feat: rename traffic signal element (autowarefoundation#4129)

* feat(traffic_light_arbiter): rename traffic signal element

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* feat(traffic_light_selector): remove traffic light selector

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* fix(traffic_light_arbiter): fix node name

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* update topic name

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* update message type

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* update message type

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

---------

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
Co-authored-by: Kenzo Lobos Tsunekawa <kenzo.lobos@tier4.jp>

Author: isamu-takagi

perception/traffic_light_arbiter/include/traffic_light_arbiter/traffic_light_arbiter.hpp

@@ -18,7 +18,6 @@
 #include <rclcpp/rclcpp.hpp>
 
 #include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
-#include <autoware_perception_msgs/msg/traffic_light_array.hpp>
 #include <autoware_perception_msgs/msg/traffic_signal_array.hpp>
 
 #include <lanelet2_core/Forward.h>
@@ -31,7 +30,7 @@ class TrafficLightArbiter : public rclcpp::Node
   explicit TrafficLightArbiter(const rclcpp::NodeOptions & options);
 
 private:
-  using Element = autoware_perception_msgs::msg::TrafficLightElement;
+  using Element = autoware_perception_msgs::msg::TrafficSignalElement;
   using LaneletMapBin = autoware_auto_mapping_msgs::msg::HADMapBin;
   using TrafficSignalArray = autoware_perception_msgs::msg::TrafficSignalArray;
   using TrafficSignal = autoware_perception_msgs::msg::TrafficSignal;

perception/traffic_light_arbiter/launch/traffic_light_arbiter.launch.xml

@@ -3,7 +3,7 @@
   <node_container pkg="rclcpp_components" exec="component_container" name="container" namespace="">
     <composable_node pkg="traffic_light_arbiter" plugin="TrafficLightArbiter" name="arbiter">
       <remap from="~/sub/vector_map" to="/map/vector_map"/>
-      <remap from="~/sub/perception_traffic_signals" to="/perception/traffic_light_selector/traffic_signals"/>
+      <remap from="~/sub/perception_traffic_signals" to="/perception/traffic_light_recognition/traffic_signals"/>
       <remap from="~/sub/external_traffic_signals" to="/external/traffic_light_recognition/traffic_signals"/>
       <remap from="~/pub/traffic_signals" to="/perception/traffic_light_arbiter/traffic_signals"/>
     </composable_node>

perception/traffic_light_arbiter/src/traffic_light_arbiter.cpp

@@ -45,7 +45,7 @@ std::vector<TrafficLightConstPtr> filter_traffic_signals(const LaneletMapConstPt
 }  // namespace lanelet
 
 TrafficLightArbiter::TrafficLightArbiter(const rclcpp::NodeOptions & options)
-: Node("traffic_light_selector", options)
+: Node("traffic_light_arbiter", options)
 {
   external_time_tolerance_ = this->declare_parameter<double>("external_time_tolerance", 5.0);
   perception_time_tolerance_ = this->declare_parameter<double>("perception_time_tolerance", 1.0);

perception/traffic_light_multi_camera_fusion/src/node.cpp

@@ -97,11 +97,11 @@ V at_or(const std::unordered_map<K, V> & map, const K & key, const V & value)
   return map.count(key) ? map.at(key) : value;
 }
 
-autoware_perception_msgs::msg::TrafficLightElement convert(
+autoware_perception_msgs::msg::TrafficSignalElement convert(
   const tier4_perception_msgs::msg::TrafficLightElement & input)
 {
   typedef tier4_perception_msgs::msg::TrafficLightElement OldElem;
-  typedef autoware_perception_msgs::msg::TrafficLightElement NewElem;
+  typedef autoware_perception_msgs::msg::TrafficSignalElement NewElem;
   static const std::unordered_map<OldElem::_color_type, NewElem::_color_type> color_map(
     {{OldElem::RED, NewElem::RED},
      {OldElem::AMBER, NewElem::AMBER},

perception/traffic_light_visualization/src/traffic_light_map_visualizer/node.cpp

@@ -167,18 +167,18 @@ void TrafficLightMapVisualizerNode::trafficSignalsCallback(
               visualization_msgs::msg::Marker marker;
               if (
                 isAttributeValue(pt, "color", "red") &&
-                elem.color == autoware_perception_msgs::msg::TrafficLightElement::RED) {
+                elem.color == autoware_perception_msgs::msg::TrafficSignalElement::RED) {
                 lightAsMarker(
                   get_node_logging_interface(), pt, &marker, "traffic_light", current_time);
               } else if (  // NOLINT
                 isAttributeValue(pt, "color", "green") &&
-                elem.color == autoware_perception_msgs::msg::TrafficLightElement::GREEN) {
+                elem.color == autoware_perception_msgs::msg::TrafficSignalElement::GREEN) {
                 lightAsMarker(
                   get_node_logging_interface(), pt, &marker, "traffic_light", current_time);
 
               } else if (  // NOLINT
                 isAttributeValue(pt, "color", "yellow") &&
-                elem.color == autoware_perception_msgs::msg::TrafficLightElement::AMBER) {
+                elem.color == autoware_perception_msgs::msg::TrafficSignalElement::AMBER) {
                 lightAsMarker(
                   get_node_logging_interface(), pt, &marker, "traffic_light", current_time);
               } else {