6.1.3

Description

Abstract

This pull request is a continuation of #1406.
It adds tests for the new implementation of the traffic lights.

After changes requested review in #1406 and other:
In order to make it possible to test the correctness of the generation the messages:

• autoware_auto_perception_msgs::msg::TrafficSignalArray
• autoware_perception_msgs::msg::TrafficSignalArray
• autoware_perception_msgs::msg::TrafficLightGroupArray
• traffic_simulator_msgs::msg::TrafficLightArrayV1

from simulation_api_schema::UpdateTrafficLightsRequest, new static method has been extracted:

https://github.com/tier4/scenario_simulator_v2/blob/e6bf7419dc26dc5448884d29969dffb0325a1c36/simulation/traffic_simulator/include/traffic_simulator/traffic_lights/traffic_light_publisher.hpp#L54-L56

In traffic_light_publisher.cpp can be found definitions of methods used in tests.

Background

This pull request is one of many that aim to modularize the scenario_simulator_v2.

Details

In the previous pull request, a new implementation of traffic lights has been added and tests developed for the previous implementation have been deleted.
This pull request introduces tests for the new implementation of traffic lights. These changes have been split into two PRs, because of the amount of changes. If these changes (this PR and the previous one) were introduced in one PR, it would have been very large (>2000 additions).

References

INTERNAL LINK

Destructive Changes

Known Limitations

Related Issues