refactor!: rename autoware_perception_msgs::msg::TrafficSingal** to TrafficLight**

common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/README.md

@@ -21,7 +21,7 @@ This plugin provides a visual and easy-to-understand display of vehicle speed, t
 | `/vehicle/status/steering_status`                       | `autoware_auto_vehicle_msgs::msg::SteeringReport`       | The topic is status of steering      |
 | `/vehicle/status/gear_status`                           | `autoware_auto_vehicle_msgs::msg::GearReport`           | The topic is status of gear          |
 | `/planning/scenario_planning/current_max_velocity`      | `tier4_planning_msgs::msg::VelocityLimit`               | The topic is velocity limit          |
-| `/perception/traffic_light_recognition/traffic_signals` | `autoware_perception_msgs::msg::TrafficSignalArray`     | The topic is status of traffic light |
+| `/perception/traffic_light_recognition/traffic_signals` | `autoware_perception_msgs::msg::TrafficLightArray`      | The topic is status of traffic light |
 
 ## Parameter
 

common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp

@@ -102,7 +102,7 @@ private Q_SLOTS:
     turn_signals_sub_;
   rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::HazardLightsReport>::SharedPtr
     hazard_lights_sub_;
-  rclcpp::Subscription<autoware_perception_msgs::msg::TrafficSignalArray>::SharedPtr traffic_sub_;
+  rclcpp::Subscription<autoware_perception_msgs::msg::TrafficLightArray>::SharedPtr traffic_sub_;
   rclcpp::Subscription<tier4_planning_msgs::msg::VelocityLimit>::SharedPtr speed_limit_sub_;
 
   std::mutex property_mutex_;
@@ -117,7 +117,7 @@ private Q_SLOTS:
     const autoware_auto_vehicle_msgs::msg::HazardLightsReport::ConstSharedPtr & msg);
   void updateSpeedLimitData(const tier4_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg);
   void updateTrafficLightData(
-    const autoware_perception_msgs::msg::TrafficSignalArray::ConstSharedPtr msg);
+    const autoware_perception_msgs::msg::TrafficLightArray::ConstSharedPtr msg);
   void drawWidget(QImage & hud);
 };
 }  // namespace autoware_overlay_rviz_plugin

common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/traffic_display.hpp

@@ -23,9 +23,9 @@
 #include <rviz_common/properties/int_property.hpp>
 #include <rviz_common/ros_topic_display.hpp>
 
-#include <autoware_perception_msgs/msg/traffic_signal.hpp>
-#include <autoware_perception_msgs/msg/traffic_signal_array.hpp>
-#include <autoware_perception_msgs/msg/traffic_signal_element.hpp>
+#include <autoware_perception_msgs/msg/traffic_light.hpp>
+#include <autoware_perception_msgs/msg/traffic_light_array.hpp>
+#include <autoware_perception_msgs/msg/traffic_light_element.hpp>
 
 #include <OgreColourValue.h>
 #include <OgreMaterial.h>
@@ -40,8 +40,8 @@ class TrafficDisplay
   TrafficDisplay();
   void drawTrafficLightIndicator(QPainter & painter, const QRectF & backgroundRect);
   void updateTrafficLightData(
-    const autoware_perception_msgs::msg::TrafficSignalArray::ConstSharedPtr & msg);
-  autoware_perception_msgs::msg::TrafficSignalArray current_traffic_;
+    const autoware_perception_msgs::msg::TrafficLightArray::ConstSharedPtr & msg);
+  autoware_perception_msgs::msg::TrafficLightArray current_traffic_;
 
 private:
   QImage traffic_light_image_;

common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp

@@ -112,7 +112,7 @@ void SignalDisplay::onInitialize()
 
   traffic_topic_property_ = std::make_unique<rviz_common::properties::RosTopicProperty>(
     "Traffic Topic", "/perception/traffic_light_recognition/traffic_signals",
-    "autoware_perception/msgs/msg/TrafficSignalArray", "Topic for Traffic Light Data", this,
+    "autoware_perception/msgs/msg/TrafficLightArray", "Topic for Traffic Light Data", this,
     SLOT(topic_updated_traffic()));
   traffic_topic_property_->initialize(rviz_ros_node);
 }
@@ -159,10 +159,10 @@ void SignalDisplay::setupRosSubscriptions()
         updateHazardLightsData(msg);
       });
 
