22.4.0
Description
Abstract
This pull request clearly separates ground-truth state and Autoware detected state.
This is implemented in both conventional and v2i traffic lights, and in the scenario, Autoware detected state is indicated by adding _detected to the end of the traffic light ID for each traffic light model.
This pull request also adds EnableTrafficSignalV2IFeatureAction@v1 / DisableTrafficSignalV2IFeatureAction@v1 to support synchronization of conventional traffic light -> V2I traffic light states, making it easier to mimic actual V2I traffic lights where the optical state output and the V2I output over the network are the same.
Details
See TrafficLightsArchitecture.md in the pull-request
Traffic Lights Architecture - Scenario testing framework for Autoware.pdf
References
Regression Test: OK
Destructive Changes
None
Known Limitations
None