class_docstr: CarlaSimulation is responsible for the management of the carla simulation.
class_docstr_tok: ["CarlaSimulation","is","responsible","for","the","management","of","the","carla","simulation","."]
code: def traffic_light_ids(self):
      return set(self._tls.keys())
  
file_path: carla/Co-Simulation/Sumo/sumo_integration/carla_simulation.py
imports: import logging
  import carla
  from .constants import INVALID_ACTOR_ID, SPAWN_OFFSET_Z
label_desc: Use image node_id 4 for calling the CarlaSimulation obj's underlying member method code with example usage: obj.traffic_light_ids() and returns: set