-  traffic_sub_ = rviz_node_->create_subscription<autoware_perception_msgs::msg::TrafficSignalArray>(
+  traffic_sub_ = rviz_node_->create_subscription<autoware_perception_msgs::msg::TrafficLightArray>(
     traffic_topic_property_->getTopicStd(),
     rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable(),
-    [this](const autoware_perception_msgs::msg::TrafficSignalArray::SharedPtr msg) {
+    [this](const autoware_perception_msgs::msg::TrafficLightArray::SharedPtr msg) {
       updateTrafficLightData(msg);
     });
 
@@ -237,7 +237,7 @@ void SignalDisplay::onDisable()
 }
 
 void SignalDisplay::updateTrafficLightData(
-  const autoware_perception_msgs::msg::TrafficSignalArray::ConstSharedPtr msg)
+  const autoware_perception_msgs::msg::TrafficLightArray::ConstSharedPtr msg)
 {
   std::lock_guard<std::mutex> lock(property_mutex_);
 
@@ -506,14 +506,13 @@ void SignalDisplay::topic_updated_traffic()
   // resubscribe to the topic
   traffic_sub_.reset();
   auto rviz_ros_node = context_->getRosNodeAbstraction().lock();
-  traffic_sub_ =
-    rviz_ros_node->get_raw_node()
-      ->create_subscription<autoware_perception_msgs::msg::TrafficSignalArray>(
-        traffic_topic_property_->getTopicStd(),
-        rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable(),
-        [this](const autoware_perception_msgs::msg::TrafficSignalArray::SharedPtr msg) {
-          updateTrafficLightData(msg);
-        });
+  traffic_sub_ = rviz_ros_node->get_raw_node()
+                   ->create_subscription<autoware_perception_msgs::msg::TrafficLightArray>(
+                     traffic_topic_property_->getTopicStd(),
+                     rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable(),
+                     [this](const autoware_perception_msgs::msg::TrafficLightArray::SharedPtr msg) {
+                       updateTrafficLightData(msg);
+                     });
 }
 
 }  // namespace autoware_overlay_rviz_plugin

common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/traffic_display.cpp

@@ -48,7 +48,7 @@ TrafficDisplay::TrafficDisplay()
 }
 
 void TrafficDisplay::updateTrafficLightData(
-  const autoware_perception_msgs::msg::TrafficSignalArray::ConstSharedPtr & msg)
+  const autoware_perception_msgs::msg::TrafficLightArray::ConstSharedPtr & msg)
 {
   current_traffic_ = *msg;
 }

common/tier4_traffic_light_rviz_plugin/README.md

@@ -8,9 +8,9 @@ This plugin panel publishes dummy traffic light signals.
 
 ### Output
 
-| Name                                                    | Type                                                | Description                   |
-| ------------------------------------------------------- | --------------------------------------------------- | ----------------------------- |
-| `/perception/traffic_light_recognition/traffic_signals` | `autoware_perception_msgs::msg::TrafficSignalArray` | Publish traffic light signals |
+| Name                                                    | Type                                               | Description                   |
+| ------------------------------------------------------- | -------------------------------------------------- | ----------------------------- |
+| `/perception/traffic_light_recognition/traffic_signals` | `autoware_perception_msgs::msg::TrafficLightArray` | Publish traffic light signals |
 
 ## HowToUse
 

common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp

@@ -139,50 +139,50 @@ void TrafficLightPublishPanel::onSetTrafficLightState()
   const auto shape = light_shape_combo_->currentText();
   const auto status = light_status_combo_->currentText();
 
