Merge pull request #753 from tier4/revert-734-feat/traffic_light-v2i

revert(traffic_light_module): add v2i to behavior_velocity_traffic_light

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml

@@ -8,9 +8,3 @@
       yellow_light_stop_velocity: 1.0 # Velocity threshold (m/s) below which the vehicle will always stop before the traffic light when the signal turns yellow, regardless of the pass_judge decision.
       enable_pass_judge: true
       enable_rtc: false # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
-
-      v2i:
-        use_rest_time: false
-        last_time_allowed_to_pass: 2.0 # relative time against at the time of turn to red
-        velocity_threshold: 0.5 # change the decision logic whether the current velocity is faster or not
-        required_time_to_departure: 3.0 # prevent low speed pass

autoware_launch/launch/autoware.launch.xml

@@ -23,7 +23,6 @@
   <arg name="launch_planning" default="true" description="launch planning"/>
   <arg name="launch_control" default="true" description="launch control"/>
   <arg name="launch_api" default="true" description="launch api"/>
-  <arg name="launch_v2x" default="false" description="launch V2X"/>
   <!-- Global parameters -->
   <arg name="use_sim_time" default="false" description="use_sim_time"/>
   <!-- Vehicle -->
@@ -125,15 +124,6 @@
     <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_autoware_api_component.launch.xml"/>
   </group>
 
-  <!-- V2X -->
-  <group if="$(var launch_v2x)">
-    <include file="$(find-pkg-share jpn_signal_launcher)/launch/jpn_signal.launch.xml">
-      <arg name="map_path" value="$(var map_path)"/>
-      <arg name="vehicle_model" value="$(var vehicle_model)"/>
-      <arg name="vehicle_id" value="1"/>
-    </include>
-  </group>
-
   <!-- Tools -->
   <group>
     <node

autoware_launch/launch/logging_simulator.launch.xml

@@ -33,8 +33,6 @@
   <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
   <!-- Tools -->
   <arg name="rviz" default="true" description="launch rviz"/>
-  <!-- V2X-->
-  <arg name="launch_v2x" default="false" description="launch v2x modules"/>
   <!-- Scenario simulation -->
   <arg name="scenario_simulation" default="false" description="use scenario simulation"/>
 
@@ -73,8 +71,6 @@
       <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
       <!-- Sensing -->
       <arg name="launch_sensing_driver" value="false"/>
-      <!-- V2X -->
-      <arg name="launch_v2x" value="false"/>
     </include>
   </group>
 </launch>

autoware_launch/launch/planning_simulator.launch.xml

@@ -33,8 +33,6 @@
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)" description="rviz config path"/>
   <let name="rviz_respawn" value="false" if="$(var scenario_simulation)"/>
   <let name="rviz_respawn" value="true" unless="$(var scenario_simulation)"/>
-  <!-- V2X-->
-  <arg name="launch_v2x" default="false" description="launch v2x modules"/>
   <!-- Vcu emulation -->
   <arg name="vehicle_simulation" default="true" description="use vehicle simulation"/>
   <!-- Auto mode setting-->
@@ -80,8 +78,6 @@
       <arg name="rviz" value="$(var rviz)"/>
       <arg name="rviz_config" value="$(var rviz_config)"/>
       <arg name="rviz_respawn" value="$(var rviz_respawn)"/>
-      <!-- V2X -->
-      <arg name="launch_v2x" value="$(var launch_v2x)"/>
       <!-- Auto mode setting-->
       <arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
       <arg name="is_simulation" value="true"/>