190 - Add y distance of traffic light.

[MaxJa4]

Description

Adds a Y distance (pixels) publisher for the corresponding traffic light state to determine when to stop (in planning) and not loose sight of the traffic light at an intersection. Also fixes a bug with the asynchronous execution of the traffic light detection from the optimization PR #193.

Fixes #190

Type of change

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)

Checklist:

• [x] My code follows the style guidelines of this project
• [x] I have performed a self-review of my own code
• [x] I have commented my code, particularly in hard-to-understand areas
• [x] My changes generate no new warnings

[github-actions[bot]]

Simulation results

Metric	Value
Avg. driving score	0.058695
Avg. route completion	0.215
Avg. infraction penalty	0.273
Collisions with pedestrians	0.0
Collisions with vehicles	63.365
Collisions with layout	63.365
Red lights infractions	0.0
Stop sign infractions	0.0
Off-road infractions	0
Route deviations	0.0
Route timeouts	63.365
Agent blocked	0.0
Yield emergency vehicles infractions	0.0
Scenario timeouts	63.365
Min speed infractions	0.0

[JuliusMiller]

Can you resolve the merge conflict?

[github-actions[bot]]

Simulation results

Metric	Value
Avg. driving score	0.084284
Avg. route completion	0.42
Avg. infraction penalty	0.188623
Collisions with pedestrians	0.0
Collisions with vehicles	32.656
Collisions with layout	32.656
Red lights infractions	0.0
Stop sign infractions	0.0
Off-road infractions	0.018
Route deviations	0.0
Route timeouts	32.656
Agent blocked	0.0
Yield emergency vehicles infractions	0.0
Scenario timeouts	32.656
Min speed infractions	0.0

[github-actions[bot]]

Simulation results

Metric	Value
Avg. driving score	0.0525
Avg. route completion	0.16
Avg. infraction penalty	0.3465
Collisions with pedestrians	0.0
Collisions with vehicles	82.718
Collisions with layout	41.359
Red lights infractions	0.0
Stop sign infractions	0.0
Off-road infractions	0
Route deviations	0.0
Route timeouts	82.718
Agent blocked	0.0
Yield emergency vehicles infractions	0.0
Scenario timeouts	82.718
Min speed infractions	0.0

[github-actions[bot]]

Simulation results

Metric	Value
Avg. driving score	0.0462
Avg. route completion	0.11
Avg. infraction penalty	0.42
Collisions with pedestrians	0.0
Collisions with vehicles	124.091
Collisions with layout	0.0
Red lights infractions	0.0
Stop sign infractions	0.0
Off-road infractions	0
Route deviations	0.0
Route timeouts	124.091
Agent blocked	0.0
Yield emergency vehicles infractions	0.0
Scenario timeouts	124.091
Min speed infractions	0.0

[github-actions[bot]]

Simulation results

Metric	Value
Avg. driving score	0.029516
Avg. route completion	1.015
Avg. infraction penalty	0.137711
Collisions with pedestrians	0.0
Collisions with vehicles	21.587
Collisions with layout	64.76
Red lights infractions	0.0
Stop sign infractions	0.0
Off-road infractions	0.086
Route deviations	0.0
Route timeouts	14.391
Agent blocked	0.0
Yield emergency vehicles infractions	0.0
Scenario timeouts	14.391
Min speed infractions	0.0

[github-actions[bot]]

Simulation results

Metric	Value
Avg. driving score	1.17007
Avg. route completion	33.595
Avg. infraction penalty	0.4937
Collisions with pedestrians	0.557
Collisions with vehicles	7.057
Collisions with layout	1.671
Red lights infractions	0.0
Stop sign infractions	0.186
Off-road infractions	0.417
Route deviations	0.0
Route timeouts	0.0
Agent blocked	0.371
Yield emergency vehicles infractions	0.0
Scenario timeouts	1.486
Min speed infractions	0.371