add spat wall time process #2366
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MishkaMN
requested changes
Apr 19, 2024
carma_wm/src/WMListener.cpp
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| RCLCPP_INFO_STREAM(node_logging->get_logger(), "Loaded config speed limit: " << config_speed_limit_param.as_double()); | ||
| RCLCPP_INFO_STREAM(node_logging->get_logger(), "Loaded vehicle participant type: " << participant_param.as_string()); | ||
| RCLCPP_INFO_STREAM(node_logging->get_logger(), "Is using simulation time? : " << use_sim_time_param.as_bool()); | ||
| RCLCPP_INFO_STREAM(node_logging->get_logger(), "Is SPaT using system time? : " << is_spat_wall_time_param.as_bool()); |
MishkaMN
previously approved these changes
Apr 19, 2024
MishkaMN
approved these changes
Apr 19, 2024
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@adev4a Feel free to merge if the changes are tested well and you think it's ready |
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PR Details
This PR adds logic to the carma_wm to be able to process SPaT information which is based on a wall clock when running platform along with carla in simulation.
Required for VOICES where the setup doesn't involve a simulation manager like mosaic and doesn't have the traffic controller time synced with the rest of the simulation.
A offset is calculated between wall time and sim time and the spat phase timings are updated to account for this difference while processing.
Description
Related GitHub Issue
Related Jira Key
https://usdot-carma.atlassian.net/browse/VOI-384
Motivation and Context
How Has This Been Tested?
Types of changes
Checklist: