Merge branch 'awf-latest' into feat/add-check-for-path-within-lanes-for-bvspm

Author: kyoichi-sugahara

.github/CODEOWNERS

@@ -6,10 +6,10 @@ common/autoware_auto_common/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.w
 common/autoware_auto_geometry/** satoshi.ota@tier4.jp
 common/autoware_auto_perception_rviz_plugin/** opensource@apex.ai satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taiki.tanaka@tier4.jp takeshi.miura@tier4.jp yoshi.ri@tier4.jp
 common/autoware_auto_tf2/** jit.ray.c@gmail.com satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
+common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/** team-spatzenhirn@uni-ulm.de
+common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/** khalil@leodrive.ai
 common/autoware_point_types/** taichi.higashide@tier4.jp
 common/autoware_testing/** adam.dabrowski@robotec.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
-common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/** khalil@leodrive.ai
-common/awf_vehicle_rviz_plugin/rviz_2d_overlay_msgs/** team-spatzenhirn@uni-ulm.de
 common/bag_time_manager_rviz_plugin/** taiki.tanaka@tier4.jp
 common/component_interface_specs/** isamu.takagi@tier4.jp yukihiro.saito@tier4.jp
 common/component_interface_tools/** isamu.takagi@tier4.jp
@@ -58,7 +58,7 @@ common/time_utils/** christopherj.ho@gmail.com shumpei.wakabayashi@tier4.jp tomo
 common/traffic_light_recognition_marker_publisher/** shumpei.wakabayashi@tier4.jp takeshi.miura@tier4.jp tomoya.kimura@tier4.jp
 common/traffic_light_utils/** mingyu.li@tier4.jp satoshi.ota@tier4.jp shunsuke.miura@tier4.jp
 common/tvm_utility/** ambroise.vincent@arm.com xinyu.wang@tier4.jp
-control/autonomous_emergency_braking/** takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp
+control/autonomous_emergency_braking/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp
 control/control_performance_analysis/** berkay@leodrive.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 control/control_validator/** kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 control/external_cmd_selector/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
@@ -81,7 +81,7 @@ evaluator/planning_evaluator/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.j
 evaluator/tier4_metrics_rviz_plugin/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp
 launch/tier4_autoware_api_launch/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp
 launch/tier4_control_launch/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
-launch/tier4_localization_launch/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
+launch/tier4_localization_launch/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 launch/tier4_map_launch/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryohsuke.mitsudome@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 launch/tier4_perception_launch/** shunsuke.miura@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 launch/tier4_planning_launch/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zhe.shen@tier4.jp zulfaqar.azmi@tier4.jp
@@ -98,6 +98,7 @@ localization/localization_error_monitor/** anh.nguyen.2@tier4.jp kento.yabuuchi.
 localization/localization_util/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/ndt_scan_matcher/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/pose2twist/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
+localization/pose_estimator_arbiter/** kento.yabuuchi.2@tier4.jp
 localization/pose_initializer/** anh.nguyen.2@tier4.jp isamu.takagi@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/pose_instability_detector/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/stop_filter/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
@@ -122,9 +123,7 @@ perception/detected_object_validation/** dai.nguyen@tier4.jp shunsuke.miura@tier
 perception/detection_by_tracker/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/elevation_map_loader/** kosuke.takeuchi@tier4.jp taichi.higashide@tier4.jp
 perception/euclidean_cluster/** yukihiro.saito@tier4.jp
-perception/front_vehicle_velocity_estimator/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp
 perception/ground_segmentation/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp
-perception/heatmap_visualizer/** kotaro.uetake@tier4.jp
 perception/image_projection_based_fusion/** dai.nguyen@tier4.jp kotaro.uetake@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/lidar_apollo_instance_segmentation/** yukihiro.saito@tier4.jp
 perception/lidar_apollo_segmentation_tvm/** ambroise.vincent@arm.com xinyu.wang@tier4.jp
@@ -146,7 +145,6 @@ perception/radar_tracks_msgs_converter/** satoshi.tanaka@tier4.jp shunsuke.miura
 perception/shape_estimation/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/simple_object_merger/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp
 perception/tensorrt_classifier/** mingyu.li@tier4.jp
-perception/tensorrt_yolo/** daisuke.nishimatsu@tier4.jp
 perception/tensorrt_yolox/** daisuke.nishimatsu@tier4.jp dan.umeda@tier4.jp manato.hirabayashi@tier4.jp
 perception/tracking_object_merger/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/traffic_light_arbiter/** kenzo.lobos@tier4.jp shunsuke.miura@tier4.jp
@@ -155,16 +153,16 @@ perception/traffic_light_fine_detector/** shunsuke.miura@tier4.jp tao.zhong@tier
 perception/traffic_light_map_based_detector/** yukihiro.saito@tier4.jp
 perception/traffic_light_multi_camera_fusion/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp
 perception/traffic_light_occlusion_predictor/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp
-perception/traffic_light_ssd_fine_detector/** daisuke.nishimatsu@tier4.jp
 perception/traffic_light_visualization/** yukihiro.saito@tier4.jp
 planning/behavior_path_avoidance_by_lane_change_module/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
-planning/behavior_path_avoidance_module/** fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
+planning/behavior_path_avoidance_module/** fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
 planning/behavior_path_dynamic_avoidance_module/** kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp yuki.takagi@tier4.jp
 planning/behavior_path_external_request_lane_change_module/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
 planning/behavior_path_goal_planner_module/** daniel.sanchez@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_path_lane_change_module/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
 planning/behavior_path_planner/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
 planning/behavior_path_planner_common/** daniel.sanchez@tier4.jp fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
+planning/behavior_path_sampling_planner_module/** daniel.sanchez@tier4.jp maxime.clement@tier4.jp
 planning/behavior_path_side_shift_module/** fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_path_start_planner_module/** daniel.sanchez@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_blind_spot_module/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp

