From ffa394fb6bc0441896fcc0c0b2172862a08cc53f Mon Sep 17 00:00:00 2001 From: Tomohito ANDO Date: Fri, 19 Jul 2024 23:46:34 +0900 Subject: [PATCH] fix(autoware_overlay_rviz_plugin): topic type of traffic light (#8098) * fix(autoware_overlay_rviz_plugin): topic type of traffic light Signed-off-by: Tomohito Ando * style(pre-commit): autofix --------- Signed-off-by: Tomohito Ando Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../include/signal_display.hpp | 5 ++-- .../include/traffic_display.hpp | 5 ++-- .../src/signal_display.cpp | 24 +++++++++---------- .../src/traffic_display.cpp | 6 ++--- 4 files changed, 19 insertions(+), 21 deletions(-) diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp index 5f5c9cee2da43..1e79505ea97c3 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp @@ -103,8 +103,7 @@ private Q_SLOTS: turn_signals_sub_; rclcpp::Subscription::SharedPtr hazard_lights_sub_; - rclcpp::Subscription::SharedPtr - traffic_sub_; + rclcpp::Subscription::SharedPtr traffic_sub_; rclcpp::Subscription::SharedPtr speed_limit_sub_; std::mutex property_mutex_; @@ -118,7 +117,7 @@ private Q_SLOTS: const autoware_vehicle_msgs::msg::HazardLightsReport::ConstSharedPtr & msg); void updateSpeedLimitData(const tier4_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg); void updateTrafficLightData( - const autoware_perception_msgs::msg::TrafficLightGroupArray::ConstSharedPtr msg); + const autoware_perception_msgs::msg::TrafficLightGroup::ConstSharedPtr msg); void drawWidget(QImage & hud); }; } // namespace autoware_overlay_rviz_plugin diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/traffic_display.hpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/traffic_display.hpp index fd15f542021f1..01545bcea6f4e 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/traffic_display.hpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/traffic_display.hpp @@ -25,7 +25,6 @@ #include #include -#include #include #include @@ -40,8 +39,8 @@ class TrafficDisplay TrafficDisplay(); void drawTrafficLightIndicator(QPainter & painter, const QRectF & backgroundRect); void updateTrafficLightData( - const autoware_perception_msgs::msg::TrafficLightGroupArray::ConstSharedPtr & msg); - autoware_perception_msgs::msg::TrafficLightGroupArray current_traffic_; + const autoware_perception_msgs::msg::TrafficLightGroup::ConstSharedPtr & msg); + autoware_perception_msgs::msg::TrafficLightGroup current_traffic_; private: QImage traffic_light_image_; diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp index 1fd33a95fb34d..c61a6b47853ba 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp @@ -112,9 +112,10 @@ void SignalDisplay::onInitialize() speed_limit_topic_property_->initialize(rviz_ros_node); traffic_topic_property_ = std::make_unique( - "Traffic Topic", "/perception/traffic_light_recognition/traffic_signals", - "autoware_perception_msgs/msgs/msg/TrafficLightGroupArray", "Topic for Traffic Light Data", - this, SLOT(topic_updated_traffic())); + "Traffic Topic", + "/planning/scenario_planning/lane_driving/behavior_planning/debug/traffic_signal", + "autoware_perception_msgs/msgs/msg/TrafficLightGroup", "Topic for Traffic Light Data", this, + SLOT(topic_updated_traffic())); traffic_topic_property_->initialize(rviz_ros_node); } @@ -192,7 +193,7 @@ void SignalDisplay::onDisable() } void SignalDisplay::updateTrafficLightData( - const autoware_perception_msgs::msg::TrafficLightGroupArray::ConstSharedPtr msg) + const autoware_perception_msgs::msg::TrafficLightGroup::ConstSharedPtr msg) { std::lock_guard lock(property_mutex_); @@ -458,14 +459,13 @@ void SignalDisplay::topic_updated_traffic() // resubscribe to the topic traffic_sub_.reset(); auto rviz_ros_node = context_->getRosNodeAbstraction().lock(); - traffic_sub_ = - rviz_ros_node->get_raw_node() - ->create_subscription( - traffic_topic_property_->getTopicStd(), - rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable(), - [this](const autoware_perception_msgs::msg::TrafficLightGroupArray::SharedPtr msg) { - updateTrafficLightData(msg); - }); + traffic_sub_ = rviz_ros_node->get_raw_node() + ->create_subscription( + traffic_topic_property_->getTopicStd(), + rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable(), + [this](const autoware_perception_msgs::msg::TrafficLightGroup::SharedPtr msg) { + updateTrafficLightData(msg); + }); } } // namespace autoware_overlay_rviz_plugin diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/traffic_display.cpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/traffic_display.cpp index 2dc9c23583a52..c3f79f40e2ecd 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/traffic_display.cpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/traffic_display.cpp @@ -48,7 +48,7 @@ TrafficDisplay::TrafficDisplay() } void TrafficDisplay::updateTrafficLightData( - const autoware_perception_msgs::msg::TrafficLightGroupArray::ConstSharedPtr & msg) + const autoware_perception_msgs::msg::TrafficLightGroup::ConstSharedPtr & msg) { current_traffic_ = *msg; } @@ -68,8 +68,8 @@ void TrafficDisplay::drawTrafficLightIndicator(QPainter & painter, const QRectF backgroundRect.top() + circleRect.height() / 2)); painter.drawEllipse(circleRect); - if (!current_traffic_.traffic_light_groups.empty()) { - switch (current_traffic_.traffic_light_groups[0].elements[0].color) { + if (!current_traffic_.elements.empty()) { + switch (current_traffic_.elements[0].color) { case 1: painter.setBrush(QBrush(tl_red_)); painter.drawEllipse(circleRect);