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badai-nguyenpre-commit-ci[bot]MasatoSaeki
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feat(traffic_light_category_merger): add new traffic_light_category_merger package (#9748)
* feat: init traffic light signal merger Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: add tl merger launch Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: cmake lt merger Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: remove unused depend Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: pre-commit Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * feat: add occlusion unknown classifier Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: docs Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: launcher Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * style(pre-commit): autofix * Revert "feat: add occlusion unknown classifier" This reverts commit 9999d28. * fix: launcher Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * refactor Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: add maintainer Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: docs update Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * style(pre-commit): autofix * refactor: rename package Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * change output topic name Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp> --------- Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Masato Saeki <78376491+MasatoSaeki@users.noreply.github.com> Co-authored-by: MasatoSaeki <masato.saeki@tier4.jp>
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‎perception/autoware_traffic_light_category_merger/CMakeLists.txt

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cmake_minimum_required(VERSION 3.8)
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project(autoware_traffic_light_category_merger)
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# find dependencies
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find_package(autoware_cmake REQUIRED)
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autoware_package()
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# Targets
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ament_auto_add_library(${PROJECT_NAME} SHARED
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src/traffic_light_category_merger_node.cpp
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)
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rclcpp_components_register_node(${PROJECT_NAME}
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PLUGIN "autoware::traffic_light::TrafficLightCategoryMergerNode"
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EXECUTABLE traffic_light_category_merger_node)
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if(BUILD_TESTING)
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list(APPEND AMENT_LINT_AUTO_EXCLUDE ament_cmake_uncrustify)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_auto_package(
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INSTALL_TO_SHARE
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launch
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)

‎perception/autoware_traffic_light_category_merger/README.md

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`autoware_traffic_light_category_merger`
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## Overview
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`autoware_traffic_light_category_merger` receives the Traffic Light (TL) classification result from Car/Pedestrian classifiers to merge into single classification result. The expect ROIs TL without classification result will be filled as Unknown.
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## Input topics
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| Name | Type | Description |
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| -------------------------- | --------------------------------------------- | ----------------------------- |
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| `input/car_signals` | tier4_perception_msgs::msg::TrafficLightArray | Car TLs classification |
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| `input/pedestrian_signals` | tier4_perception_msgs::msg::TrafficLightArray | Pedestrian TLs classification |
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## Output topics
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| Name | Type | Description |
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| ------------------------ | --------------------------------------------- | ------------------------------------- |
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| `output/traffic_signals` | tier4_perception_msgs::msg::TrafficLightArray | Car and Pedestrian TLs classification |
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## Node parameters
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N/A

‎perception/autoware_traffic_light_category_merger/launch/traffic_light_category_merger.launch.xml

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<launch>
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<!-- Output -->
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<arg name="input/car_signals" default="classified/car/traffic_signals"/>
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<arg name="input/pedestrian_signals" default="classified/pedestrian/traffic_signals"/>
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<arg name="output/traffic_signals" default="classification/traffic_signals"/>
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<!-- Node -->
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<node pkg="autoware_traffic_light_category_merger" exec="traffic_light_category_merger_node" name="traffic_light_category_merger" output="screen">
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<remap from="input/car_signals" to="$(var input/car_signals)"/>
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<remap from="input/pedestrian_signals" to="$(var input/pedestrian_signals)"/>
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<remap from="output/traffic_signals" to="$(var output/traffic_signals)"/>
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</node>
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</launch>

‎perception/autoware_traffic_light_category_merger/package.xml

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>autoware_traffic_light_category_merger</name>
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<version>0.0.0</version>
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<description>The ROS 2 autoware_traffic_light_category_merger package</description>
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<maintainer email="yoshi.ri@tier4.jp">Yoshi Ri</maintainer>
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<maintainer email="masato.saeki@tier4.jp">Masato Saeki</maintainer>
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<maintainer email="dai.nguyen@tier4.jp">Dai Nguyen</maintainer>
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<license>Apache License 2.0</license>
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<author email="dai.nguyen@tier4.jp">Dai Nguyen</author>
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<buildtool_depend>ament_cmake_auto</buildtool_depend>
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<depend>autoware_test_utils</depend>
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<depend>message_filters</depend>
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<depend>rclcpp</depend>
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<depend>rclcpp_components</depend>
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<depend>tier4_perception_msgs</depend>
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<build_depend>autoware_cmake</build_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