common/tier4_adapi_rviz_plugin/src/route_panel.cpp

@@ -14,11 +14,13 @@
 
 #include "route_panel.hpp"
 
+#include <QGridLayout>
 #include <QHBoxLayout>
 #include <QVBoxLayout>
 #include <rviz_common/display_context.hpp>
 
 #include <memory>
+#include <string>
 
 namespace tier4_adapi_rviz_plugins
 {
@@ -28,6 +30,11 @@ RoutePanel::RoutePanel(QWidget * parent) : rviz_common::Panel(parent)
   waypoints_mode_ = new QPushButton("mode");
   waypoints_reset_ = new QPushButton("reset");
   waypoints_apply_ = new QPushButton("apply");
+  adapi_clear_ = new QPushButton("clear");
+  adapi_set_ = new QPushButton("set");
+  adapi_change_ = new QPushButton("change");
+  adapi_response_ = new QLabel("the response will be displayed here");
+  adapi_auto_clear_ = new QCheckBox("auto clear");
   allow_goal_modification_ = new QCheckBox("allow goal modification");
 
   waypoints_mode_->setCheckable(true);
@@ -37,6 +44,22 @@ RoutePanel::RoutePanel(QWidget * parent) : rviz_common::Panel(parent)
   connect(waypoints_reset_, &QPushButton::clicked, this, &RoutePanel::onWaypointsReset);
   connect(waypoints_apply_, &QPushButton::clicked, this, &RoutePanel::onWaypointsApply);
 
+  const auto buttons = new QButtonGroup(this);
+  buttons->addButton(adapi_set_);
+  buttons->addButton(adapi_change_);
+  buttons->setExclusive(true);
+  adapi_set_->setCheckable(true);
+  adapi_change_->setCheckable(true);
+  adapi_response_->setAlignment(Qt::AlignCenter);
+
+  connect(adapi_clear_, &QPushButton::clicked, this, &RoutePanel::clearRoute);
+  connect(adapi_set_, &QPushButton::clicked, [this] { adapi_mode_ = AdapiMode::Set; });
+  connect(adapi_change_, &QPushButton::clicked, [this] { adapi_mode_ = AdapiMode::Change; });
+
+  adapi_auto_clear_->setChecked(true);
+  adapi_set_->setChecked(true);
+  adapi_mode_ = AdapiMode::Set;
+
   const auto layout = new QVBoxLayout();
   setLayout(layout);
 
@@ -52,6 +75,19 @@ RoutePanel::RoutePanel(QWidget * parent) : rviz_common::Panel(parent)
     waypoints_group_ = group;
   }
 
