From 65c0077fe6bb0168cfed95455e61089c7c0cdeda Mon Sep 17 00:00:00 2001
From: Shunsuke Miura <shunsuke.miura@tier4.jp>
Date: Sun, 11 Feb 2024 01:11:59 +0900
Subject: [PATCH 1/4] rename traffic_signal to traffic_light
Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>
---
.../traffic_light_utils/traffic_light_utils.hpp | 6 +++---
.../traffic_light_utils/src/traffic_light_utils.cpp | 4 ++--
.../test/test_traffic_light_utils.cpp | 4 ++--
.../crosswalk_traffic_light_estimator/README.md | 4 ++--
.../crosswalk_traffic_light_estimator/node.hpp | 2 +-
perception/traffic_light_classifier/README.md | 2 +-
.../classifier_interface.hpp | 2 +-
.../traffic_light_classifier/cnn_classifier.hpp | 6 +++---
.../traffic_light_classifier/color_classifier.hpp | 2 +-
.../include/traffic_light_classifier/nodelet.hpp | 4 ++--
.../traffic_light_classifier/src/cnn_classifier.cpp | 8 ++++----
.../src/color_classifier.cpp | 2 +-
perception/traffic_light_classifier/src/nodelet.cpp | 6 +++---
.../src/single_image_debug_inference_node.cpp | 2 +-
.../traffic_light_multi_camera_fusion/node.hpp | 8 ++++----
.../traffic_light_multi_camera_fusion/src/node.cpp | 2 +-
.../traffic_light_occlusion_predictor/nodelet.hpp | 8 ++++----
.../src/nodelet.cpp | 8 ++++----
perception/traffic_light_visualization/README.md | 4 ++--
.../traffic_light_roi_visualizer/nodelet.hpp | 12 ++++++------
.../src/traffic_light_roi_visualizer/nodelet.cpp | 6 +++---
21 files changed, 51 insertions(+), 51 deletions(-)
diff --git a/common/traffic_light_utils/include/traffic_light_utils/traffic_light_utils.hpp b/common/traffic_light_utils/include/traffic_light_utils/traffic_light_utils.hpp
index 6ce95acc4ef1d..a43b4880ef373 100644
--- a/common/traffic_light_utils/include/traffic_light_utils/traffic_light_utils.hpp
+++ b/common/traffic_light_utils/include/traffic_light_utils/traffic_light_utils.hpp
@@ -19,7 +19,7 @@
#include "autoware_perception_msgs/msg/traffic_signal_element.hpp"
#include "tier4_perception_msgs/msg/traffic_light_element.hpp"
#include "tier4_perception_msgs/msg/traffic_light_roi.hpp"
-#include "tier4_perception_msgs/msg/traffic_signal.hpp"
+#include "tier4_perception_msgs/msg/traffic_light.hpp"
#include <lanelet2_core/primitives/Lanelet.h>
#include <lanelet2_core/primitives/LineString.h>
@@ -35,9 +35,9 @@ bool isRoiValid(
void setRoiInvalid(tier4_perception_msgs::msg::TrafficLightRoi & roi);
-bool isSignalUnknown(const tier4_perception_msgs::msg::TrafficSignal & signal);
+bool isSignalUnknown(const tier4_perception_msgs::msg::TrafficLight & signal);
-void setSignalUnknown(tier4_perception_msgs::msg::TrafficSignal & signal, float confidence = -1);
+void setSignalUnknown(tier4_perception_msgs::msg::TrafficLight & signal, float confidence = -1);
/**
* @brief Checks if a traffic light state includes a circle-shaped light with the specified color.
diff --git a/common/traffic_light_utils/src/traffic_light_utils.cpp b/common/traffic_light_utils/src/traffic_light_utils.cpp
index c8f2ca85b2089..0bd3d85a9b71f 100644
--- a/common/traffic_light_utils/src/traffic_light_utils.cpp
+++ b/common/traffic_light_utils/src/traffic_light_utils.cpp
@@ -33,14 +33,14 @@ void setRoiInvalid(tier4_perception_msgs::msg::TrafficLightRoi & roi)
roi.roi.height = roi.roi.width = 0;
}
-bool isSignalUnknown(const tier4_perception_msgs::msg::TrafficSignal & signal)
+bool isSignalUnknown(const tier4_perception_msgs::msg::TrafficLight & signal)
{
return signal.elements.size() == 1 &&
signal.elements[0].shape == tier4_perception_msgs::msg::TrafficLightElement::UNKNOWN &&
signal.elements[0].color == tier4_perception_msgs::msg::TrafficLightElement::UNKNOWN;
}
-void setSignalUnknown(tier4_perception_msgs::msg::TrafficSignal & signal, float confidence)
+void setSignalUnknown(tier4_perception_msgs::msg::TrafficLight & signal, float confidence)
{
signal.elements.resize(1);
signal.elements[0].shape = tier4_perception_msgs::msg::TrafficLightElement::UNKNOWN;
diff --git a/common/traffic_light_utils/test/test_traffic_light_utils.cpp b/common/traffic_light_utils/test/test_traffic_light_utils.cpp
index bd777265b4195..a80510693c487 100644
--- a/common/traffic_light_utils/test/test_traffic_light_utils.cpp
+++ b/common/traffic_light_utils/test/test_traffic_light_utils.cpp
@@ -48,7 +48,7 @@ TEST(setRoiInvalid, set_roi_size)
TEST(isSignalUnknown, signal_element)
{
- tier4_perception_msgs::msg::TrafficSignal test_signal;
+ tier4_perception_msgs::msg::TrafficLight test_signal;
tier4_perception_msgs::msg::TrafficLightElement element;
element.color = tier4_perception_msgs::msg::TrafficLightElement::UNKNOWN;
element.shape = tier4_perception_msgs::msg::TrafficLightElement::UNKNOWN;
@@ -60,7 +60,7 @@ TEST(isSignalUnknown, signal_element)
TEST(setSignalUnknown, set_signal_element)
{
- tier4_perception_msgs::msg::TrafficSignal test_signal;
+ tier4_perception_msgs::msg::TrafficLight test_signal;
tier4_perception_msgs::msg::TrafficLightElement element;
element.color = tier4_perception_msgs::msg::TrafficLightElement::RED;
element.shape = tier4_perception_msgs::msg::TrafficLightElement::CROSS;
diff --git a/perception/crosswalk_traffic_light_estimator/README.md b/perception/crosswalk_traffic_light_estimator/README.md
index 73c7151997c54..b51f8d5da569a 100644
--- a/perception/crosswalk_traffic_light_estimator/README.md
+++ b/perception/crosswalk_traffic_light_estimator/README.md
@@ -12,13 +12,13 @@
| ------------------------------------ | ------------------------------------------------ | ------------------ |
| `~/input/vector_map` | `autoware_auto_mapping_msgs::msg::HADMapBin` | vector map |
| `~/input/route` | `autoware_planning_msgs::msg::LaneletRoute` | route |
-| `~/input/classified/traffic_signals` | `tier4_perception_msgs::msg::TrafficSignalArray` | classified signals |
+| `~/input/classified/traffic_signals` | `tier4_perception_msgs::msg::TrafficLightArray` | classified signals |
### Output
| Name | Type | Description |
| -------------------------- | ------------------------------------------------ | --------------------------------------------------------- |
-| `~/output/traffic_signals` | `tier4_perception_msgs::msg::TrafficSignalArray` | output that contains estimated pedestrian traffic signals |
