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.