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Hi, folks in Duckietown!
Another question about the FSM. In fact, I’ve had not a single question about it and so I’m torn between whether to post all the questions at once or one by one. I think it’s better to do the latter from several aspects. Please bear with me and many questions of mine.
As mentioned, the FSM can be built by the associated yaml file which is essentially made up of states and their events. In the yaml file, a state is implemented in the form of
LANE_FOLLOWING:
transitions:
at_stop_line: “COORDINATION”
active_nodes:
– lane_filter_node
– line_detector_node
– stop_line_filter_node
lights: [“lane_following”]
Here, what do lights work for?
Thanks in advance!

Answered question