autoware_dummy_traffic_light_publisher

Purpose

Publish dummy traffic light signals for simulation environments where a traffic light recognition module is not available.

Modes

To assign different signals per traffic light ID, use pass-through instead (see below); fixed mode intentionally applies one color to every light.

Pass-through

When a message is received on the input topic (~/input/traffic_signals), the node relays it as-is instead of generating its own signals. If no new input arrives within passthrough_timeout seconds, the node falls back to its configured mode.

Interface

Subscriptions

Publications

Parameters

Usage

Launch

ros2 launch autoware_dummy_traffic_light_publisher dummy_traffic_light_publisher.launch.xml

To override the mode:

ros2 launch autoware_dummy_traffic_light_publisher dummy_traffic_light_publisher.launch.xml mode:=standalone

To publish a fixed color for all traffic lights:

ros2 launch autoware_dummy_traffic_light_publisher dummy_traffic_light_publisher.launch.xml mode:=fixed fixed_color:=green

Design and extension tactics

This package separates concerns into three layers:

When extending, modify only the layer that owns the responsibility:

• Adding arrow shapes, flashing patterns, or new signal types — change TrafficLightCycle. It owns TrafficLightElement construction. Node and DummyTrafficLight are unaffected.
• Per-intersection or per-ID signal control — change DummyTrafficLight. It maps IDs to elements. TrafficLightCycle and Node are unaffected.
• Adding new input sources or output topics — change DummyTrafficLightPublisherNode. Logic layers are unaffected.

Run node directly

The parameters have no in-code defaults, so a parameter file must be provided (e.g. the packaged config/dummy_traffic_light_publisher.param.yaml):

ros2 run autoware_dummy_traffic_light_publisher autoware_dummy_traffic_light_publisher_node --ros-args \
  --params-file $(ros2 pkg prefix --share autoware_dummy_traffic_light_publisher)/config/dummy_traffic_light_publisher.param.yaml \
  -p mode:=standalone \
  -r ~/input/vector_map:=/map/vector_map \
  -r ~/input/traffic_signals:=/simulator/input/traffic_signals \
  -r ~/output/traffic_signals:=/perception/traffic_light_recognition/traffic_signals

Changelog for package autoware_dummy_traffic_light_publisher

0.53.0 (2026-09-29)

• Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
• feat(simulator): add node design file for dummy traffic light publisher (#13254) feat(DummyTrafficLightPublisher): add new node design for traffic light publishing
• Contributors: Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

• chore: align package versions to 0.51.0 and reset changelogs

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

• feat(dummy_traffic_light_publisher): add new node to publish traffic light message instead of Rviz (#12456)

  • feat(simulator): add dummy traffic light publisher node for Planning simulator
  • chore(dummy_traffic_light_publisher): add new description.
  • feat(dummy_traffic_light_publisher): updated test codes and implementation
  • style(pre-commit): autofix
  • chore: fixed mistype and cpplint
  • style(pre-commit): autofix
  • fixed lint
  • abstract method.

  * Apply suggestions from code review I merged the reviewer's suggestion Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>

  • refactor(autoware_dummy_traffic_light_publisher): move public headers to private headers under src
  • fix(autoware_dummy_traffic_light_publisher): address review comments

  - use rclcpp::Rate(publish_rate).period() for timer period to avoid integer-millisecond truncation and a potential 0 ms busy loop

  • validate TrafficLightCycle durations are positive to avoid fmod by zero
  • document running the node directly with a params file

  * fix(autoware_dummy_traffic_light_publisher): make build_empty_message static It does not access any member, so cppcheck's functionStatic check (run with --inconclusive in CI) flagged it. Declaring it static resolves the cppcheck-differential failure.

  * feat(autoware_dummy_traffic_light_publisher): add fixed mode Add a dedicated 'fixed' mode that publishes a single constant color (fixed_color: green/yellow/red) for all traffic lights in the vector map, for tests that need an always-red or always-green state. A dedicated mode is preferred over reusing standalone with 0.0 s durations to avoid a magic-number configuration. Per-ID signals are intentionally left to pass-through, since the IDs are discovered from the vector map at runtime. ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: Junya Sasaki <<junya.sasaki@tier4.jp>> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>

• Contributors: Takayuki AKAMINE, github-actions