feat(tier4_traffic_light_rviz_plugin): add traffic light publish panel #640

satoshi-ota · 2022-04-06T04:55:09Z

Description

Tests performed

please check traffic light signals are published correctly.
topic name: /perception/traffic_light_recognition/traffic_signals
See the following video for instruction on how to use this.

simplescreenrecorder-2022-04-06_13.42.59.mp4

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Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

codecov · 2022-04-06T05:01:53Z

Codecov Report

Merging #640 (77438da) into main (b1e10da) will decrease coverage by 0.03%.
The diff coverage is 0.00%.

❗ Current head 77438da differs from pull request most recent head ccf061a. Consider uploading reports for the commit ccf061a to get more accurate results

@@            Coverage Diff             @@
##             main     #640      +/-   ##
==========================================
- Coverage   10.66%   10.62%   -0.04%     
==========================================
  Files         729      730       +1     
  Lines       51075    51244     +169     
  Branches     6572     6572              
==========================================
  Hits         5445     5445              
- Misses      41223    41392     +169     
  Partials     4407     4407

Flag	Coverage Δ		*Carryforward flag
differential	`0.00% <0.00%> (?)`
total	`10.66% <ø> (ø)`		Carriedforward from 8761979

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...ht_rviz_plugin/src/traffic_light_publish_panel.cpp	`0.00% <0.00%> (ø)`

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yukkysaito · 2022-04-06T06:36:13Z

@satoshi-ota Good!

I have one question 🙏
Does it publish as long as the publish button is held down?
If there is a reset button, I think it is better to continue to publish button when clicked.

yukkysaito · 2022-04-06T06:36:49Z

cc @aohsato @miursh

satoshi-ota · 2022-04-06T07:13:14Z

@yukkysaito

Does it publish as long as the publish button is held down?

Yes. it does.

If there is a reset button, I think it is better to continue to publish button when clicked.

It has already been designed that plugin continues to publish signals while PUBLISH button is pushed, and the button is checkable (Keep clicked state until click once more).

yukkysaito · 2022-04-06T07:17:52Z

@satoshi-ota In the video, it seems to not publish when the button is released.
is it different now?

satoshi-ota · 2022-04-06T07:29:58Z

@satoshi-ota In the video, it seems to not publish when the button is released. is it different now?

Oh, I misunderstood your comment 🙏 As you said, it stops publishing when PUBLISH button is released. On the other hand, I designed RESET button not to stop publishing but to clear traffic light signal array.

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

satoshi-ota · 2022-04-07T00:05:22Z

@yukkysaito please check behavior of the panel 🙏

simplescreenrecorder-2022-04-07_08.53.06.mp4

yukkysaito · 2022-04-07T06:44:21Z

LGTM 👍

common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp

Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>

common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.hpp

Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>

isamu-takagi · 2022-04-07T08:13:42Z

common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp

+  if (color == "RED") {
+    traffic_light.color = TrafficLight::RED;
+  } else if (color == "AMBER") {
+    traffic_light.color = TrafficLight::AMBER;
+  } else if (color == "GREEN") {
+    traffic_light.color = TrafficLight::GREEN;
+  } else if (color == "WHITE") {
+    traffic_light.color = TrafficLight::WHITE;
+  } else if (color == "LEFT_ARROW") {
+    traffic_light.color = TrafficLight::LEFT_ARROW;
+  } else if (color == "RIGHT_ARROW") {
+    traffic_light.color = TrafficLight::RIGHT_ARROW;
+  } else if (color == "UP_ARROW") {
+    traffic_light.color = TrafficLight::UP_ARROW;
+  } else if (color == "DOWN_ARROW") {
+    traffic_light.color = TrafficLight::DOWN_ARROW;
+  } else if (color == "DOWN_LEFT_ARROW") {
+    traffic_light.color = TrafficLight::DOWN_LEFT_ARROW;
+  } else if (color == "DOWN_RIGHT_ARROW") {
+    traffic_light.color = TrafficLight::DOWN_RIGHT_ARROW;
+  } else if (color == "FLASHING") {
+    traffic_light.color = TrafficLight::FLASHING;
+  } else if (color == "UNKNOWN") {
+    traffic_light.color = TrafficLight::UNKNOWN;
+  }


I think the correspondence is:

color = {UNKNOWN, RED, AMBER, AMBER, WHITE} shape = {UNKNOWN, CIRCLE, LEFT_ARROW, RIGHT_ARROW, UP_ARROW, DOWN_ARROW, DOWN_LEFT_ARROW, DOWN_RIGHT_ARROW, CROSS} status = {UNKNOWN, SOLID_OFF, SOLID_ON, FLASHING}

