Why is the traffic_light_recognition/enable_fine_detection option set to false in e2e_simulator.launch.xml?

[JesusAnaya]

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Hi all,

I’m working with the autoware_carla_interface module to test Carla and Autoware integration. Using the Carla-generated maps available here (Carla Lanelet2 Maps), I’m adding traffic lights to the map through the Tier4 Map Editor. My goal is to test the traffic_light_fine_detector module.

However, I noticed that the e2e_simulator.launch.xml file has the traffic_light_recognition/enable_fine_detection option set to false (reference here). Is there a specific reason for this setting to be hardcoded as false?

I’m considering refactoring this module to make this setting configurable via a node parameter. Before proceeding, I’d like to know if there are any known issues or limitations with this feature in the simulator, or if this was simply an older configuration that has not been updated.

Thanks for any insights!

[mitsudome-r]

I think it was disabled because of its computational cost. Simulators usually consume large computational resource, and we didn't want to run nodes that we can omit. The parameters are tuned against AWSIM simulators, and we found out that we didn't need to run autoware_traffic_light_fine_detector module since autoware_traffic_light_map_based_detector was already providing traffic light ROI with enough accuracy.