+| `~/output/traffic_signals` | `tier4_perception_msgs::msg::TrafficLightArray` | output that contains estimated pedestrian traffic signals |
## Parameters
diff --git a/perception/crosswalk_traffic_light_estimator/include/crosswalk_traffic_light_estimator/node.hpp b/perception/crosswalk_traffic_light_estimator/include/crosswalk_traffic_light_estimator/node.hpp
index 0578d671d27b9..d7ccf9ebffbbb 100644
--- a/perception/crosswalk_traffic_light_estimator/include/crosswalk_traffic_light_estimator/node.hpp
+++ b/perception/crosswalk_traffic_light_estimator/include/crosswalk_traffic_light_estimator/node.hpp
@@ -24,7 +24,7 @@
#include <autoware_planning_msgs/msg/lanelet_route.hpp>
#include <tier4_debug_msgs/msg/float64_stamped.hpp>
#include <tier4_perception_msgs/msg/traffic_light_element.hpp>
-#include <tier4_perception_msgs/msg/traffic_signal.hpp>
+#include <tier4_perception_msgs/msg/traffic_light.hpp>
#include <tier4_perception_msgs/msg/traffic_signal_array.hpp>
#include <lanelet2_core/Attribute.h>
diff --git a/perception/traffic_light_classifier/README.md b/perception/traffic_light_classifier/README.md
index 758234f129f2a..500f1fcfa0604 100644
--- a/perception/traffic_light_classifier/README.md
+++ b/perception/traffic_light_classifier/README.md
@@ -45,7 +45,7 @@ These colors and shapes are assigned to the message as follows:
| Name | Type | Description |
| -------------------------- | ------------------------------------------------ | ------------------- |
-| `~/output/traffic_signals` | `tier4_perception_msgs::msg::TrafficSignalArray` | classified signals |
+| `~/output/traffic_signals` | `tier4_perception_msgs::msg::TrafficLightArray` | classified signals |
| `~/output/debug/image` | `sensor_msgs::msg::Image` | image for debugging |
## Parameters
diff --git a/perception/traffic_light_classifier/include/traffic_light_classifier/classifier_interface.hpp b/perception/traffic_light_classifier/include/traffic_light_classifier/classifier_interface.hpp
index f4859af88d80d..8a60b148e5245 100644
--- a/perception/traffic_light_classifier/include/traffic_light_classifier/classifier_interface.hpp
+++ b/perception/traffic_light_classifier/include/traffic_light_classifier/classifier_interface.hpp
@@ -29,7 +29,7 @@ class ClassifierInterface
public:
virtual bool getTrafficSignals(
const std::vector<cv::Mat> & input_image,
- tier4_perception_msgs::msg::TrafficSignalArray & traffic_signals) = 0;
+ tier4_perception_msgs::msg::TrafficLightArray & traffic_signals) = 0;
};
} // namespace traffic_light
diff --git a/perception/traffic_light_classifier/include/traffic_light_classifier/cnn_classifier.hpp b/perception/traffic_light_classifier/include/traffic_light_classifier/cnn_classifier.hpp
index 4f304dcb96970..545a080763ef4 100644
--- a/perception/traffic_light_classifier/include/traffic_light_classifier/cnn_classifier.hpp
+++ b/perception/traffic_light_classifier/include/traffic_light_classifier/cnn_classifier.hpp
@@ -57,14 +57,14 @@ class CNNClassifier : public ClassifierInterface
bool getTrafficSignals(
const std::vector<cv::Mat> & images,
- tier4_perception_msgs::msg::TrafficSignalArray & traffic_signals) override;
+ tier4_perception_msgs::msg::TrafficLightArray & traffic_signals) override;
private:
- void postProcess(int cls, float prob, tier4_perception_msgs::msg::TrafficSignal & traffic_signal);
+ void postProcess(int cls, float prob, tier4_perception_msgs::msg::TrafficLight & traffic_signal);
bool readLabelfile(std::string filepath, std::vector<std::string> & labels);
bool isColorLabel(const std::string label);
void outputDebugImage(
- cv::Mat & debug_image, const tier4_perception_msgs::msg::TrafficSignal & traffic_signal);
+ cv::Mat & debug_image, const tier4_perception_msgs::msg::TrafficLight & traffic_signal);
private:
std::map<int, std::string> state2label_{
diff --git a/perception/traffic_light_classifier/include/traffic_light_classifier/color_classifier.hpp b/perception/traffic_light_classifier/include/traffic_light_classifier/color_classifier.hpp
index 9f0d97ba29cfd..fbde67e0192e7 100644
--- a/perception/traffic_light_classifier/include/traffic_light_classifier/color_classifier.hpp
+++ b/perception/traffic_light_classifier/include/traffic_light_classifier/color_classifier.hpp
@@ -64,7 +64,7 @@ class ColorClassifier : public ClassifierInterface
bool getTrafficSignals(
const std::vector<cv::Mat> & images,
- tier4_perception_msgs::msg::TrafficSignalArray & traffic_signals) override;
+ tier4_perception_msgs::msg::TrafficLightArray & traffic_signals) override;
private:
bool filterHSV(
diff --git a/perception/traffic_light_classifier/include/traffic_light_classifier/nodelet.hpp b/perception/traffic_light_classifier/include/traffic_light_classifier/nodelet.hpp
index 1281285ee53dd..b51b7b14dd4c9 100644
--- a/perception/traffic_light_classifier/include/traffic_light_classifier/nodelet.hpp
+++ b/perception/traffic_light_classifier/include/traffic_light_classifier/nodelet.hpp
@@ -26,7 +26,7 @@
#include <std_msgs/msg/header.hpp>
#include <tier4_perception_msgs/msg/traffic_light_element.hpp>
#include <tier4_perception_msgs/msg/traffic_light_roi_array.hpp>
-#include <tier4_perception_msgs/msg/traffic_signal.hpp>
+#include <tier4_perception_msgs/msg/traffic_light.hpp>
#include <tier4_perception_msgs/msg/traffic_signal_array.hpp>
#if __has_include(<cv_bridge/cv_bridge.hpp>)
@@ -85,7 +85,7 @@ class TrafficLightClassifierNodelet : public rclcpp::Node
typedef message_filters::Synchronizer<ApproximateSyncPolicy> ApproximateSync;
std::shared_ptr<ApproximateSync> approximate_sync_;
bool is_approximate_sync_;
- rclcpp::Publisher<tier4_perception_msgs::msg::TrafficSignalArray>::SharedPtr
+ rclcpp::Publisher<tier4_perception_msgs::msg::TrafficLightArray>::SharedPtr
traffic_signal_array_pub_;
std::shared_ptr<ClassifierInterface> classifier_ptr_;
diff --git a/perception/traffic_light_classifier/src/cnn_classifier.cpp b/perception/traffic_light_classifier/src/cnn_classifier.cpp
index 680314d98d794..cd266ac25b822 100644
--- a/perception/traffic_light_classifier/src/cnn_classifier.cpp
+++ b/perception/traffic_light_classifier/src/cnn_classifier.cpp
@@ -65,7 +65,7 @@ CNNClassifier::CNNClassifier(rclcpp::Node * node_ptr) : node_ptr_(node_ptr)