‎perception/autoware_traffic_light_category_merger/src/traffic_light_category_merger_node.cpp

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// Copyright 2025 TIER IV, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "traffic_light_category_merger_node.hpp"
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#include <memory>
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#include <string>
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#include <vector>
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namespace autoware::traffic_light
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{
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TrafficLightCategoryMergerNode::TrafficLightCategoryMergerNode(
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const rclcpp::NodeOptions & node_options)
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: rclcpp::Node("traffic_light_category_merger_node", node_options),
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tf_buffer_(get_clock()),
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tf_listener_(tf_buffer_),
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car_signal_sub_(this, "input/car_signals", rclcpp::QoS{1}.get_rmw_qos_profile()),
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pedestrian_signal_sub_(this, "input/pedestrian_signals", rclcpp::QoS{1}.get_rmw_qos_profile()),
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sync_(SyncPolicy(10), car_signal_sub_, pedestrian_signal_sub_)
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{
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using std::placeholders::_1;
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using std::placeholders::_2;
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sync_.registerCallback(std::bind(&TrafficLightCategoryMergerNode::signalsCallback, this, _1, _2));
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pub_traffic_light_signals_ =
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create_publisher<TrafficLightArray>("output/traffic_signals", rclcpp::QoS{1});
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}
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void TrafficLightCategoryMergerNode::signalsCallback(
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const TrafficLightArray::ConstSharedPtr & car_signals_msg,
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const TrafficLightArray::ConstSharedPtr & pedestrian_signals_msg)
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{
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TrafficLightArray output;
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output.header = car_signals_msg->header;
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output.signals.insert(
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output.signals.end(), car_signals_msg->signals.begin(), car_signals_msg->signals.end());
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output.signals.insert(
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output.signals.end(), pedestrian_signals_msg->signals.begin(),
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pedestrian_signals_msg->signals.end());
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pub_traffic_light_signals_->publish(output);
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}
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} // namespace autoware::traffic_light
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#include "rclcpp_components/register_node_macro.hpp"
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RCLCPP_COMPONENTS_REGISTER_NODE(autoware::traffic_light::TrafficLightCategoryMergerNode)

‎perception/autoware_traffic_light_category_merger/src/traffic_light_category_merger_node.hpp

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// Copyright 2025 TIER IV, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef TRAFFIC_LIGHT_CATEGORY_MERGER_NODE_HPP_
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#define TRAFFIC_LIGHT_CATEGORY_MERGER_NODE_HPP_
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#include <autoware/universe_utils/ros/transform_listener.hpp>
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#include <rclcpp/rclcpp.hpp>
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#include <tier4_perception_msgs/msg/traffic_light_array.hpp>
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#include <message_filters/subscriber.h>
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#include <message_filters/sync_policies/approximate_time.h>
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#include <message_filters/synchronizer.h>
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#include <chrono>
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#include <memory>
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#include <string>
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#include <vector>
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namespace autoware::traffic_light
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{
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using tier4_perception_msgs::msg::TrafficLightArray;
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class TrafficLightCategoryMergerNode : public rclcpp::Node
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{
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public:
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explicit TrafficLightCategoryMergerNode(const rclcpp::NodeOptions & node_options);
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private:
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// Subscriber
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tf2_ros::Buffer tf_buffer_;
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tf2_ros::TransformListener tf_listener_;
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message_filters::Subscriber<TrafficLightArray> car_signal_sub_;
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message_filters::Subscriber<TrafficLightArray> pedestrian_signal_sub_;
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typedef message_filters::sync_policies::ApproximateTime<TrafficLightArray, TrafficLightArray>
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SyncPolicy;
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message_filters::Synchronizer<SyncPolicy> sync_;
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void signalsCallback(
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const TrafficLightArray::ConstSharedPtr & car_signals_msg,
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const TrafficLightArray::ConstSharedPtr & pedestrian_signals_msg);
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rclcpp::Publisher<TrafficLightArray>::SharedPtr pub_traffic_light_signals_;
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};
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} // namespace autoware::traffic_light
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#endif // TRAFFIC_LIGHT_CATEGORY_MERGER_NODE_HPP_

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