+  // adapi group
+  {
+    const auto group = new QGroupBox("adapi");
+    const auto local = new QGridLayout();
+    local->addWidget(adapi_clear_, 0, 0);
+    local->addWidget(adapi_set_, 0, 1);
+    local->addWidget(adapi_change_, 0, 2);
+    local->addWidget(adapi_auto_clear_, 1, 0);
+    local->addWidget(adapi_response_, 1, 1, 1, 2);
+    group->setLayout(local);
+    layout->addWidget(group);
+  }
+
   // options group
   {
     const auto group = new QGroupBox("options");
@@ -73,25 +109,14 @@ void RoutePanel::onInitialize()
 
   const auto adaptor = component_interface_utils::NodeAdaptor(node.get());
   adaptor.init_cli(cli_clear_);
-  adaptor.init_cli(cli_route_);
-}
-
-void RoutePanel::setRoute(const PoseStamped & pose)
-{
-  const auto req = std::make_shared<ClearRoute::Service::Request>();
-  cli_clear_->async_send_request(req, [this, pose](auto) {
-    const auto req = std::make_shared<SetRoutePoints::Service::Request>();
-    req->header = pose.header;
-    req->goal = pose.pose;
-    req->option.allow_goal_modification = allow_goal_modification_->isChecked();
-    cli_route_->async_send_request(req);
-  });
+  adaptor.init_cli(cli_set_);
+  adaptor.init_cli(cli_change_);
 }
 
 void RoutePanel::onPose(const PoseStamped::ConstSharedPtr msg)
 {
   if (!waypoints_mode_->isChecked()) {
-    setRoute(*msg);
+    requestRoute(*msg);
   } else {
     waypoints_.push_back(*msg);
     waypoints_group_->setTitle(QString("waypoints (count: %1)").arg(waypoints_.size()));
@@ -120,18 +145,74 @@ void RoutePanel::onWaypointsApply()
 {
   if (waypoints_.empty()) return;
 
-  const auto req = std::make_shared<ClearRoute::Service::Request>();
-  cli_clear_->async_send_request(req, [this](auto) {
+  const auto call = [this] {
     const auto req = std::make_shared<SetRoutePoints::Service::Request>();
     req->header = waypoints_.back().header;
     req->goal = waypoints_.back().pose;
     for (size_t i = 0; i + 1 < waypoints_.size(); ++i) {
       req->waypoints.push_back(waypoints_[i].pose);
     }
     req->option.allow_goal_modification = allow_goal_modification_->isChecked();
-    cli_route_->async_send_request(req);
+    asyncSendRequest(req);
     onWaypointsReset();
-  });
+  };
+
+  if (adapi_mode_ == AdapiMode::Set && adapi_auto_clear_->isChecked()) {
+    const auto req = std::make_shared<ClearRoute::Service::Request>();
+    cli_clear_->async_send_request(req, [call](auto) { call(); });
+  } else {
+    call();
+  }
+}
+
+void RoutePanel::requestRoute(const PoseStamped & pose)
+{
+  const auto call = [this, pose] {
+    const auto req = std::make_shared<SetRoutePoints::Service::Request>();
+    req->header = pose.header;
+    req->goal = pose.pose;
+    req->option.allow_goal_modification = allow_goal_modification_->isChecked();
+    asyncSendRequest(req);
+  };
+
+  if (adapi_mode_ == AdapiMode::Set && adapi_auto_clear_->isChecked()) {
+    const auto req = std::make_shared<ClearRoute::Service::Request>();
+    cli_clear_->async_send_request(req, [call](auto) { call(); });
+  } else {
+    call();
+  }
+}
+
+void RoutePanel::clearRoute()
+{
+  const auto callback = [this](auto future) {
+    const auto status = future.get()->status;
+    std::string text = status.success ? "OK" : "Error";
+    text += "[" + std::to_string(status.code) + "]";
+    text += " " + status.message;
+    adapi_response_->setText(QString::fromStdString(text));
+  };
+
+  const auto req = std::make_shared<ClearRoute::Service::Request>();
+  cli_clear_->async_send_request(req, callback);
+}
+
+void RoutePanel::asyncSendRequest(SetRoutePoints::Service::Request::SharedPtr req)
+{
+  const auto callback = [this](auto future) {
+    const auto status = future.get()->status;
+    std::string text = status.success ? "OK" : "Error";
+    text += "[" + std::to_string(status.code) + "]";
+    text += " " + status.message;
+    adapi_response_->setText(QString::fromStdString(text));
+  };
+
+  if (adapi_mode_ == AdapiMode::Set) {
+    cli_set_->async_send_request(req, callback);
+  }
+  if (adapi_mode_ == AdapiMode::Change) {
+    cli_change_->async_send_request(req, callback);
+  }
 }
 
