dummy_infrastructure This is a debug node for infrastructure communication. Usage ros2 launch dummy_infrastructure dummy_infrastructure.launch.xml ros2 run rqt_reconfigure rqt_reconfigure Inputs / Outputs Inputs Name Type Description ~/input/command_array tier4_v2x_msgs::msg::InfrastructureCommandArray Infrastructure command Outputs Name Type Description ~/output/state_array tier4_v2x_msgs::msg::VirtualTrafficLightStateArray Virtual traffic light array Parameters Node Parameters Name Type Default Value Explanation update_rate int 10 Timer callback period [Hz] use_first_command bool true Consider instrument id or not instrument_id string `` Used as command id approval bool false set approval filed to ros param is_finalized bool false Stop at stop_line if finalization isn't completed Assumptions / Known limits TBD.