Reads the state of all traffic lights from the /vehicle/traffic_lights topic, and identifies which traffic light is next on the car's path. If that light is red, it publishes the waypoint index of that traffic light's stop line to the /traffic_waypoint topic. If that light is not red, it publishes '-1'
Does not detect the color of the light (which is the real work of tl_detector); this is just to unblock work on the waypoint updater
Reads the state of all traffic lights from the /vehicle/traffic_lights topic, and identifies which traffic light is next on the car's path. If that light is red, it publishes the waypoint index of that traffic light's stop line to the /traffic_waypoint topic. If that light is not red, it publishes '-1'
Does not detect the color of the light (which is the real work of tl_detector); this is just to unblock work on the waypoint updater