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dummy_infrastructure#

This is a debug node for infrastructure communication.

Usage#

ros2 launch dummy_infrastructure dummy_infrastructure.launch.xml
ros2 run rqt_reconfigure rqt_reconfigure

Inputs / Outputs#

Inputs#

Name Type Description
~/input/command_array tier4_v2x_msgs::msg::InfrastructureCommandArray Infrastructure command

Outputs#

Name Type Description
~/output/state_array tier4_v2x_msgs::msg::VirtualTrafficLightStateArray Virtual traffic light array

Parameters#

Node Parameters#

Name Type Default Value Explanation
update_rate double 10.0 Timer callback period [Hz]
use_first_command bool true Consider instrument id or not
use_command_state bool false Consider command state or not
instrument_id string `` Used as command id
approval bool false set approval filed to ros param
is_finalized bool false Stop at stop_line if finalization isn't completed

Assumptions / Known limits#

TBD.