 }  // namespace tier4_adapi_rviz_plugins

common/tier4_adapi_rviz_plugin/src/route_panel.hpp

@@ -15,8 +15,10 @@
 #ifndef ROUTE_PANEL_HPP_
 #define ROUTE_PANEL_HPP_
 
+#include <QButtonGroup>
 #include <QCheckBox>
 #include <QGroupBox>
+#include <QLabel>
 #include <QPushButton>
 #include <autoware_ad_api_specs/routing.hpp>
 #include <component_interface_utils/rclcpp.hpp>
@@ -35,6 +37,7 @@ class RoutePanel : public rviz_common::Panel
   Q_OBJECT
   using ClearRoute = autoware_ad_api::routing::ClearRoute;
   using SetRoutePoints = autoware_ad_api::routing::SetRoutePoints;
+  using ChangeRoutePoints = autoware_ad_api::routing::ChangeRoutePoints;
   using PoseStamped = geometry_msgs::msg::PoseStamped;
 
 public:
@@ -45,18 +48,29 @@ class RoutePanel : public rviz_common::Panel
   QPushButton * waypoints_mode_;
   QPushButton * waypoints_reset_;
   QPushButton * waypoints_apply_;
+  QPushButton * adapi_clear_;
+  QPushButton * adapi_set_;
+  QPushButton * adapi_change_;
+  QLabel * adapi_response_;
+  QCheckBox * adapi_auto_clear_;
   QGroupBox * waypoints_group_;
   QCheckBox * allow_goal_modification_;
 
   rclcpp::Subscription<PoseStamped>::SharedPtr sub_pose_;
   std::vector<PoseStamped> waypoints_;
   void onPose(const PoseStamped::ConstSharedPtr msg);
 
+  enum AdapiMode { Set, Change };
+  AdapiMode adapi_mode_;
+
   component_interface_utils::Client<ClearRoute>::SharedPtr cli_clear_;
-  component_interface_utils::Client<SetRoutePoints>::SharedPtr cli_route_;
-  void setRoute(const PoseStamped & pose);
+  component_interface_utils::Client<SetRoutePoints>::SharedPtr cli_set_;
+  component_interface_utils::Client<ChangeRoutePoints>::SharedPtr cli_change_;
+  void requestRoute(const PoseStamped & pose);
+  void asyncSendRequest(SetRoutePoints::Service::Request::SharedPtr req);
 
 private slots:
+  void clearRoute();
   void onWaypointsMode(bool clicked);
   void onWaypointsReset();
   void onWaypointsApply();

common/traffic_light_utils/include/traffic_light_utils/traffic_light_utils.hpp

@@ -17,9 +17,9 @@
 
 #include "autoware_perception_msgs/msg/traffic_signal.hpp"
 #include "autoware_perception_msgs/msg/traffic_signal_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"
-#include "tier4_perception_msgs/msg/traffic_signal.hpp"
 
 #include <lanelet2_core/primitives/Lanelet.h>
 #include <lanelet2_core/primitives/LineString.h>
@@ -35,9 +35,9 @@ bool isRoiValid(
 
 void setRoiInvalid(tier4_perception_msgs::msg::TrafficLightRoi & roi);
 
-bool isSignalUnknown(const tier4_perception_msgs::msg::TrafficSignal & signal);
+bool isSignalUnknown(const tier4_perception_msgs::msg::TrafficLight & signal);
 
-void setSignalUnknown(tier4_perception_msgs::msg::TrafficSignal & signal, float confidence = -1);
+void setSignalUnknown(tier4_perception_msgs::msg::TrafficLight & signal, float confidence = -1);
 
 /**
  * @brief Checks if a traffic light state includes a circle-shaped light with the specified color.

common/traffic_light_utils/src/traffic_light_utils.cpp

@@ -33,14 +33,14 @@ void setRoiInvalid(tier4_perception_msgs::msg::TrafficLightRoi & roi)
   roi.roi.height = roi.roi.width = 0;
 }
 
-bool isSignalUnknown(const tier4_perception_msgs::msg::TrafficSignal & signal)
+bool isSignalUnknown(const tier4_perception_msgs::msg::TrafficLight & signal)
 {
   return signal.elements.size() == 1 &&
          signal.elements[0].shape == tier4_perception_msgs::msg::TrafficLightElement::UNKNOWN &&
          signal.elements[0].color == tier4_perception_msgs::msg::TrafficLightElement::UNKNOWN;
 }
 
-void setSignalUnknown(tier4_perception_msgs::msg::TrafficSignal & signal, float confidence)
+void setSignalUnknown(tier4_perception_msgs::msg::TrafficLight & signal, float confidence)
 {
   signal.elements.resize(1);
   signal.elements[0].shape = tier4_perception_msgs::msg::TrafficLightElement::UNKNOWN;