fix: crosswalk pedestrian lights (#898)

* fix(crosswalk_traffic_light_estimator): change the shape of pedestrian light to CIRCLE (autowarefoundation#5168) Signed-off-by: Tomohito Ando <[email protected]> * fix(crosswalk): check all elements in traffic signal (autowarefoundation#5169) Signed-off-by: Tomohito Ando <[email protected]> --------- Signed-off-by: Tomohito Ando <[email protected]>
tier4 · Oct 5, 2023 · f551bbb · f551bbb
1 parent 92198e2
commit f551bbb
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Showing 2 changed files with 5 additions and 2 deletions.
diff --git a/perception/crosswalk_traffic_light_estimator/src/node.cpp b/perception/crosswalk_traffic_light_estimator/src/node.cpp
@@ -230,6 +230,7 @@ void CrosswalkTrafficLightEstimatorNode::setCrosswalkTrafficSignal(
     TrafficSignal output_traffic_signal;
     TrafficSignalElement output_traffic_signal_element;
     output_traffic_signal_element.color = color;
+    output_traffic_signal_element.shape = TrafficSignalElement::CIRCLE;
     output_traffic_signal_element.confidence = 1.0;
     output_traffic_signal.elements.push_back(output_traffic_signal_element);
     output_traffic_signal.traffic_signal_id = tl_reg_elem->id();

diff --git a/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp b/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp
@@ -955,8 +955,10 @@ bool CrosswalkModule::isRedSignalForPedestrians() const
       continue;
     }
 
-    if (lights.front().color == TrafficSignalElement::RED) {
-      return true;
+    for (const auto & element : lights) {
+      if (
+        element.color == TrafficSignalElement::RED && element.shape == TrafficSignalElement::CIRCLE)
+        return true;
     }
   }