Support TrafficLightGroup in traffic_simulator / simple_sensor_simulator
#1357
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Checklist for reviewers ☑️All references to "You" in the following text refer to the code reviewer.
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HansRobo
added
wait for regression test
bump minor
yamacir-kit
requested changes
Oct 17, 2024
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Note This pull-request is waiting for #1406 to be merged |
…ht_group # Conflicts: # simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/sensor_simulation.hpp # simulation/traffic_simulator/include/traffic_simulator/entity/entity_manager.hpp # simulation/traffic_simulator/src/traffic_lights/traffic_light_publisher.cpp
…e_sensor_simulator
yamacir-kit
approved these changes
Nov 12, 2024
yamacir-kit
requested changes
Nov 12, 2024
I fixed in |
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yamacir-kit
approved these changes
Nov 12, 2024
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Description
Abstract
This pull-request supports
TrafficLightGroupArrayand addawf/universe/20240605asarchitecture_typefor it.Details
supporting
TrafficLightGroupArrayCurrently,
autoware_auto_perception_msgs/TrafficSignalArrayandautoware_perception_msgs/TrafficSignalArrayare supported for trafffic light inscenario_simulator_v2.However, I found that this was not enough to keep up with the latest Autoware.
In latest Autoware,
autoware_perception_msgs/TrafficSignalArray, the traffic light message supported in scenario_simulator_v2, is not used andautoware_perception_msgs/TrafficLightGroupArrayis used instead.So, this pull-request supports
autoware_perception_msgs/TrafficLightGrupArray.architecture_typedesignThe
architecture_typeis designed for switching message type (especially, messages for traffic light) of publishers for various autoware version.Now, there are 2
architecture_typeas below.awf/universeautoware_auto_perception_msgs/TrafficSignalArrayfor traffic lightsawf/universe/20230906autoware_perception_msgs/TrafficSignalArrayfor traffic lightsIn this PR, I added
awf/universe/20240605as below.awf/universe/20240605autoware_perception_msgs/TrafficLightGroupArrayfor traffic lightsNote
awf/universewill be deleted in near future after dropping support for messages related toAutoware.AutoReferences
regression test: OK
Destructive Changes
None
Known Limitations
None