bool CNNClassifier::getTrafficSignals(
const std::vector<cv::Mat> & images,
- tier4_perception_msgs::msg::TrafficSignalArray & traffic_signals)
+ tier4_perception_msgs::msg::TrafficLightArray & traffic_signals)
{
if (images.size() != traffic_signals.signals.size()) {
RCLCPP_WARN(node_ptr_->get_logger(), "image number should be equal to traffic signal number!");
@@ -106,7 +106,7 @@ bool CNNClassifier::getTrafficSignals(
}
void CNNClassifier::outputDebugImage(
- cv::Mat & debug_image, const tier4_perception_msgs::msg::TrafficSignal & traffic_signal)
+ cv::Mat & debug_image, const tier4_perception_msgs::msg::TrafficLight & traffic_signal)
{
float probability;
std::string label;
@@ -138,7 +138,7 @@ void CNNClassifier::outputDebugImage(
}
void CNNClassifier::postProcess(
- int class_index, float prob, tier4_perception_msgs::msg::TrafficSignal & traffic_signal)
+ int class_index, float prob, tier4_perception_msgs::msg::TrafficLight & traffic_signal)
{
std::string match_label = labels_[class_index];
@@ -196,7 +196,7 @@ bool CNNClassifier::readLabelfile(std::string filepath, std::vector<std::string>
bool CNNClassifier::isColorLabel(const std::string label)
{
- using tier4_perception_msgs::msg::TrafficSignal;
+ using tier4_perception_msgs::msg::TrafficLight;
if (
label == state2label_[tier4_perception_msgs::msg::TrafficLightElement::GREEN] ||
label == state2label_[tier4_perception_msgs::msg::TrafficLightElement::AMBER] ||
diff --git a/perception/traffic_light_classifier/src/color_classifier.cpp b/perception/traffic_light_classifier/src/color_classifier.cpp
index 51be12fce86e8..604568b585a63 100644
--- a/perception/traffic_light_classifier/src/color_classifier.cpp
+++ b/perception/traffic_light_classifier/src/color_classifier.cpp
@@ -53,7 +53,7 @@ ColorClassifier::ColorClassifier(rclcpp::Node * node_ptr) : node_ptr_(node_ptr)
bool ColorClassifier::getTrafficSignals(
const std::vector<cv::Mat> & images,
- tier4_perception_msgs::msg::TrafficSignalArray & traffic_signals)
+ tier4_perception_msgs::msg::TrafficLightArray & traffic_signals)
{
if (images.size() != traffic_signals.signals.size()) {
RCLCPP_WARN(node_ptr_->get_logger(), "image number should be equal to traffic signal number!");
diff --git a/perception/traffic_light_classifier/src/nodelet.cpp b/perception/traffic_light_classifier/src/nodelet.cpp
index 1ebc14c4e6f93..f6c8afe0d1714 100644
--- a/perception/traffic_light_classifier/src/nodelet.cpp
+++ b/perception/traffic_light_classifier/src/nodelet.cpp
@@ -43,7 +43,7 @@ TrafficLightClassifierNodelet::TrafficLightClassifierNodelet(const rclcpp::NodeO
}
traffic_signal_array_pub_ =
- this->create_publisher<tier4_perception_msgs::msg::TrafficSignalArray>(
+ this->create_publisher<tier4_perception_msgs::msg::TrafficLightArray>(
"~/output/traffic_signals", rclcpp::QoS{1});
using std::chrono_literals::operator""ms;
@@ -95,7 +95,7 @@ void TrafficLightClassifierNodelet::imageRoiCallback(
input_image_msg->encoding.c_str());
}
- tier4_perception_msgs::msg::TrafficSignalArray output_msg;
+ tier4_perception_msgs::msg::TrafficLightArray output_msg;
output_msg.signals.resize(input_rois_msg->rois.size());
@@ -131,7 +131,7 @@ void TrafficLightClassifierNodelet::imageRoiCallback(
// append the undetected rois as unknown
for (const auto & input_roi : input_rois_msg->rois) {
if (input_roi.roi.height == 0 && input_roi.traffic_light_type == classify_traffic_light_type_) {
- tier4_perception_msgs::msg::TrafficSignal tlr_sig;
+ tier4_perception_msgs::msg::TrafficLight tlr_sig;
tlr_sig.traffic_light_id = input_roi.traffic_light_id;
tlr_sig.traffic_light_type = input_roi.traffic_light_type;
tier4_perception_msgs::msg::TrafficLightElement element;
diff --git a/perception/traffic_light_classifier/src/single_image_debug_inference_node.cpp b/perception/traffic_light_classifier/src/single_image_debug_inference_node.cpp
index 34510d53f9ce3..f6f963086bdd7 100644
--- a/perception/traffic_light_classifier/src/single_image_debug_inference_node.cpp
+++ b/perception/traffic_light_classifier/src/single_image_debug_inference_node.cpp
@@ -123,7 +123,7 @@ class SingleImageDebugInferenceNode : public rclcpp::Node
return;
}
cv::cvtColor(crop, crop, cv::COLOR_BGR2RGB);
- tier4_perception_msgs::msg::TrafficSignalArray traffic_signal;
+ tier4_perception_msgs::msg::TrafficLightArray traffic_signal;
if (!classifier_ptr_->getTrafficSignals({crop}, traffic_signal)) {
RCLCPP_ERROR(get_logger(), "failed to classify image");
return;
diff --git a/perception/traffic_light_multi_camera_fusion/include/traffic_light_multi_camera_fusion/node.hpp b/perception/traffic_light_multi_camera_fusion/include/traffic_light_multi_camera_fusion/node.hpp
index 390b0f590b637..ab4d453e1d830 100644
--- a/perception/traffic_light_multi_camera_fusion/include/traffic_light_multi_camera_fusion/node.hpp
+++ b/perception/traffic_light_multi_camera_fusion/include/traffic_light_multi_camera_fusion/node.hpp
@@ -46,7 +46,7 @@ struct FusionRecord
std_msgs::msg::Header header;
sensor_msgs::msg::CameraInfo cam_info;
tier4_perception_msgs::msg::TrafficLightRoi roi;
- tier4_perception_msgs::msg::TrafficSignal signal;
+ tier4_perception_msgs::msg::TrafficLight signal;
};
struct FusionRecordArr
@@ -54,7 +54,7 @@ struct FusionRecordArr
std_msgs::msg::Header header;
sensor_msgs::msg::CameraInfo cam_info;
tier4_perception_msgs::msg::TrafficLightRoiArray rois;
- tier4_perception_msgs::msg::TrafficSignalArray signals;
+ tier4_perception_msgs::msg::TrafficLightArray signals;
};
bool operator<(const FusionRecordArr & r1, const FusionRecordArr & r2)
@@ -67,8 +67,8 @@ class MultiCameraFusion : public rclcpp::Node
public:
typedef sensor_msgs::msg::CameraInfo CamInfoType;
typedef tier4_perception_msgs::msg::TrafficLightRoi RoiType;
- typedef tier4_perception_msgs::msg::TrafficSignal SignalType;
- typedef tier4_perception_msgs::msg::TrafficSignalArray SignalArrayType;
+ typedef tier4_perception_msgs::msg::TrafficLight SignalType;
+ typedef tier4_perception_msgs::msg::TrafficLightArray SignalArrayType;
typedef tier4_perception_msgs::msg::TrafficLightRoiArray RoiArrayType;
typedef tier4_perception_msgs::msg::TrafficLightRoi::_traffic_light_id_type IdType;
typedef autoware_perception_msgs::msg::TrafficSignal NewSignalType;
