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autoware Vectormap traffic light and stop line

asked 2020-10-01 12:20:04 -0500

ichthus_han
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hello, i'm using openplanner 2.0.

i want to using traffic light state in op_local_planner, it required vector map information.

in CalculateImportantParameterForDecisionMaking,

traffic light state is on when detectedLights.at(i).id == trafficLightID. (it means traffic light information is matching stopline in vector map)

detectedLights.at(i).id is id in singaldata.csv trafficLightID is id in stopline's TLID in stopline.csv

and it is not same in moriyama vector map.

what's the problem? moriyama vectormap doesn't offer the traffic light state?

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answered 2020-10-03 13:47:42 -0500

Hatem
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OpenPlanner connects traffic light and lanes and stop line while loading the map.

Check ConstructRoadNetworkFromROSMessage in VectorMapLoader. Two functions are called to achieve this: LinkTrafficLightsAndStopLinesV2 and ConnectTrafficLightsAndStopLines.

To complete my answer, the lights are connected. but you need to send traffic light signal to be able to test this feature.

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Asked: 2020-10-01 12:20:04 -0500

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Last updated: Oct 03 '20

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autoware Vectormap traffic light and stop line