fix(traffic_light_arbiter): publish traffic light info even when a map without traffic lights is subscribed

[tkimura4]

Description

publish traffic light info even when a map without traffic lights is subscribed

Tests performed

I tested as below.

• launch traffic_light_arbiter

$ros2 launch traffic_light_arbiter traffic_light_arbiter.launch.xml 

• publish map without traffic lights

• publish /external/traffic_light_recognition/traffic_signals

$ros2 topic pub /external/traffic_light_recognition/traffic_signals autoware_perception_msgs/msg/TrafficSignalArray {}

• confirm that traffic_signals messages are published by traffic_light_arbiter

$ ros2 topic echo /perception/traffic_light_arbiter/traffic_signals

Effects on system behavior

Even when you use a map without traffic light, traffic_light_arbiter will publish traffic light info.
( When you use a map with traffic light, this PR has no effects on system behavior. )

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[shmpwk]

LGTM!

[codecov]

Codecov Report

Patch and project coverage have no change.

Comparison is base (9f6fdce) 14.92% compared to head (9b69d4d) 14.92%.
Report is 9 commits behind head on main.

❗ Current head 9b69d4d differs from pull request most recent head cbceb8e. Consider uploading reports for the commit cbceb8e to get more accurate results

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #4428   +/-   ##
=======================================
  Coverage   14.92%   14.92%           
=======================================
  Files        1515     1515           
  Lines      104509   104491   -18     
  Branches    31773    31772    -1     
=======================================
- Hits        15595    15594    -1     
+ Misses      71900    71884   -16     
+ Partials    17014    17013    -1     

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	14.92% <ø> (+<0.01%)	⬆️	Carriedforward from 9f6fdce

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

Files Changed	Coverage Δ
localization/ndt_scan_matcher/src/debug.cpp	0.00% <ø> (ø)
localization/ndt_scan_matcher/src/map_module.cpp	0.00% <ø> (ø)
...ization/ndt_scan_matcher/src/map_update_module.cpp	0.00% <ø> (ø)
...n/ndt_scan_matcher/src/pose_array_interpolator.cpp	0.00% <ø> (ø)
localization/ndt_scan_matcher/src/util_func.cpp	0.00% <ø> (ø)
...raffic_light_arbiter/src/traffic_light_arbiter.cpp	0.00% <0.00%> (ø)
..._smoother/include/path_smoother/common_structs.hpp	45.45% <ø> (ø)
...er/include/path_smoother/elastic_band_smoother.hpp	40.00% <ø> (ø)
...anning/path_smoother/src/elastic_band_smoother.cpp	36.71% <ø> (+0.28%)	⬆️
planning/rtc_interface/src/rtc_interface.cpp	28.24% <ø> (-0.33%)	⬇️

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[knzo25]

Thanks for the PR.
Tested it using the data from 2023-04-17-17-44-15.
Only one nit: shared_ptr -> unique_ptr as the data is not being shared

[knzo25]

LGTM！

[tkimura4]

@knzo25
Thank you for your review!!!