diff --git a/perception/traffic_light_multi_camera_fusion/src/node.cpp b/perception/traffic_light_multi_camera_fusion/src/node.cpp
index 1582040648624..c3de334875ad5 100644
--- a/perception/traffic_light_multi_camera_fusion/src/node.cpp
+++ b/perception/traffic_light_multi_camera_fusion/src/node.cpp
@@ -25,7 +25,7 @@
namespace
{
-bool isUnknown(const tier4_perception_msgs::msg::TrafficSignal & signal)
+bool isUnknown(const tier4_perception_msgs::msg::TrafficLight & signal)
{
return signal.elements.size() == 1 &&
signal.elements[0].color == tier4_perception_msgs::msg::TrafficLightElement::UNKNOWN &&
diff --git a/perception/traffic_light_occlusion_predictor/include/traffic_light_occlusion_predictor/nodelet.hpp b/perception/traffic_light_occlusion_predictor/include/traffic_light_occlusion_predictor/nodelet.hpp
index ae6ba8c1feedb..f69903dbc016a 100644
--- a/perception/traffic_light_occlusion_predictor/include/traffic_light_occlusion_predictor/nodelet.hpp
+++ b/perception/traffic_light_occlusion_predictor/include/traffic_light_occlusion_predictor/nodelet.hpp
@@ -69,7 +69,7 @@ class TrafficLightOcclusionPredictorNodelet : public rclcpp::Node
*
*/
void syncCallback(
- const tier4_perception_msgs::msg::TrafficSignalArray::ConstSharedPtr in_signal_msg,
+ const tier4_perception_msgs::msg::TrafficLightArray::ConstSharedPtr in_signal_msg,
const tier4_perception_msgs::msg::TrafficLightRoiArray::ConstSharedPtr in_roi_msg,
const sensor_msgs::msg::CameraInfo::ConstSharedPtr in_cam_info_msg,
const sensor_msgs::msg::PointCloud2::ConstSharedPtr in_cloud_msg,
@@ -80,7 +80,7 @@ class TrafficLightOcclusionPredictorNodelet : public rclcpp::Node
* @brief publishers
*
*/
- rclcpp::Publisher<tier4_perception_msgs::msg::TrafficSignalArray>::SharedPtr signal_pub_;
+ rclcpp::Publisher<tier4_perception_msgs::msg::TrafficLightArray>::SharedPtr signal_pub_;
tf2_ros::Buffer tf_buffer_;
tf2_ros::TransformListener tf_listener_;
@@ -92,7 +92,7 @@ class TrafficLightOcclusionPredictorNodelet : public rclcpp::Node
*/
std::shared_ptr<CloudOcclusionPredictor> cloud_occlusion_predictor_;
typedef perception_utils::PrimeSynchronizer<
- tier4_perception_msgs::msg::TrafficSignalArray,
+ tier4_perception_msgs::msg::TrafficLightArray,
tier4_perception_msgs::msg::TrafficLightRoiArray, sensor_msgs::msg::CameraInfo,
sensor_msgs::msg::PointCloud2>
SynchronizerType;
@@ -102,7 +102,7 @@ class TrafficLightOcclusionPredictorNodelet : public rclcpp::Node
std::vector<bool> subscribed_;
std::vector<int> occlusion_ratios_;
- tier4_perception_msgs::msg::TrafficSignalArray out_msg_;
+ tier4_perception_msgs::msg::TrafficLightArray out_msg_;
};
} // namespace traffic_light
#endif // TRAFFIC_LIGHT_OCCLUSION_PREDICTOR__NODELET_HPP_
diff --git a/perception/traffic_light_occlusion_predictor/src/nodelet.cpp b/perception/traffic_light_occlusion_predictor/src/nodelet.cpp
index 6429640ff44c1..4915132146d3a 100644
--- a/perception/traffic_light_occlusion_predictor/src/nodelet.cpp
+++ b/perception/traffic_light_occlusion_predictor/src/nodelet.cpp
@@ -57,7 +57,7 @@ TrafficLightOcclusionPredictorNodelet::TrafficLightOcclusionPredictorNodelet(
// publishers
signal_pub_ =
- create_publisher<tier4_perception_msgs::msg::TrafficSignalArray>("~/output/traffic_signals", 1);
+ create_publisher<tier4_perception_msgs::msg::TrafficLightArray>("~/output/traffic_signals", 1);
// configuration parameters
config_.azimuth_occlusion_resolution_deg =
@@ -122,7 +122,7 @@ void TrafficLightOcclusionPredictorNodelet::mapCallback(
}
void TrafficLightOcclusionPredictorNodelet::syncCallback(
- const tier4_perception_msgs::msg::TrafficSignalArray::ConstSharedPtr in_signal_msg,
+ const tier4_perception_msgs::msg::TrafficLightArray::ConstSharedPtr in_signal_msg,
const tier4_perception_msgs::msg::TrafficLightRoiArray::ConstSharedPtr in_roi_msg,
const sensor_msgs::msg::CameraInfo::ConstSharedPtr in_cam_info_msg,
const sensor_msgs::msg::PointCloud2::ConstSharedPtr in_cloud_msg,
@@ -146,7 +146,7 @@ void TrafficLightOcclusionPredictorNodelet::syncCallback(
}
}
- tier4_perception_msgs::msg::TrafficSignalArray out_msg = *in_signal_msg;
+ tier4_perception_msgs::msg::TrafficLightArray out_msg = *in_signal_msg;
if (selected_roi_msg.rois.size() != in_signal_msg->signals.size() - not_detected_roi) {
occlusion_ratios.resize(in_signal_msg->signals.size(), 0);
@@ -177,7 +177,7 @@ void TrafficLightOcclusionPredictorNodelet::syncCallback(
subscribed_.at(traffic_light_type) = true;
if (std::all_of(subscribed_.begin(), subscribed_.end(), [](bool v) { return v; })) {
- auto pub_msg = std::make_unique<tier4_perception_msgs::msg::TrafficSignalArray>(out_msg_);
+ auto pub_msg = std::make_unique<tier4_perception_msgs::msg::TrafficLightArray>(out_msg_);
pub_msg->header = in_signal_msg->header;
signal_pub_->publish(std::move(pub_msg));
out_msg_.signals.clear();
diff --git a/perception/traffic_light_visualization/README.md b/perception/traffic_light_visualization/README.md
index 86cc62a69659e..a9bcecebc016d 100644
--- a/perception/traffic_light_visualization/README.md
+++ b/perception/traffic_light_visualization/README.md
@@ -19,7 +19,7 @@ The `traffic_light_visualization` is a package that includes two visualizing nod
| Name | Type | Description |
| -------------------- | ------------------------------------------------ | ------------------------ |
-| `~/input/tl_state` | `tier4_perception_msgs::msg::TrafficSignalArray` | status of traffic lights |
+| `~/input/tl_state` | `tier4_perception_msgs::msg::TrafficLightArray` | status of traffic lights |
| `~/input/vector_map` | `autoware_auto_mapping_msgs::msg::HADMapBin` | vector map |
#### Output
@@ -34,7 +34,7 @@ The `traffic_light_visualization` is a package that includes two visualizing nod
| Name | Type | Description |
| ----------------------------- | -------------------------------------------------- | ------------------------------------------------------- |
-| `~/input/tl_state` | `tier4_perception_msgs::msg::TrafficSignalArray` | status of traffic lights |
+| `~/input/tl_state` | `tier4_perception_msgs::msg::TrafficLightArray` | status of traffic lights |
| `~/input/image` | `sensor_msgs::msg::Image` | the image captured by perception cameras |
