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autoware Vectormap traffic light and stop line

asked 2020-10-01 12:20:04 -0600

ichthus_han gravatar image

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 -0600

Hatem gravatar image

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 -0600

Seen: 194 times

Last updated: Oct 03 '20