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feat(traffic_light_arbiter): add signal match validator #6423

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pre-commit-ci[bot] committed Feb 15, 2024
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4 changes: 2 additions & 2 deletions perception/traffic_light_arbiter/README.md
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@@ -9,8 +9,9 @@ This package receives traffic signals from perception and external (e.g., V2X) c
A node that merges traffic light/signal state from image recognition and external (e.g., V2X) systems to provide to a planning component.

### Signal Match Validator

When `enable_signal_matching` is set to true, this node validates the match between perception signals and external signals.
The table below outlines how the matching process determines the output based on the combination of perception and external signal colors. Each cell represents the outcome when a specific color from a perception signal (columns) intersects with a color from an external signal (rows).
The table below outlines how the matching process determines the output based on the combination of perception and external signal colors. Each cell represents the outcome when a specific color from a perception signal (columns) intersects with a color from an external signal (rows).

| External \ Perception | RED | AMBER | GREEN | UNKNOWN | Not Received |
| --------------------- | ------- | ------- | ------- | ------- | ------------ |
@@ -20,7 +21,6 @@ The table below outlines how the matching process determines the output based on
| UNKNOWN | UNKNOWN | UNKNOWN | UNKNOWN | UNKNOWN | UNKNOWN |
| Not Received | UNKNOWN | UNKNOWN | UNKNOWN | UNKNOWN | UNKNOWN |


### Inputs / Outputs

#### Input
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@@ -35,7 +35,7 @@
* received from internal (e.g. camera perception) and external (e.g. V2I communication).
* It aims to ensure that the traffic signal information from both sources is consistent.
*/
class SignalMatchValidator

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perception/traffic_light_arbiter/include/traffic_light_arbiter/signal_match_validator.hpp#L38

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{
public:
using TrafficSignalArray = autoware_perception_msgs::msg::TrafficSignalArray;
@@ -100,4 +100,4 @@
bool isPedestrianSignal(const lanelet::Id & signal_id);
};

#endif
#endif // TRAFFIC_LIGHT_ARBITER__SIGNAL_MATCH_VALIDATOR_HPP_
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