| `~/input/rois` | `tier4_perception_msgs::msg::TrafficLightRoiArray` | the ROIs detected by `traffic_light_fine_detector` |
| `~/input/rough/rois` (option) | `tier4_perception_msgs::msg::TrafficLightRoiArray` | the ROIs detected by `traffic_light_map_based_detector` |
diff --git a/perception/traffic_light_visualization/include/traffic_light_visualization/traffic_light_roi_visualizer/nodelet.hpp b/perception/traffic_light_visualization/include/traffic_light_visualization/traffic_light_roi_visualizer/nodelet.hpp
index 13d9045e89e98..b6d2a08bc3701 100644
--- a/perception/traffic_light_visualization/include/traffic_light_visualization/traffic_light_roi_visualizer/nodelet.hpp
+++ b/perception/traffic_light_visualization/include/traffic_light_visualization/traffic_light_roi_visualizer/nodelet.hpp
@@ -51,14 +51,14 @@ class TrafficLightRoiVisualizerNodelet : public rclcpp::Node
void imageRoiCallback(
const sensor_msgs::msg::Image::ConstSharedPtr & input_image_msg,
const tier4_perception_msgs::msg::TrafficLightRoiArray::ConstSharedPtr & input_tl_roi_msg,
- const tier4_perception_msgs::msg::TrafficSignalArray::ConstSharedPtr &
+ const tier4_perception_msgs::msg::TrafficLightArray::ConstSharedPtr &
input_traffic_signals_msg);
void imageRoughRoiCallback(
const sensor_msgs::msg::Image::ConstSharedPtr & input_image_msg,
const tier4_perception_msgs::msg::TrafficLightRoiArray::ConstSharedPtr & input_tl_roi_msg,
const tier4_perception_msgs::msg::TrafficLightRoiArray::ConstSharedPtr & input_tl_rough_roi_msg,
- const tier4_perception_msgs::msg::TrafficSignalArray::ConstSharedPtr &
+ const tier4_perception_msgs::msg::TrafficLightArray::ConstSharedPtr &
input_traffic_signals_msg);
private:
@@ -90,7 +90,7 @@ class TrafficLightRoiVisualizerNodelet : public rclcpp::Node
const ClassificationResult & result);
bool getClassificationResult(
- int id, const tier4_perception_msgs::msg::TrafficSignalArray & traffic_signals,
+ int id, const tier4_perception_msgs::msg::TrafficLightArray & traffic_signals,
ClassificationResult & result);
bool getRoiFromId(
@@ -101,11 +101,11 @@ class TrafficLightRoiVisualizerNodelet : public rclcpp::Node
image_transport::SubscriberFilter image_sub_;
message_filters::Subscriber<tier4_perception_msgs::msg::TrafficLightRoiArray> roi_sub_;
message_filters::Subscriber<tier4_perception_msgs::msg::TrafficLightRoiArray> rough_roi_sub_;
- message_filters::Subscriber<tier4_perception_msgs::msg::TrafficSignalArray> traffic_signals_sub_;
+ message_filters::Subscriber<tier4_perception_msgs::msg::TrafficLightArray> traffic_signals_sub_;
image_transport::Publisher image_pub_;
typedef message_filters::sync_policies::ApproximateTime<
sensor_msgs::msg::Image, tier4_perception_msgs::msg::TrafficLightRoiArray,
- tier4_perception_msgs::msg::TrafficSignalArray>
+ tier4_perception_msgs::msg::TrafficLightArray>
SyncPolicy;
typedef message_filters::Synchronizer<SyncPolicy> Sync;
std::shared_ptr<Sync> sync_;
@@ -113,7 +113,7 @@ class TrafficLightRoiVisualizerNodelet : public rclcpp::Node
typedef message_filters::sync_policies::ApproximateTime<
sensor_msgs::msg::Image, tier4_perception_msgs::msg::TrafficLightRoiArray,
tier4_perception_msgs::msg::TrafficLightRoiArray,
- tier4_perception_msgs::msg::TrafficSignalArray>
+ tier4_perception_msgs::msg::TrafficLightArray>
SyncPolicyWithRoughRoi;
typedef message_filters::Synchronizer<SyncPolicyWithRoughRoi> SyncWithRoughRoi;
std::shared_ptr<SyncWithRoughRoi> sync_with_rough_roi_;
diff --git a/perception/traffic_light_visualization/src/traffic_light_roi_visualizer/nodelet.cpp b/perception/traffic_light_visualization/src/traffic_light_roi_visualizer/nodelet.cpp
index 4ff9729695be2..45d6759e6cb7d 100644
--- a/perception/traffic_light_visualization/src/traffic_light_roi_visualizer/nodelet.cpp
+++ b/perception/traffic_light_visualization/src/traffic_light_roi_visualizer/nodelet.cpp
@@ -123,7 +123,7 @@ bool TrafficLightRoiVisualizerNodelet::createRect(
void TrafficLightRoiVisualizerNodelet::imageRoiCallback(
const sensor_msgs::msg::Image::ConstSharedPtr & input_image_msg,
const tier4_perception_msgs::msg::TrafficLightRoiArray::ConstSharedPtr & input_tl_roi_msg,
- [[maybe_unused]] const tier4_perception_msgs::msg::TrafficSignalArray::ConstSharedPtr &
+ [[maybe_unused]] const tier4_perception_msgs::msg::TrafficLightArray::ConstSharedPtr &
input_traffic_signals_msg)
{
cv_bridge::CvImagePtr cv_ptr;
@@ -152,7 +152,7 @@ void TrafficLightRoiVisualizerNodelet::imageRoiCallback(
}
bool TrafficLightRoiVisualizerNodelet::getClassificationResult(
- int id, const tier4_perception_msgs::msg::TrafficSignalArray & traffic_signals,
+ int id, const tier4_perception_msgs::msg::TrafficLightArray & traffic_signals,
ClassificationResult & result)
{
bool has_correspond_traffic_signal = false;
@@ -191,7 +191,7 @@ void TrafficLightRoiVisualizerNodelet::imageRoughRoiCallback(
const sensor_msgs::msg::Image::ConstSharedPtr & input_image_msg,
const tier4_perception_msgs::msg::TrafficLightRoiArray::ConstSharedPtr & input_tl_roi_msg,
const tier4_perception_msgs::msg::TrafficLightRoiArray::ConstSharedPtr & input_tl_rough_roi_msg,
- const tier4_perception_msgs::msg::TrafficSignalArray::ConstSharedPtr & input_traffic_signals_msg)
+ const tier4_perception_msgs::msg::TrafficLightArray::ConstSharedPtr & input_traffic_signals_msg)
{
cv_bridge::CvImagePtr cv_ptr;
try {
From a1a7475690b6a4e39d2b1d722742062aef5960ed Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
<66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Sun, 11 Feb 2024 04:36:05 +0000
Subject: [PATCH 2/4] style(pre-commit): autofix
---
.../traffic_light_utils/traffic_light_utils.hpp | 2 +-
.../crosswalk_traffic_light_estimator/README.md | 12 ++++++------
.../crosswalk_traffic_light_estimator/node.hpp | 2 +-
perception/traffic_light_classifier/README.md | 6 +++---
.../include/traffic_light_classifier/nodelet.hpp | 2 +-
perception/traffic_light_classifier/src/nodelet.cpp | 5 ++---
.../traffic_light_occlusion_predictor/nodelet.hpp | 5 ++---
perception/traffic_light_visualization/README.md | 8 ++++----
.../traffic_light_roi_visualizer/nodelet.hpp | 3 +--
9 files changed, 21 insertions(+), 24 deletions(-)