-  TrafficSignalElement traffic_light;
+  TrafficLightElement traffic_light;
   traffic_light.confidence = traffic_light_confidence_input_->value();
 
   if (color == "RED") {
-    traffic_light.color = TrafficSignalElement::RED;
+    traffic_light.color = TrafficLightElement::RED;
   } else if (color == "AMBER") {
-    traffic_light.color = TrafficSignalElement::AMBER;
+    traffic_light.color = TrafficLightElement::AMBER;
   } else if (color == "GREEN") {
-    traffic_light.color = TrafficSignalElement::GREEN;
+    traffic_light.color = TrafficLightElement::GREEN;
   } else if (color == "WHITE") {
-    traffic_light.color = TrafficSignalElement::WHITE;
+    traffic_light.color = TrafficLightElement::WHITE;
   } else if (color == "UNKNOWN") {
-    traffic_light.color = TrafficSignalElement::UNKNOWN;
+    traffic_light.color = TrafficLightElement::UNKNOWN;
   }
 
   if (shape == "CIRCLE") {
-    traffic_light.shape = TrafficSignalElement::CIRCLE;
+    traffic_light.shape = TrafficLightElement::CIRCLE;
   } else if (shape == "LEFT_ARROW") {
-    traffic_light.shape = TrafficSignalElement::LEFT_ARROW;
+    traffic_light.shape = TrafficLightElement::LEFT_ARROW;
   } else if (shape == "RIGHT_ARROW") {
-    traffic_light.shape = TrafficSignalElement::RIGHT_ARROW;
+    traffic_light.shape = TrafficLightElement::RIGHT_ARROW;
   } else if (shape == "UP_ARROW") {
-    traffic_light.shape = TrafficSignalElement::UP_ARROW;
+    traffic_light.shape = TrafficLightElement::UP_ARROW;
   } else if (shape == "DOWN_ARROW") {
-    traffic_light.shape = TrafficSignalElement::DOWN_ARROW;
+    traffic_light.shape = TrafficLightElement::DOWN_ARROW;
   } else if (shape == "DOWN_LEFT_ARROW") {
-    traffic_light.shape = TrafficSignalElement::DOWN_LEFT_ARROW;
+    traffic_light.shape = TrafficLightElement::DOWN_LEFT_ARROW;
   } else if (shape == "DOWN_RIGHT_ARROW") {
-    traffic_light.shape = TrafficSignalElement::DOWN_RIGHT_ARROW;
+    traffic_light.shape = TrafficLightElement::DOWN_RIGHT_ARROW;
   } else if (shape == "UNKNOWN") {
-    traffic_light.shape = TrafficSignalElement::UNKNOWN;
+    traffic_light.shape = TrafficLightElement::UNKNOWN;
   }
 
   if (status == "SOLID_OFF") {
-    traffic_light.status = TrafficSignalElement::SOLID_OFF;
+    traffic_light.status = TrafficLightElement::SOLID_OFF;
   } else if (status == "SOLID_ON") {
-    traffic_light.status = TrafficSignalElement::SOLID_ON;
+    traffic_light.status = TrafficLightElement::SOLID_ON;
   } else if (status == "FLASHING") {
-    traffic_light.status = TrafficSignalElement::FLASHING;
+    traffic_light.status = TrafficLightElement::FLASHING;
   } else if (status == "UNKNOWN") {
-    traffic_light.status = TrafficSignalElement::UNKNOWN;
+    traffic_light.status = TrafficLightElement::UNKNOWN;
   }
 
-  TrafficSignal traffic_signal;
+  TrafficLight traffic_signal;
   traffic_signal.elements.push_back(traffic_light);
   traffic_signal.traffic_signal_id = traffic_light_id;
 
@@ -218,7 +218,7 @@ void TrafficLightPublishPanel::onInitialize()
   using std::placeholders::_1;
   raw_node_ = this->getDisplayContext()->getRosNodeAbstraction().lock()->get_raw_node();
 
