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fix(traffic_light_arbiter): publish traffic light info even when a map without traffic lights is subscribed #4428

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merged 4 commits into from
Jul 27, 2023
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fix(traffic_light_arbiter): publish traffic light info even when a map without traffic lights is subscribed #4428

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403282b
fix(traffic_light_arbiter): publish traffic light info even when a ma…
tkimura4 Jul 27, 2023
9b69d4d
feat: publish empty message if the size of elemsents_set is 0
tkimura4 Jul 27, 2023
5fa3c4b
Update perception/traffic_light_arbiter/include/traffic_light_arbiter…
tkimura4 Jul 27, 2023
cbceb8e
Update perception/traffic_light_arbiter/src/traffic_light_arbiter.cpp
tkimura4 Jul 27, 2023
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3 changes: 2 additions & 1 deletion perception/traffic_light_arbiter/include/traffic_light_arbiter/traffic_light_arbiter.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,7 @@

#include <lanelet2_core/Forward.h>

#include <memory>
#include <unordered_set>

class TrafficLightArbiter : public rclcpp::Node
Expand All @@ -45,7 +46,7 @@ class TrafficLightArbiter : public rclcpp::Node
void onExternalMsg(const TrafficSignalArray::ConstSharedPtr msg);
void arbitrateAndPublish(const builtin_interfaces::msg::Time & stamp);

std::unordered_set<lanelet::Id> map_regulatory_elements_set_;
std::shared_ptr<std::unordered_set<lanelet::Id>> map_regulatory_elements_set_;
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double external_time_tolerance_;
double perception_time_tolerance_;
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19 changes: 13 additions & 6 deletions perception/traffic_light_arbiter/src/traffic_light_arbiter.cpp
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Expand Up @@ -72,9 +72,10 @@ void TrafficLightArbiter::onMap(const LaneletMapBin::ConstSharedPtr msg)
lanelet::utils::conversion::fromBinMsg(*msg, map);

const auto signals = lanelet::filter_traffic_signals(map);
map_regulatory_elements_set_.clear();
map_regulatory_elements_set_ = std::make_shared<std::unordered_set<lanelet::Id>>();
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for (const auto & signal : signals) {
map_regulatory_elements_set_.emplace(signal->id());
map_regulatory_elements_set_->emplace(signal->id());
}
}

Expand Down Expand Up @@ -109,14 +110,22 @@ void TrafficLightArbiter::arbitrateAndPublish(const builtin_interfaces::msg::Tim
using ElementAndPriority = std::pair<Element, bool>;
std::unordered_map<lanelet::Id, std::vector<ElementAndPriority>> regulatory_element_signals_map;

if (map_regulatory_elements_set_.empty()) {
if (map_regulatory_elements_set_ == nullptr) {
RCLCPP_WARN(get_logger(), "Received traffic signal messages before a map");
return;
}

TrafficSignalArray output_signals_msg;
output_signals_msg.stamp = stamp;

if (map_regulatory_elements_set_->empty()) {
pub_->publish(output_signals_msg);
return;
}

auto add_signal_function = [&](const auto & signal, bool priority) {
const auto id = signal.traffic_signal_id;
if (!map_regulatory_elements_set_.count(id)) {
if (!map_regulatory_elements_set_->count(id)) {
RCLCPP_WARN(
get_logger(), "Received a traffic signal not present in the current map (%lu)", id);
return;
Expand Down Expand Up @@ -165,8 +174,6 @@ void TrafficLightArbiter::arbitrateAndPublish(const builtin_interfaces::msg::Tim
return highest_score_elements_vector;
};

TrafficSignalArray output_signals_msg;
output_signals_msg.stamp = stamp;
output_signals_msg.signals.reserve(regulatory_element_signals_map.size());

for (const auto & [regulatory_element_id, elements] : regulatory_element_signals_map) {
Expand Down