From f3289b731d85db3954ac700e902a7b516bb6103b Mon Sep 17 00:00:00 2001 From: vish0012 <vishalchhn42@gmail.com> Date: Thu, 9 Jan 2025 10:07:24 +0900 Subject: [PATCH 1/3] feat: tier4_debug_msgs changes to autoware_internal_debug_msgs in files perception/autoware_crosswalk_traffic_light_estimator Signed-off-by: vish0012 <vishalchhn42@gmail.com> --- .../autoware_crosswalk_traffic_light_estimator/node.hpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/perception/autoware_crosswalk_traffic_light_estimator/include/autoware_crosswalk_traffic_light_estimator/node.hpp b/perception/autoware_crosswalk_traffic_light_estimator/include/autoware_crosswalk_traffic_light_estimator/node.hpp index 8efb90cc87c89..115c818ccb5c6 100644 --- a/perception/autoware_crosswalk_traffic_light_estimator/include/autoware_crosswalk_traffic_light_estimator/node.hpp +++ b/perception/autoware_crosswalk_traffic_light_estimator/include/autoware_crosswalk_traffic_light_estimator/node.hpp @@ -19,10 +19,10 @@ #include <autoware/universe_utils/system/stop_watch.hpp> #include <rclcpp/rclcpp.hpp> +#include <autoware_internal_debug_msgs/msg/float64_stamped.hpp> #include <autoware_map_msgs/msg/lanelet_map_bin.hpp> #include <autoware_perception_msgs/msg/traffic_light_group_array.hpp> #include <autoware_planning_msgs/msg/lanelet_route.hpp> -#include <tier4_debug_msgs/msg/float64_stamped.hpp> #include <lanelet2_core/Attribute.h> #include <lanelet2_core/LaneletMap.h> @@ -41,9 +41,9 @@ namespace autoware::crosswalk_traffic_light_estimator using autoware::universe_utils::DebugPublisher; using autoware::universe_utils::StopWatch; +using autoware_internal_debug_msgs::msg::Float64Stamped; using autoware_map_msgs::msg::LaneletMapBin; using autoware_planning_msgs::msg::LaneletRoute; -using tier4_debug_msgs::msg::Float64Stamped; using TrafficSignal = autoware_perception_msgs::msg::TrafficLightGroup; using TrafficSignalArray = autoware_perception_msgs::msg::TrafficLightGroupArray; using TrafficSignalElement = autoware_perception_msgs::msg::TrafficLightElement; From be45ab553e18b17966204cd2d21910d0fb133fd9 Mon Sep 17 00:00:00 2001 From: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Date: Tue, 21 Jan 2025 15:57:57 +0900 Subject: [PATCH 2/3] fix: update package.xml Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> --- .../autoware_crosswalk_traffic_light_estimator/package.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/perception/autoware_crosswalk_traffic_light_estimator/package.xml b/perception/autoware_crosswalk_traffic_light_estimator/package.xml index a760c3bd950e3..c96ad1e2135c1 100644 --- a/perception/autoware_crosswalk_traffic_light_estimator/package.xml +++ b/perception/autoware_crosswalk_traffic_light_estimator/package.xml @@ -13,6 +13,7 @@ <buildtool_depend>ament_cmake_auto</buildtool_depend> <buildtool_depend>autoware_cmake</buildtool_depend> + <depend>autoware_internal_debug_msgs</depend> <depend>autoware_lanelet2_extension</depend> <depend>autoware_map_msgs</depend> <depend>autoware_perception_msgs</depend> From 1da7caa5b832d5bd045cde270aea34c22eb6b603 Mon Sep 17 00:00:00 2001 From: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp> Date: Wed, 22 Jan 2025 17:37:26 +0900 Subject: [PATCH 3/3] docs(autoware_crosswalk_traffic_light_estimator): update output topic info in README Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp> --- .../autoware_crosswalk_traffic_light_estimator/README.md | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/perception/autoware_crosswalk_traffic_light_estimator/README.md b/perception/autoware_crosswalk_traffic_light_estimator/README.md index 1b24b115f5812..068b588adfc62 100644 --- a/perception/autoware_crosswalk_traffic_light_estimator/README.md +++ b/perception/autoware_crosswalk_traffic_light_estimator/README.md @@ -21,9 +21,10 @@ This module works without `~/input/route`, but its behavior is outputting the su ### Output -| Name | Type | Description | -| -------------------------- | ----------------------------------------------------- | --------------------------------------------------------- | -| `~/output/traffic_signals` | autoware_perception_msgs::msg::TrafficLightGroupArray | output that contains estimated pedestrian traffic signals | +| Name | Type | Description | +| ---------------------------- | ----------------------------------------------------- | --------------------------------------------------------- | +| `~/output/traffic_signals` | autoware_perception_msgs::msg::TrafficLightGroupArray | output that contains estimated pedestrian traffic signals | +| `~/debug/processing_time_ms` | autoware_internal_debug_msgs::msg::Float64Stamped | pipeline latency time (ms) | ## Parameters