-  pub_traffic_signals_ = raw_node_->create_publisher<TrafficSignalArray>(
+  pub_traffic_signals_ = raw_node_->create_publisher<TrafficLightArray>(
     "/perception/traffic_light_recognition/traffic_signals", rclcpp::QoS(1));
 
   sub_vector_map_ = raw_node_->create_subscription<HADMapBin>(
@@ -273,23 +273,23 @@ void TrafficLightPublishPanel::onTimer()
 
     const auto & light = signal.elements.front();
     switch (light.color) {
-      case TrafficSignalElement::RED:
+      case TrafficLightElement::RED:
         color_label->setText("RED");
         color_label->setStyleSheet("background-color: #FF0000;");
         break;
-      case TrafficSignalElement::AMBER:
+      case TrafficLightElement::AMBER:
         color_label->setText("AMBER");
         color_label->setStyleSheet("background-color: #FFBF00;");
         break;
-      case TrafficSignalElement::GREEN:
+      case TrafficLightElement::GREEN:
         color_label->setText("GREEN");
         color_label->setStyleSheet("background-color: #7CFC00;");
         break;
-      case TrafficSignalElement::WHITE:
+      case TrafficLightElement::WHITE:
         color_label->setText("WHITE");
         color_label->setStyleSheet("background-color: #FFFFFF;");
         break;
-      case TrafficSignalElement::UNKNOWN:
+      case TrafficLightElement::UNKNOWN:
         color_label->setText("UNKNOWN");
         color_label->setStyleSheet("background-color: #808080;");
         break;
@@ -301,28 +301,28 @@ void TrafficLightPublishPanel::onTimer()
     shape_label->setAlignment(Qt::AlignCenter);
 
     switch (light.shape) {
-      case TrafficSignalElement::CIRCLE:
+      case TrafficLightElement::CIRCLE:
         shape_label->setText("CIRCLE");
         break;
-      case TrafficSignalElement::LEFT_ARROW:
+      case TrafficLightElement::LEFT_ARROW:
         shape_label->setText("LEFT_ARROW");
         break;
-      case TrafficSignalElement::RIGHT_ARROW:
+      case TrafficLightElement::RIGHT_ARROW:
         shape_label->setText("RIGHT_ARROW");
         break;
-      case TrafficSignalElement::UP_ARROW:
+      case TrafficLightElement::UP_ARROW:
         shape_label->setText("UP_ARROW");
         break;
-      case TrafficSignalElement::DOWN_ARROW:
+      case TrafficLightElement::DOWN_ARROW:
         shape_label->setText("DOWN_ARROW");
         break;
-      case TrafficSignalElement::DOWN_LEFT_ARROW:
+      case TrafficLightElement::DOWN_LEFT_ARROW:
         shape_label->setText("DOWN_LEFT_ARROW");
         break;
-      case TrafficSignalElement::DOWN_RIGHT_ARROW:
+      case TrafficLightElement::DOWN_RIGHT_ARROW:
         shape_label->setText("DOWN_RIGHT_ARROW");
         break;
-      case TrafficSignalElement::UNKNOWN:
+      case TrafficLightElement::UNKNOWN:
         shape_label->setText("UNKNOWN");
         break;
       default:
@@ -333,16 +333,16 @@ void TrafficLightPublishPanel::onTimer()
     status_label->setAlignment(Qt::AlignCenter);
 
     switch (light.status) {
-      case TrafficSignalElement::SOLID_OFF:
+      case TrafficLightElement::SOLID_OFF:
         status_label->setText("SOLID_OFF");
         break;
-      case TrafficSignalElement::SOLID_ON:
+      case TrafficLightElement::SOLID_ON:
         status_label->setText("SOLID_ON");
         break;
-      case TrafficSignalElement::FLASHING:
+      case TrafficLightElement::FLASHING:
         status_label->setText("FLASHING");
         break;
-      case TrafficSignalElement::UNKNOWN:
+      case TrafficLightElement::UNKNOWN:
         status_label->setText("UNKNOWN");
         break;
       default:

common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.hpp

@@ -27,7 +27,7 @@
 #include <rviz_common/panel.hpp>
 
 #include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
-#include <autoware_perception_msgs/msg/traffic_signal_array.hpp>
+#include <autoware_perception_msgs/msg/traffic_light_array.hpp>
 #endif
 
