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@github-actions github-actions released this 12 Nov 08:42
· 120 commits to master since this release
5.1.0
85fec17

Description

Abstract

This pull-request supports TrafficLightGroupArrayand add awf/universe/20240605 as architecture_type for it.

Details

supporting TrafficLightGroupArray

Currently, autoware_auto_perception_msgs/TrafficSignalArray and autoware_perception_msgs/TrafficSignalArray are supported for trafffic light in scenario_simulator_v2.
However, I found that this was not enough to keep up with the latest Autoware.

In latest Autoware, autoware_perception_msgs/TrafficSignalArray, the traffic light message supported in scenario_simulator_v2, is not used and autoware_perception_msgs/TrafficLightGroupArray is used instead.

So, this pull-request supports autoware_perception_msgs/TrafficLightGrupArray.

architecture_type design

The architecture_type is designed for switching message type (especially, messages for traffic light) of publishers for various autoware version.

Now, there are 2 architecture_type as below.

  • awf/universe
    • autoware_auto_perception_msgs/TrafficSignalArray for traffic lights
  • awf/universe/20230906
    • autoware_perception_msgs/TrafficSignalArray for traffic lights

In this PR, I added awf/universe/20240605 as below.

  • awf/universe/20240605
    • autoware_perception_msgs/TrafficLightGroupArray for traffic lights

Note

awf/universe will be deleted in near future after dropping support for messages related to Autoware.Auto

References

regression test: OK

Destructive Changes

None

Known Limitations

None

Related Issues

Assets 2
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