[Animats]

This looks like an updated version of the DARPA Urban Challenge code. It uses ROS extensively, and ROS was only started in 2007. The files are all dated 2011.

Not for use at high altitudes. From "perception/trafficlights/src/traffic_light_view.cpp:

    sprintf(lightBuffer,"%f %f %f", currPose.latitude, currPose.longitude, currPose.altitude);

Yes, it's debug code.

The perception end of things is mostly digesting the point cloud from the Velodyne LIDAR. There's vision code for traffic light recognition, but I haven't found other vision code yet.

[jstanley]

Why can't this be used at high altitudes?

[tzakrajs]

Perhaps laser behaves differently when there is less atmosphere between it and the target.

[sbierwagen]

Maybe sprintf("%f") doesn't give you enough digits, or something along those lines.