fix: use TRAFFIC_LIGHT_CAMERA_NUMBER env var

[dkoldaev]

Description

to serve JT4 with 2 TL cameras

Tests performed

Not applicable.

Effects on system behavior

Not applicable.

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[shmpwk]

@dkoldaev Thank you for the PR. How to set TRAFFIC_LIGHT_CAMERA_NUMBER ? Creating env file like set_autoware_env ? Or can we specify it in individual_params though it is not env file.

[dkoldaev]

@dkoldaev Thank you for the PR. How to set TRAFFIC_LIGHT_CAMERA_NUMBER ? Creating env file like set_autoware_env ? Or can we specify it in individual_params though it is not env file.

I think it would be the best to add to the JT4 env file for autoware ECU. Do we have a repo for it?

[shmpwk]

@dkoldaev Nothing but autoware.env and vehicle.env set in set_autoware_env.

[dkoldaev]

@dkoldaev Nothing but autoware.env and vehicle.env set in set_autoware_env.

I can't find vehicle.env. Is it only created on the vehicle itself and not committed to any repo?

[shmpwk]

@dkoldaev Here is the inside of the vehicle.env.

vehicle_id: default
vehicle_model: lexus
sensor_model: aip_xx1

https://github.com/tier4/autoware_ecu_system_setup/blob/main/roles/set_autoware_env/defaults/main.yaml#L6-L9

ecu_setup.yaml overwrites those files here. https://github.com/tier4/pilot-auto.xx1/blob/34182c32d82ee719c101da523c08fa4e75d84613/ansible/playbooks/vars/ecu_setup.yaml#L47-L51

Currently, each vehicle_id is set manually by FI team.

[yukkysaito]

It would be better to set this value in aip_launcher, not in an environment variable. This is because the value is determined by the type of ai pilot rather than being body specific.

[dkoldaev]

It would be better to set this value in aip_launcher, not in an environment variable.

this m

It would be better to set this value in aip_launcher, not in an environment variable. This is because the value is determined by the type of ai pilot rather than being body specific.

This makes sense. But also this PR is for an old version of XX1 pilot auto (v0.44) to take care of JT4. From version v0.45 onward the launcher takes care of this param.

[shmpwk]

@yukkysaito I talked with Dmitrii-san that this PR is temporal one and only for JT#4. After merging this, we will quickly tag release this and won't use this for other Japantaxi anymore. In the long run, we will consider the fundamental solution such as aip individual parameter which Saito-san suggested.

[shmpwk]

@dkoldaev @yukkysaito Long-term plan such as reading aip individual param will be worked on by Dmitrii-san in the following ticket. https://tier4.atlassian.net/browse/RT0-31420

[dkoldaev]

@shmpwk thank for sorting out the future plans. What should I do with CI? I can see that pre commit is already failing on the branch

[shmpwk]

Hmm :thinking: I don't have an idea... But we can merge ignoring the required pre-commit.ci anyway.