fix(traffic_light_classifier): fix traffic light monitor warning (autowarefoundation#8412) (#1455)

zusizusi · Naophis · web-flow · commit 49231bcd6fce · 2024-08-09T16:12:41.000+09:00
fix traffic light monitor warning

Signed-off-by: Sho Iwasawa &lt;sho.iwasawa.2@tier4.jp&gt;
Co-authored-by: Naophis &lt;nao1288stusj@gmail.com&gt;
diff --git a/perception/traffic_light_classifier/src/nodelet.cpp b/perception/traffic_light_classifier/src/nodelet.cpp
@@ -84,7 +84,10 @@ void TrafficLightClassifierNodelet::imageRoiCallback(
   if (classifier_ptr_.use_count() == 0) {
     return;
   }
+  tier4_perception_msgs::msg::TrafficLightArray output_msg;
   if (input_rois_msg->rois.empty()) {
+    output_msg.header = input_image_msg->header;
+    traffic_signal_array_pub_->publish(output_msg);
     return;
   }
 
@@ -97,7 +100,6 @@ void TrafficLightClassifierNodelet::imageRoiCallback(
       input_image_msg->encoding.c_str());
   }
 
-  tier4_perception_msgs::msg::TrafficLightArray output_msg;
   output_msg.signals.resize(input_rois_msg->rois.size());
 
   std::vector<cv::Mat> images;

Original file line number	Diff line number	Diff line change
`@@ -84,7 +84,10 @@ void TrafficLightClassifierNodelet::imageRoiCallback(`
`84`	`84`	`if (classifier_ptr_.use_count() == 0) {`
`85`	`85`	`return;`
`86`	`86`	`}`
	`87`	`+ tier4_perception_msgs::msg::TrafficLightArray output_msg;`
`87`	`88`	`if (input_rois_msg->rois.empty()) {`
	`89`	`+ output_msg.header = input_image_msg->header;`
	`90`	`+ traffic_signal_array_pub_->publish(output_msg);`
`88`	`91`	`return;`
`89`	`92`	`}`
`90`	`93`
`@@ -97,7 +100,6 @@ void TrafficLightClassifierNodelet::imageRoiCallback(`
`97`	`100`	`input_image_msg->encoding.c_str());`
`98`	`101`	`}`
`99`	`102`
`100`		`- tier4_perception_msgs::msg::TrafficLightArray output_msg;`
`101`	`103`	`output_msg.signals.resize(input_rois_msg->rois.size());`
`102`	`104`
`103`	`105`	`std::vector<cv::Mat> images;`