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	int	10	Timer callback period [Hz]
use_first_command	bool	true	Consider instrument id 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.