 #include <set>
@@ -36,9 +36,9 @@ namespace rviz_plugins
 {
 
 using autoware_auto_mapping_msgs::msg::HADMapBin;
-using autoware_perception_msgs::msg::TrafficSignal;
-using autoware_perception_msgs::msg::TrafficSignalArray;
-using autoware_perception_msgs::msg::TrafficSignalElement;
+using autoware_perception_msgs::msg::TrafficLight;
+using autoware_perception_msgs::msg::TrafficLightArray;
+using autoware_perception_msgs::msg::TrafficLightElement;
 class TrafficLightPublishPanel : public rviz_common::Panel
 {
   Q_OBJECT
@@ -60,7 +60,7 @@ public Q_SLOTS:
 
   rclcpp::Node::SharedPtr raw_node_;
   rclcpp::TimerBase::SharedPtr pub_timer_;
-  rclcpp::Publisher<TrafficSignalArray>::SharedPtr pub_traffic_signals_;
+  rclcpp::Publisher<TrafficLightArray>::SharedPtr pub_traffic_signals_;
   rclcpp::Subscription<HADMapBin>::SharedPtr sub_vector_map_;
 
   QSpinBox * publishing_rate_input_;
@@ -74,7 +74,7 @@ public Q_SLOTS:
   QPushButton * publish_button_;
   QTableWidget * traffic_table_;
 
-  TrafficSignalArray extra_traffic_signals_;
+  TrafficLightArray extra_traffic_signals_;
 
   bool enable_publish_{false};
   std::set<int> traffic_light_ids_;

common/traffic_light_utils/include/traffic_light_utils/traffic_light_utils.hpp

@@ -15,8 +15,8 @@
 #ifndef TRAFFIC_LIGHT_UTILS__TRAFFIC_LIGHT_UTILS_HPP_
 #define TRAFFIC_LIGHT_UTILS__TRAFFIC_LIGHT_UTILS_HPP_
 
-#include "autoware_perception_msgs/msg/traffic_signal.hpp"
-#include "autoware_perception_msgs/msg/traffic_signal_element.hpp"
+#include "autoware_perception_msgs/msg/traffic_light.hpp"
+#include "autoware_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_light_roi.hpp"
@@ -50,7 +50,7 @@ void setSignalUnknown(tier4_perception_msgs::msg::TrafficLight & signal, float c
  * @return True if a circle-shaped light with the specified color is found, false otherwise.
  */
 bool hasTrafficLightCircleColor(
-  const autoware_perception_msgs::msg::TrafficSignal & tl_state, const uint8_t & lamp_color);
+  const autoware_perception_msgs::msg::TrafficLight & tl_state, const uint8_t & lamp_color);
 
 /**
  * @brief Checks if a traffic light state includes a light with the specified shape.
@@ -62,7 +62,7 @@ bool hasTrafficLightCircleColor(
  * @return True if a light with the specified shape is found, false otherwise.
  */
 bool hasTrafficLightShape(
-  const autoware_perception_msgs::msg::TrafficSignal & tl_state, const uint8_t & lamp_shape);
+  const autoware_perception_msgs::msg::TrafficLight & tl_state, const uint8_t & lamp_shape);
 
 /**
  * @brief Determines if a traffic signal indicates a stop for the given lanelet.
@@ -78,7 +78,7 @@ bool hasTrafficLightShape(
  */
 bool isTrafficSignalStop(
   const lanelet::ConstLanelet & lanelet,
-  const autoware_perception_msgs::msg::TrafficSignal & tl_state);
+  const autoware_perception_msgs::msg::TrafficLight & tl_state);
 
 tf2::Vector3 getTrafficLightTopLeft(const lanelet::ConstLineString3d & traffic_light);