fix

Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp>

Author: MasatoSaeki

perception/autoware_traffic_light_selector/README.md

@@ -1,25 +1,23 @@
-# The `autoware_traffic_light_selector` Package
+`autoware_traffic_light_selector`
 
 ## Overview
 
-`autoware_traffic_light_selector` selects the interest traffic light from the list of detected traffic lights by deep learning neural network (DNN) based on the expect ROIs and rough ROIs information and then assign traffic_light_id for them.
+`autoware_traffic_light_selector` selects the interest traffic light from the list of accurately detected traffic lights by something (e.g. deep learning neural network) based on the expect ROIs and rough ROIs information and then assign traffic_light_id for them.
 
 ## Input topics
 
 | Name                  | Type                                                   | Description                                                          |
 | --------------------- | ------------------------------------------------------ | -------------------------------------------------------------------- |
-| `input/detected_rois` | tier4_perception_msgs::msg::DetectedObjectsWithFeature | detected traffic light by DNN                                        |
+| `input/detected_rois` | tier4_perception_msgs::msg::DetectedObjectsWithFeature | accurately detected traffic light                                    |
 | `input/rough_rois`    | tier4_perception_msgs::msg::TrafficLightRoiArray       | location of traffic lights in image corresponding to the camera info |
 | `input/expect_rois`   | tier4_perception_msgs::msg::TrafficLightRoiArray       | location of traffic lights in image without any offset               |
 
 ## Output topics
 
-| Name                        | Type                                        | Description                        |
-| --------------------------- | ------------------------------------------- | ---------------------------------- |
-| `output/traffic_light_rois` | tier4_perception_msgs::TrafficLightRoiArray | detected traffic light of interest |
+| Name                  | Type                                        | Description                                |
+| --------------------- | ------------------------------------------- | ------------------------------------------ |
+| `output/traffic_rois` | tier4_perception_msgs::TrafficLightRoiArray | detected traffic light of interest with id |
 
 ## Node parameters
 
 {{json_to_markdown("perception/autoware_traffic_light_selector/schema/traffic_light_selector.schema.json")}}
-
-N/A

perception/autoware_traffic_light_selector/launch/traffic_light_selector.launch.xml

@@ -1,15 +1,15 @@
 <launch>
-  <arg name="output/traffic_light_rois" default="output/traffic_light_rois"/>
   <arg name="input/detected_rois" default="input/detected_rois"/>
   <arg name="input/rough_rois" default="input/rough_rois"/>
   <arg name="input/camera_info" default="input/camera_info"/>
+  <arg name="output/traffic_rois" default="output/traffic_light_rois"/>
   <arg name="traffic_light_selector_param_path" default="$(find-pkg-share autoware_traffic_light_selector)/config/traffic_light_selector.param.yaml"/>
 
-  <node pkg="autoware_traffic_light_selector" exec="traffic_light_selector_node" name="autoware_traffic_light_selector" output="screen">
-    <remap from="output/traffic_light_rois" to="$(var output/traffic_light_rois)"/>
+  <node pkg="autoware_traffic_light_selector" exec="traffic_light_selector_node" name="traffic_light_selector" output="screen">
     <remap from="input/detected_rois" to="$(var input/detected_rois)"/>
     <remap from="input/rough_rois" to="$(var input/rough_rois)"/>
     <remap from="input/camera_info" to="input/camera_info"/>
+    <remap from="output/traffic_rois" to="$(var output/traffic_rois)"/>
     <param from="$(var traffic_light_selector_param_path)"/>
   </node>
 </launch>

perception/autoware_traffic_light_selector/package.xml

@@ -3,7 +3,7 @@
 <package format="3">
   <name>autoware_traffic_light_selector</name>
   <version>0.1.0</version>
-  <description>The ROS 2 cluster merger package</description>
+  <description>The ROS 2 autoware_traffic_light_selector package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="dai.nguyen@tier4.jp">Dai Nguyen</maintainer>
   <maintainer email="yoshi.ri@tier4.jp">Yoshi Ri</maintainer>

perception/autoware_traffic_light_selector/src/traffic_light_selector_node.cpp

@@ -55,7 +55,7 @@ TrafficLightSelectorNode::TrafficLightSelectorNode(const rclcpp::NodeOptions & n
     std::bind(&TrafficLightSelectorNode::cameraInfoCallback, this, _1));
   // Publisher
   pub_traffic_light_rois_ =
-    create_publisher<TrafficLightRoiArray>("output/traffic_light_rois", rclcpp::QoS{1});
+    create_publisher<TrafficLightRoiArray>("output/traffict_rois", rclcpp::QoS{1});
 }
 
 void TrafficLightSelectorNode::cameraInfoCallback(

perception/autoware_traffic_light_selector/src/utils.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef UTILS_HPP_
-#define UTILS_HPP_
+#ifndef TRAFFIC_LIGHT_SELECTOR_NODE_UTILS_HPP_
+#define TRAFFIC_LIGHT_SELECTOR_NODE_UTILS_HPP_
 
 #include <opencv2/core/types.hpp>
 #include <opencv2/opencv.hpp>
@@ -70,4 +70,4 @@ cv::Mat shiftAndPaddingImage(cv::Mat & img, int dx, int dy);
 }  // namespace utils
 }  // namespace autoware::traffic_light
 
-#endif  // UTILS_HPP_
+#endif  // TRAFFIC_LIGHT_SELECTOR_NODE_UTILS_HPP_