fix(autoware_overlay_rviz_plugin): topic type of traffic light (autow…

…arefoundation#8098) * fix(autoware_overlay_rviz_plugin): topic type of traffic light Signed-off-by: Tomohito Ando <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: Tomohito Ando <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: Tomohito Ando <[email protected]>
tier4 · Jul 23, 2024 · d309a25 · d309a25
1 parent a363f9e
commit d309a25
Show file tree

Hide file tree

Showing 4 changed files with 19 additions and 21 deletions.
diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp
@@ -102,8 +102,7 @@ private Q_SLOTS:
     turn_signals_sub_;
   rclcpp::Subscription<autoware_vehicle_msgs::msg::HazardLightsReport>::SharedPtr
     hazard_lights_sub_;
-  rclcpp::Subscription<autoware_perception_msgs::msg::TrafficLightGroupArray>::SharedPtr
-    traffic_sub_;
+  rclcpp::Subscription<autoware_perception_msgs::msg::TrafficLightGroup>::SharedPtr traffic_sub_;
   rclcpp::Subscription<tier4_planning_msgs::msg::VelocityLimit>::SharedPtr speed_limit_sub_;
 
   std::mutex property_mutex_;
@@ -117,7 +116,7 @@ private Q_SLOTS:
     const autoware_vehicle_msgs::msg::HazardLightsReport::ConstSharedPtr & msg);
   void updateSpeedLimitData(const tier4_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg);
   void updateTrafficLightData(
-    const autoware_perception_msgs::msg::TrafficLightGroupArray::ConstSharedPtr msg);
+    const autoware_perception_msgs::msg::TrafficLightGroup::ConstSharedPtr msg);
   void drawWidget(QImage & hud);
 };
 }  // namespace autoware_overlay_rviz_plugin

diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/traffic_display.hpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/traffic_display.hpp
@@ -25,7 +25,6 @@
 
 #include <autoware_perception_msgs/msg/traffic_light_element.hpp>
 #include <autoware_perception_msgs/msg/traffic_light_group.hpp>
-#include <autoware_perception_msgs/msg/traffic_light_group_array.hpp>
 
 #include <OgreColourValue.h>
 #include <OgreMaterial.h>
@@ -40,8 +39,8 @@ class TrafficDisplay
   TrafficDisplay();
   void drawTrafficLightIndicator(QPainter & painter, const QRectF & backgroundRect);
   void updateTrafficLightData(
-    const autoware_perception_msgs::msg::TrafficLightGroupArray::ConstSharedPtr & msg);
-  autoware_perception_msgs::msg::TrafficLightGroupArray current_traffic_;
+    const autoware_perception_msgs::msg::TrafficLightGroup::ConstSharedPtr & msg);
+  autoware_perception_msgs::msg::TrafficLightGroup current_traffic_;
 
 private:
   QImage traffic_light_image_;

diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp
@@ -109,9 +109,10 @@ void SignalDisplay::onInitialize()
   speed_limit_topic_property_->initialize(rviz_ros_node);
 
   traffic_topic_property_ = std::make_unique<rviz_common::properties::RosTopicProperty>(
-    "Traffic Topic", "/perception/traffic_light_recognition/traffic_signals",
-    "autoware_perception_msgs/msgs/msg/TrafficLightGroupArray", "Topic for Traffic Light Data",
-    this, SLOT(topic_updated_traffic()));
+    "Traffic Topic",
+    "/planning/scenario_planning/lane_driving/behavior_planning/debug/traffic_signal",
+    "autoware_perception_msgs/msgs/msg/TrafficLightGroup", "Topic for Traffic Light Data", this,
+    SLOT(topic_updated_traffic()));
   traffic_topic_property_->initialize(rviz_ros_node);
 }
 
@@ -189,7 +190,7 @@ void SignalDisplay::onDisable()
 }
 
 void SignalDisplay::updateTrafficLightData(
-  const autoware_perception_msgs::msg::TrafficLightGroupArray::ConstSharedPtr msg)
+  const autoware_perception_msgs::msg::TrafficLightGroup::ConstSharedPtr msg)
 {
   std::lock_guard<std::mutex> lock(property_mutex_);
 
@@ -454,14 +455,13 @@ 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::TrafficLightGroupArray>(
-        traffic_topic_property_->getTopicStd(),
-        rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable(),
-        [this](const autoware_perception_msgs::msg::TrafficLightGroupArray::SharedPtr msg) {
-          updateTrafficLightData(msg);
-        });
+  traffic_sub_ = rviz_ros_node->get_raw_node()
+                   ->create_subscription<autoware_perception_msgs::msg::TrafficLightGroup>(
+                     traffic_topic_property_->getTopicStd(),
+                     rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable(),
+                     [this](const autoware_perception_msgs::msg::TrafficLightGroup::SharedPtr msg) {
+                       updateTrafficLightData(msg);
+                     });
 }
 
 }  // namespace autoware_overlay_rviz_plugin

diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/traffic_display.cpp b/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::TrafficLightGroupArray::ConstSharedPtr & msg)
+  const autoware_perception_msgs::msg::TrafficLightGroup::ConstSharedPtr & msg)
 {
   current_traffic_ = *msg;
 }
@@ -68,8 +68,8 @@ void TrafficDisplay::drawTrafficLightIndicator(QPainter & painter, const QRectF
     backgroundRect.top() + circleRect.height() / 2));
   painter.drawEllipse(circleRect);
 
-  if (!current_traffic_.traffic_light_groups.empty()) {
-    switch (current_traffic_.traffic_light_groups[0].elements[0].color) {
+  if (!current_traffic_.elements.empty()) {
+    switch (current_traffic_.elements[0].color) {
       case 1:
         painter.setBrush(QBrush(tl_red_));
         painter.drawEllipse(circleRect);