feat(lanelet2_map_validator): add validator to check traffic light facing #165
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TaikiYamada4
requested review from
anhnv3991,
soblin,
Motsu-san,
SakodaShintaro and
YamatoAndo
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TaikiYamada4
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tag:run-build-and-test-differential
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soblin
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Dec 5, 2024
map/autoware_lanelet2_map_validator/docs/traffic_light/missing_referrers_for_traffic_lights.md
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| | Issue Code | Message | Severity | Primitive | Description | Approach | | ||
| | ------------------------------ | ----------------------------------------------------------------------------- | -------- | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | ||
| | TrafficLight.CorrectFacing-001 | "Lanelets referring this traffic_light have several divergent starting lines" | Info | Linestring | A `traffic_light` subtype regulatory element may be referred by multiple lanelets. This warning appears when the starting line of those lanelets (which tends to be the same or similar) diverge too much. | This hardly happens, but maybe the referring lanelet is completely wrong or the traffic light cannot be seen from the starting edge of the referring lanelet. | |
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namely lanelets that diverges both "straight" and "left" direction in an intersection ?
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Yes, like those kind of lanelets but doesn't share the same starting edge.
It is very unnatural to happen but have to be promised not to happen because it is required in the calculation.
Signed-off-by: TaikiYamada4 <[email protected]>
Signed-off-by: TaikiYamada4 <[email protected]>
Signed-off-by: TaikiYamada4 <[email protected]>
Signed-off-by: TaikiYamada4 <[email protected]>
…raffic_lights Signed-off-by: TaikiYamada4 <[email protected]>
* Added issue code processing Signed-off-by: TaikiYamada4 <[email protected]> * Revised tests for json processing Signed-off-by: TaikiYamada4 <[email protected]> * Added issue codes for missing_regulatory_elements_for_crosswalks Signed-off-by: TaikiYamada4 <[email protected]> * Added issue codes for regulatory_element_details_for_crosswalks Signed-off-by: TaikiYamada4 <[email protected]> * Added issue codes for missing_regulatory_elements_for_stop_lines Signed-off-by: TaikiYamada4 <[email protected]> * Added issue codes for missing_regulatory_elements_for_traffic_lights Signed-off-by: TaikiYamada4 <[email protected]> * Added issue codes for regulatory_element_details_for_traffic_lights Signed-off-by: TaikiYamada4 <[email protected]> * Added issue codes to docs Signed-off-by: TaikiYamada4 <[email protected]> * Change issue_code_prefix to append_issue_code_prefix Signed-off-by: TaikiYamada4 <[email protected]> * Fixed merging mistake Signed-off-by: TaikiYamada4 <[email protected]> --------- Signed-off-by: TaikiYamada4 <[email protected]>
Added test for TrafficLight.CorrectFacing-001 Signed-off-by: TaikiYamada4 <[email protected]>
Signed-off-by: TaikiYamada4 <[email protected]>
Signed-off-by: TaikiYamada4 <[email protected]>
Signed-off-by: TaikiYamada4 <[email protected]>
Signed-off-by: TaikiYamada4 <[email protected]>
Signed-off-by: TaikiYamada4 <[email protected]>
Signed-off-by: TaikiYamada4 <[email protected]>
Signed-off-by: TaikiYamada4 <[email protected]>
…_referrers_for_traffic_lights.md Co-authored-by: Mamoru Sobue <[email protected]> Signed-off-by: TaikiYamada4 <[email protected]>
Signed-off-by: TaikiYamada4 <[email protected]>
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Signed-off-by: TaikiYamada4 <[email protected]>
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Description
The facing of the traffic lights are defined by its linestring direction.
This PR adds a validator
mapping.traffic_light.correct_facingthat checks whether the traffic light is facing correctly.Besides, I also added a validator
mapping.traffic_light.missing_referrersthat checks thetraffic_lighttype regulatory element is referred by lanelets because the traffic light facing validation requires them and it is also required in the Autoware vector map requirements.In short, this PR adds the following implementation.
mapping.traffic_light.missing_referrersthat detectstraffic_lighttype regulatory elements that are NOT referred by lanelets.mapping.traffic_light.correct_facingthat detects wrong traffic light facing.mapping.traffic_light.missing_referrersandmapping.traffic_light.correct_facing.mapping.traffic_light.missing_referrersandmapping.traffic_light.correct_facing.autoware_requirement_set.jsonautoware_requirement_set.json. (The crosswalk and traffic light were on the opposite side)Related links
None
Tests performed
colcon test --packages-select autoware_lanelet2_map_validator --event-handlers console_cohesion+passes.Notes for reviewers
Please take a look at
traffic_light_facing.mdfor further understandings to the algorithm of it.Interface changes
None
Effects on system behavior
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