diff --git a/common/traffic_light_utils/include/traffic_light_utils/traffic_light_utils.hpp b/common/traffic_light_utils/include/traffic_light_utils/traffic_light_utils.hpp
index a43b4880ef373..9c3acd4f45fa4 100644
--- a/common/traffic_light_utils/include/traffic_light_utils/traffic_light_utils.hpp
+++ b/common/traffic_light_utils/include/traffic_light_utils/traffic_light_utils.hpp
@@ -17,9 +17,9 @@
#include "autoware_perception_msgs/msg/traffic_signal.hpp"
#include "autoware_perception_msgs/msg/traffic_signal_element.hpp"
+#include "tier4_perception_msgs/msg/traffic_light.hpp"
#include "tier4_perception_msgs/msg/traffic_light_element.hpp"
#include "tier4_perception_msgs/msg/traffic_light_roi.hpp"
-#include "tier4_perception_msgs/msg/traffic_light.hpp"
#include <lanelet2_core/primitives/Lanelet.h>
#include <lanelet2_core/primitives/LineString.h>
diff --git a/perception/crosswalk_traffic_light_estimator/README.md b/perception/crosswalk_traffic_light_estimator/README.md
index b51f8d5da569a..c7d11e241dcf3 100644
--- a/perception/crosswalk_traffic_light_estimator/README.md
+++ b/perception/crosswalk_traffic_light_estimator/README.md
@@ -8,16 +8,16 @@
### Input
-| Name | Type | Description |
-| ------------------------------------ | ------------------------------------------------ | ------------------ |
-| `~/input/vector_map` | `autoware_auto_mapping_msgs::msg::HADMapBin` | vector map |
-| `~/input/route` | `autoware_planning_msgs::msg::LaneletRoute` | route |
+| Name | Type | Description |
+| ------------------------------------ | ----------------------------------------------- | ------------------ |
+| `~/input/vector_map` | `autoware_auto_mapping_msgs::msg::HADMapBin` | vector map |
+| `~/input/route` | `autoware_planning_msgs::msg::LaneletRoute` | route |
| `~/input/classified/traffic_signals` | `tier4_perception_msgs::msg::TrafficLightArray` | classified signals |
### Output
-| Name | Type | Description |
-| -------------------------- | ------------------------------------------------ | --------------------------------------------------------- |
+| Name | Type | Description |
+| -------------------------- | ----------------------------------------------- | --------------------------------------------------------- |
| `~/output/traffic_signals` | `tier4_perception_msgs::msg::TrafficLightArray` | output that contains estimated pedestrian traffic signals |
## Parameters
diff --git a/perception/crosswalk_traffic_light_estimator/include/crosswalk_traffic_light_estimator/node.hpp b/perception/crosswalk_traffic_light_estimator/include/crosswalk_traffic_light_estimator/node.hpp
index d7ccf9ebffbbb..896f59273b4ea 100644
--- a/perception/crosswalk_traffic_light_estimator/include/crosswalk_traffic_light_estimator/node.hpp
+++ b/perception/crosswalk_traffic_light_estimator/include/crosswalk_traffic_light_estimator/node.hpp
@@ -23,8 +23,8 @@
#include <autoware_perception_msgs/msg/traffic_signal_array.hpp>
#include <autoware_planning_msgs/msg/lanelet_route.hpp>
#include <tier4_debug_msgs/msg/float64_stamped.hpp>
-#include <tier4_perception_msgs/msg/traffic_light_element.hpp>
#include <tier4_perception_msgs/msg/traffic_light.hpp>
+#include <tier4_perception_msgs/msg/traffic_light_element.hpp>
#include <tier4_perception_msgs/msg/traffic_signal_array.hpp>
#include <lanelet2_core/Attribute.h>
diff --git a/perception/traffic_light_classifier/README.md b/perception/traffic_light_classifier/README.md
index 500f1fcfa0604..9f44ae560efb0 100644
--- a/perception/traffic_light_classifier/README.md
+++ b/perception/traffic_light_classifier/README.md
@@ -43,10 +43,10 @@ These colors and shapes are assigned to the message as follows:
### Output
-| Name | Type | Description |
-| -------------------------- | ------------------------------------------------ | ------------------- |
+| Name | Type | Description |
+| -------------------------- | ----------------------------------------------- | ------------------- |
| `~/output/traffic_signals` | `tier4_perception_msgs::msg::TrafficLightArray` | classified signals |
-| `~/output/debug/image` | `sensor_msgs::msg::Image` | image for debugging |
+| `~/output/debug/image` | `sensor_msgs::msg::Image` | image for debugging |
## Parameters
diff --git a/perception/traffic_light_classifier/include/traffic_light_classifier/nodelet.hpp b/perception/traffic_light_classifier/include/traffic_light_classifier/nodelet.hpp
index b51b7b14dd4c9..9515095f542fb 100644
--- a/perception/traffic_light_classifier/include/traffic_light_classifier/nodelet.hpp
+++ b/perception/traffic_light_classifier/include/traffic_light_classifier/nodelet.hpp
@@ -24,9 +24,9 @@
#include <sensor_msgs/image_encodings.hpp>
#include <sensor_msgs/msg/image.hpp>
#include <std_msgs/msg/header.hpp>
+#include <tier4_perception_msgs/msg/traffic_light.hpp>
#include <tier4_perception_msgs/msg/traffic_light_element.hpp>
#include <tier4_perception_msgs/msg/traffic_light_roi_array.hpp>
-#include <tier4_perception_msgs/msg/traffic_light.hpp>
#include <tier4_perception_msgs/msg/traffic_signal_array.hpp>
#if __has_include(<cv_bridge/cv_bridge.hpp>)
diff --git a/perception/traffic_light_classifier/src/nodelet.cpp b/perception/traffic_light_classifier/src/nodelet.cpp
index f6c8afe0d1714..89ba30a8b71c2 100644
--- a/perception/traffic_light_classifier/src/nodelet.cpp
+++ b/perception/traffic_light_classifier/src/nodelet.cpp
@@ -42,9 +42,8 @@ TrafficLightClassifierNodelet::TrafficLightClassifierNodelet(const rclcpp::NodeO
std::bind(&TrafficLightClassifierNodelet::imageRoiCallback, this, _1, _2));
}
- traffic_signal_array_pub_ =
- this->create_publisher<tier4_perception_msgs::msg::TrafficLightArray>(
- "~/output/traffic_signals", rclcpp::QoS{1});
+ traffic_signal_array_pub_ = this->create_publisher<tier4_perception_msgs::msg::TrafficLightArray>(
+ "~/output/traffic_signals", rclcpp::QoS{1});
using std::chrono_literals::operator""ms;
timer_ = rclcpp::create_timer(
diff --git a/perception/traffic_light_occlusion_predictor/include/traffic_light_occlusion_predictor/nodelet.hpp b/perception/traffic_light_occlusion_predictor/include/traffic_light_occlusion_predictor/nodelet.hpp
index f69903dbc016a..179505fff2875 100644
--- a/perception/traffic_light_occlusion_predictor/include/traffic_light_occlusion_predictor/nodelet.hpp