* split as into pacmod_interface and ssc_interface (autowarefoundation#640) * split as into pacmod_interface and ssc_interface * remove as and move config Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp> * update to support velocity report header (autowarefoundation#655) * update to support velocity report header Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Update simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * use maybe_unused Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix precommit Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * adapt to actuation cmd/status as control msg (autowarefoundation#646) * adapt to actuation cmd/status as control msg * fix readme * fix topics * fix remaing topics * as to pacmod interface * fix vehicle status * add header to twist * revert gyro_odometer_change * revert twist topic change * revert unchanged package * [pacmod_interface]fix topic name (autowarefoundation#651) * fix topic name * fix ns * fix * auto/revert cmd converter (autowarefoundation#680) * Revert "move cmd converters to control pkg (autowarefoundation#642)" This reverts commit 9f733b5. * fix topic * add as doc (autowarefoundation#616) * add as doc * pacmod_msgs -> pacmod3_msgs * fix typo * update topic names of README.md * update README.md Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp> * Auto/steering wheel status (autowarefoundation#719) * unused * add stering wheel status * fix current steer * publish turn cmd (autowarefoundation#749) * fix typo Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>

autowarefoundation#640) * feat(tier4_traffic_light_rviz_plugin): add traffic light publish panel Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(tier4_traffic_light_rviz_plugin): fix behavior Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix: lisense description Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * fix: lisence description Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>

#640) * feat(tier4_traffic_light_rviz_plugin): add traffic light publish panel Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(tier4_traffic_light_rviz_plugin): fix behavior Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix: lisense description Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * fix: lisence description Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>

tier4#640) * feat(tier4_traffic_light_rviz_plugin): add traffic light publish panel Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(tier4_traffic_light_rviz_plugin): fix behavior Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix: lisense description Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * fix: lisence description Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>

…tion#640) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

chore: sync awf-latest

satoshi-ota force-pushed the feature/traffic_light_rviz_plugin branch from e62f7ae to 7502201 Compare April 6, 2022 04:56

satoshi-ota requested review from 0x126, tkimura4 and yukkysaito April 6, 2022 04:57

feat(tier4_traffic_light_rviz_plugin): add traffic light publish panel

8761979

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

satoshi-ota force-pushed the feature/traffic_light_rviz_plugin branch from 27a3d36 to 8761979 Compare April 6, 2022 05:01

satoshi-ota requested a review from TakaHoribe April 6, 2022 05:02

yukkysaito requested review from aohsato and miursh April 6, 2022 06:36

fix(tier4_traffic_light_rviz_plugin): fix behavior

77438da

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

yukkysaito previously approved these changes Apr 7, 2022

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satoshi-ota dismissed yukkysaito’s stale review via ccf061a April 7, 2022 07:31

fix: lisense description

ccf061a

Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>

yukkysaito reviewed Apr 7, 2022

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common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.hpp Outdated Show resolved Hide resolved

fix: lisence description

961d8b3

Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>

satoshi-ota enabled auto-merge (squash) April 7, 2022 07:39

yukkysaito self-requested a review April 7, 2022 07:43

yukkysaito approved these changes Apr 7, 2022

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satoshi-ota merged commit 7ee98f4 into autowarefoundation:main Apr 7, 2022

satoshi-ota deleted the feature/traffic_light_rviz_plugin branch April 7, 2022 07:45

isamu-takagi reviewed Apr 7, 2022

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tier4-autoware-public-bot bot mentioned this pull request Apr 8, 2022

chore: sync upstream tier4/autoware.universe#33

Merged

satoshi-ota mentioned this pull request Apr 11, 2022

feat(tier4_traffic_light_rviz_plugin): selectable light shape, status and confidence #663

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iwatake2222 pushed a commit to iwatake2222/autoware.universe that referenced this pull request Jan 17, 2025

fix(tier4_simulator_component): add lacked param path (autowarefounda…

06cd743

…tion#640) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

Kazunori-Nakajima pushed a commit to Kazunori-Nakajima/autoware.universe that referenced this pull request Feb 6, 2025

Merge pull request autowarefoundation#640 from tier4/sync-awf-latest

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chore: sync awf-latest

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feat(tier4_traffic_light_rviz_plugin): add traffic light publish panel #640

feat(tier4_traffic_light_rviz_plugin): add traffic light publish panel #640

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feat(tier4_traffic_light_rviz_plugin): add traffic light publish panel #640

feat(tier4_traffic_light_rviz_plugin): add traffic light publish panel #640

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