs | |
lanelet2_core | |
lanelet2_extension | |
rclcpp | |
rclcpp_components |
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]
- traffic_light_arbiter_param_path [default: $(find-pkg-share 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 traffic_light_arbiter at Robotics Stack Exchange
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