+++ b/perception/traffic_light_occlusion_predictor/include/traffic_light_occlusion_predictor/nodelet.hpp
@@ -92,9 +92,8 @@ class TrafficLightOcclusionPredictorNodelet : public rclcpp::Node
*/
std::shared_ptr<CloudOcclusionPredictor> cloud_occlusion_predictor_;
typedef perception_utils::PrimeSynchronizer<
- tier4_perception_msgs::msg::TrafficLightArray,
- tier4_perception_msgs::msg::TrafficLightRoiArray, sensor_msgs::msg::CameraInfo,
- sensor_msgs::msg::PointCloud2>
+ tier4_perception_msgs::msg::TrafficLightArray, tier4_perception_msgs::msg::TrafficLightRoiArray,
+ sensor_msgs::msg::CameraInfo, sensor_msgs::msg::PointCloud2>
SynchronizerType;
std::shared_ptr<SynchronizerType> synchronizer_;
diff --git a/perception/traffic_light_visualization/README.md b/perception/traffic_light_visualization/README.md
index a9bcecebc016d..1fb0c44340af2 100644
--- a/perception/traffic_light_visualization/README.md
+++ b/perception/traffic_light_visualization/README.md
@@ -17,10 +17,10 @@ The `traffic_light_visualization` is a package that includes two visualizing nod
#### Input
-| Name | Type | Description |
-| -------------------- | ------------------------------------------------ | ------------------------ |
+| Name | Type | Description |
+| -------------------- | ----------------------------------------------- | ------------------------ |
| `~/input/tl_state` | `tier4_perception_msgs::msg::TrafficLightArray` | status of traffic lights |
-| `~/input/vector_map` | `autoware_auto_mapping_msgs::msg::HADMapBin` | vector map |
+| `~/input/vector_map` | `autoware_auto_mapping_msgs::msg::HADMapBin` | vector map |
#### Output
@@ -34,7 +34,7 @@ The `traffic_light_visualization` is a package that includes two visualizing nod
| Name | Type | Description |
| ----------------------------- | -------------------------------------------------- | ------------------------------------------------------- |
-| `~/input/tl_state` | `tier4_perception_msgs::msg::TrafficLightArray` | status of traffic lights |
+| `~/input/tl_state` | `tier4_perception_msgs::msg::TrafficLightArray` | status of traffic lights |
| `~/input/image` | `sensor_msgs::msg::Image` | the image captured by perception cameras |
| `~/input/rois` | `tier4_perception_msgs::msg::TrafficLightRoiArray` | the ROIs detected by `traffic_light_fine_detector` |
| `~/input/rough/rois` (option) | `tier4_perception_msgs::msg::TrafficLightRoiArray` | the ROIs detected by `traffic_light_map_based_detector` |
diff --git a/perception/traffic_light_visualization/include/traffic_light_visualization/traffic_light_roi_visualizer/nodelet.hpp b/perception/traffic_light_visualization/include/traffic_light_visualization/traffic_light_roi_visualizer/nodelet.hpp
index b6d2a08bc3701..205076b76b2c0 100644
--- a/perception/traffic_light_visualization/include/traffic_light_visualization/traffic_light_roi_visualizer/nodelet.hpp
+++ b/perception/traffic_light_visualization/include/traffic_light_visualization/traffic_light_roi_visualizer/nodelet.hpp
@@ -112,8 +112,7 @@ class TrafficLightRoiVisualizerNodelet : public rclcpp::Node
typedef message_filters::sync_policies::ApproximateTime<
sensor_msgs::msg::Image, tier4_perception_msgs::msg::TrafficLightRoiArray,
- tier4_perception_msgs::msg::TrafficLightRoiArray,
- tier4_perception_msgs::msg::TrafficLightArray>
+ tier4_perception_msgs::msg::TrafficLightRoiArray, tier4_perception_msgs::msg::TrafficLightArray>
SyncPolicyWithRoughRoi;
typedef message_filters::Synchronizer<SyncPolicyWithRoughRoi> SyncWithRoughRoi;
std::shared_ptr<SyncWithRoughRoi> sync_with_rough_roi_;
From e9946385d980e23c795f18c2861917bdad304cd6 Mon Sep 17 00:00:00 2001
From: Shunsuke Miura <shunsuke.miura@tier4.jp>
Date: Sun, 11 Feb 2024 15:00:00 +0900
Subject: [PATCH 3/4] fix(crosswalk_traffic_light_estimator): remove unused
include, readme
Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>
---
.../crosswalk_traffic_light_estimator/README.md | 16 ++++++++--------
.../crosswalk_traffic_light_estimator/node.hpp | 3 ---
2 files changed, 8 insertions(+), 11 deletions(-)
diff --git a/perception/crosswalk_traffic_light_estimator/README.md b/perception/crosswalk_traffic_light_estimator/README.md
index c7d11e241dcf3..412a93ae6dd7a 100644
--- a/perception/crosswalk_traffic_light_estimator/README.md
+++ b/perception/crosswalk_traffic_light_estimator/README.md
@@ -8,17 +8,17 @@
### Input
-| Name | Type | Description |
-| ------------------------------------ | ----------------------------------------------- | ------------------ |
-| `~/input/vector_map` | `autoware_auto_mapping_msgs::msg::HADMapBin` | vector map |
-| `~/input/route` | `autoware_planning_msgs::msg::LaneletRoute` | route |
-| `~/input/classified/traffic_signals` | `tier4_perception_msgs::msg::TrafficLightArray` | classified signals |
+| Name | Type | Description |
+| ------------------------------------ | --------------------------------------------------- | ------------------ |
+| `~/input/vector_map` | `autoware_auto_mapping_msgs::msg::HADMapBin` | vector map |
+| `~/input/route` | `autoware_planning_msgs::msg::LaneletRoute` | route |
+| `~/input/classified/traffic_signals` | `autoware_perception_msgs::msg::TrafficSignalArray` | classified signals |
### Output
-| Name | Type | Description |
-| -------------------------- | ----------------------------------------------- | --------------------------------------------------------- |
-| `~/output/traffic_signals` | `tier4_perception_msgs::msg::TrafficLightArray` | output that contains estimated pedestrian traffic signals |
+| Name | Type | Description |
+| -------------------------- | --------------------------------------------------- | --------------------------------------------------------- |
+| `~/output/traffic_signals` | `autoware_perception_msgs::msg::TrafficSignalArray` | output that contains estimated pedestrian traffic signals |
## Parameters
diff --git a/perception/crosswalk_traffic_light_estimator/include/crosswalk_traffic_light_estimator/node.hpp b/perception/crosswalk_traffic_light_estimator/include/crosswalk_traffic_light_estimator/node.hpp
index 896f59273b4ea..ccffde4fb3a11 100644
--- a/perception/crosswalk_traffic_light_estimator/include/crosswalk_traffic_light_estimator/node.hpp
