feat(behavior velocity planner, traffic light)!: conject with v2i msg #941
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yuki-takagi-66
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rej55
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planning/behavior_velocity_traffic_light_module/config/traffic_light.param.yaml
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planning/behavior_velocity_traffic_light_module/src/manager.cpp
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Signed-off-by: Yuki Takagi <[email protected]>
Signed-off-by: Yuki Takagi <[email protected]>
Signed-off-by: Yuki Takagi <[email protected]>
Signed-off-by: Yuki Takagi <[email protected]>
Signed-off-by: Yuki Takagi <[email protected]>
Signed-off-by: Yuki Takagi <[email protected]>
Signed-off-by: Yuki Takagi <[email protected]>
Signed-off-by: Yuki Takagi <[email protected]>
Signed-off-by: Yuki Takagi <[email protected]>
Signed-off-by: Yuki Takagi <[email protected]>
fix spelling Co-authored-by: Fumiya Watanabe <[email protected]>
fix spelling Co-authored-by: Fumiya Watanabe <[email protected]>
missing "_" Co-authored-by: Fumiya Watanabe <[email protected]>
…_light.param.yaml missing "_" Co-authored-by: Fumiya Watanabe <[email protected]>
Signed-off-by: Yuki Takagi <[email protected]>
Signed-off-by: Yuki Takagi <[email protected]>
Signed-off-by: Yuki Takagi <[email protected]>
Signed-off-by: Yuki Takagi <[email protected]>
Signed-off-by: Yuki Takagi <[email protected]>
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…#941) enabling GO/STOP decision by v2i rest time information --------- Signed-off-by: Yuki Takagi <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Fumiya Watanabe <[email protected]> Signed-off-by: Tomohito Ando <[email protected]>
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…#941) enabling GO/STOP decision by v2i rest time information --------- Signed-off-by: Yuki Takagi <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Fumiya Watanabe <[email protected]> Signed-off-by: Tomohito Ando <[email protected]>
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Description
https://star4.slack.com/archives/C03QW0GU6P7/p1696387099920719
https://tier4.atlassian.net/browse/RT1-4088
jpn_signal_v2i_msgs/msg/TrafficLightInfo型の/v2i/external/v2i_traffic_light_infoを直読みして青信号の段階からGO/stop判断をする機能を実装した。
Related links
Tests performed
psimでテストした。
・信号が青の時も含めて概ね適切な停止判断が判断ができていること
・現在車速が低い場合のロジックが想定通りに動作していること
・駅ロータリーから市役所までの通行が行えること（試行回数1回）
を確認した。
2023年 10/26及び10/27に本機能を取り込んだ走行を塩尻で行い、大きな問題はなかった。
機能のv2iメッセージが提供されているか否か、新機能を有効にしているか否かの組み合わせに対してテストを行い、想定通りの動作をしていた。
Notes for reviewers
tier4リポジトリでの限定使用を想定した実装
Interface changes
This feature subscribes new parameters and new ros msg.
Effects on system behavior
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