feat: enable traffic light debugging outputs for signal display (#12135)#2701
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Owen-Liuyuxuan merged 3 commits intofeat/v0.48/e2efrom Feb 20, 2026
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…warefoundation#12135) * feat: enable traffic light debugging outputs for signal display Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> * fix: pre-commit Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> * feat: align const argument; fix not needed clear Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> * feat: add documentation for interface changes Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> * feat: add test for basic function Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> * feat: fix traffic light element error Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> --------- Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com>
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@SakodaShintaro I tried merging this PR to the XX1, but DP codes contain a conflict, so I gave up. |
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Enable outputting the first traffic light on the route for visualization on RViz signal display.
The diffusion planner now publishes
autoware_perception_msgs/msg/TrafficLightGroupon each planning cycle, locating the first lanelet with a traffic light ID along the route (starting from the current ego position forward).UNKNOWN;/planning/scenario_planning/lane_driving/behavior_planning/debug/traffic_signalfor compatibility with existing RViz and ad_api consumers.autowarefoundation#12135