+++ b/perception/crosswalk_traffic_light_estimator/include/crosswalk_traffic_light_estimator/node.hpp
@@ -23,9 +23,6 @@
#include <autoware_perception_msgs/msg/traffic_signal_array.hpp>
#include <autoware_planning_msgs/msg/lanelet_route.hpp>
#include <tier4_debug_msgs/msg/float64_stamped.hpp>
-#include <tier4_perception_msgs/msg/traffic_light.hpp>
-#include <tier4_perception_msgs/msg/traffic_light_element.hpp>
-#include <tier4_perception_msgs/msg/traffic_signal_array.hpp>
#include <lanelet2_core/Attribute.h>
#include <lanelet2_core/LaneletMap.h>
From 02ff9ba27741085ab009fd506db9f3d8ede8c932 Mon Sep 17 00:00:00 2001
From: Shunsuke Miura <shunsuke.miura@tier4.jp>
Date: Sun, 11 Feb 2024 15:58:15 +0900
Subject: [PATCH 4/4] rename traffic_signal_array to traffic_light_array
Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>
---
.../include/traffic_light_classifier/classifier_interface.hpp | 2 +-
.../include/traffic_light_classifier/color_classifier.hpp | 2 +-
.../include/traffic_light_classifier/nodelet.hpp | 2 +-
.../include/traffic_light_multi_camera_fusion/node.hpp | 2 +-
.../include/traffic_light_occlusion_predictor/nodelet.hpp | 2 +-
.../traffic_light_roi_visualizer/nodelet.hpp | 2 +-
6 files changed, 6 insertions(+), 6 deletions(-)
diff --git a/perception/traffic_light_classifier/include/traffic_light_classifier/classifier_interface.hpp b/perception/traffic_light_classifier/include/traffic_light_classifier/classifier_interface.hpp
index 8a60b148e5245..563850da9d2f4 100644
--- a/perception/traffic_light_classifier/include/traffic_light_classifier/classifier_interface.hpp
+++ b/perception/traffic_light_classifier/include/traffic_light_classifier/classifier_interface.hpp
@@ -18,7 +18,7 @@
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
-#include <tier4_perception_msgs/msg/traffic_signal_array.hpp>
+#include <tier4_perception_msgs/msg/traffic_light_array.hpp>
#include <vector>
diff --git a/perception/traffic_light_classifier/include/traffic_light_classifier/color_classifier.hpp b/perception/traffic_light_classifier/include/traffic_light_classifier/color_classifier.hpp
index fbde67e0192e7..38f2d7f6a48db 100644
--- a/perception/traffic_light_classifier/include/traffic_light_classifier/color_classifier.hpp
+++ b/perception/traffic_light_classifier/include/traffic_light_classifier/color_classifier.hpp
@@ -22,7 +22,7 @@
#include <opencv2/highgui/highgui.hpp>
#include <rclcpp/rclcpp.hpp>
-#include <tier4_perception_msgs/msg/traffic_signal_array.hpp>
+#include <tier4_perception_msgs/msg/traffic_light_array.hpp>
#if __has_include(<cv_bridge/cv_bridge.hpp>)
#include <cv_bridge/cv_bridge.hpp>
diff --git a/perception/traffic_light_classifier/include/traffic_light_classifier/nodelet.hpp b/perception/traffic_light_classifier/include/traffic_light_classifier/nodelet.hpp
index 9515095f542fb..d48dd8aba3b95 100644
--- a/perception/traffic_light_classifier/include/traffic_light_classifier/nodelet.hpp
+++ b/perception/traffic_light_classifier/include/traffic_light_classifier/nodelet.hpp
@@ -25,9 +25,9 @@
#include <sensor_msgs/msg/image.hpp>
#include <std_msgs/msg/header.hpp>
#include <tier4_perception_msgs/msg/traffic_light.hpp>
+#include <tier4_perception_msgs/msg/traffic_light_array.hpp>
#include <tier4_perception_msgs/msg/traffic_light_element.hpp>
#include <tier4_perception_msgs/msg/traffic_light_roi_array.hpp>
-#include <tier4_perception_msgs/msg/traffic_signal_array.hpp>
#if __has_include(<cv_bridge/cv_bridge.hpp>)
#include <cv_bridge/cv_bridge.hpp>
diff --git a/perception/traffic_light_multi_camera_fusion/include/traffic_light_multi_camera_fusion/node.hpp b/perception/traffic_light_multi_camera_fusion/include/traffic_light_multi_camera_fusion/node.hpp
index ab4d453e1d830..7dbe650f2e6be 100644
--- a/perception/traffic_light_multi_camera_fusion/include/traffic_light_multi_camera_fusion/node.hpp
+++ b/perception/traffic_light_multi_camera_fusion/include/traffic_light_multi_camera_fusion/node.hpp
@@ -20,8 +20,8 @@
#include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
#include <autoware_perception_msgs/msg/traffic_signal_array.hpp>
#include <sensor_msgs/msg/camera_info.hpp>
+#include <tier4_perception_msgs/msg/traffic_light_array.hpp>
#include <tier4_perception_msgs/msg/traffic_light_roi_array.hpp>
-#include <tier4_perception_msgs/msg/traffic_signal_array.hpp>
#include <lanelet2_core/Forward.h>
#include <message_filters/subscriber.h>
diff --git a/perception/traffic_light_occlusion_predictor/include/traffic_light_occlusion_predictor/nodelet.hpp b/perception/traffic_light_occlusion_predictor/include/traffic_light_occlusion_predictor/nodelet.hpp
index 179505fff2875..3d6bc4fc1524e 100644
--- a/perception/traffic_light_occlusion_predictor/include/traffic_light_occlusion_predictor/nodelet.hpp
+++ b/perception/traffic_light_occlusion_predictor/include/traffic_light_occlusion_predictor/nodelet.hpp
@@ -24,8 +24,8 @@
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <sensor_msgs/msg/camera_info.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
+#include <tier4_perception_msgs/msg/traffic_light_array.hpp>
#include <tier4_perception_msgs/msg/traffic_light_roi_array.hpp>
-#include <tier4_perception_msgs/msg/traffic_signal_array.hpp>
#include <image_geometry/pinhole_camera_model.h>
#include <message_filters/subscriber.h>
diff --git a/perception/traffic_light_visualization/include/traffic_light_visualization/traffic_light_roi_visualizer/nodelet.hpp b/perception/traffic_light_visualization/include/traffic_light_visualization/traffic_light_roi_visualizer/nodelet.hpp
index 205076b76b2c0..a4d916d968071 100644
--- a/perception/traffic_light_visualization/include/traffic_light_visualization/traffic_light_roi_visualizer/nodelet.hpp
+++ b/perception/traffic_light_visualization/include/traffic_light_visualization/traffic_light_roi_visualizer/nodelet.hpp
@@ -20,8 +20,8 @@
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/image.hpp>
+#include <tier4_perception_msgs/msg/traffic_light_array.hpp>
#include <tier4_perception_msgs/msg/traffic_light_roi_array.hpp>
-#include <tier4_perception_msgs/msg/traffic_signal_array.hpp>
#include <cv_bridge/cv_bridge.h>
#include <message_filters/subscriber.h>