fix(traffic_light_arbiter): clear perception msg when the stamp is ov…

…er the tolerance (#701)

fix(traffic_light_arbiter): clear perception msg when the stamp is over the tolerance (autowarefoundation#4464)

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

perception/traffic_light_arbiter/src/traffic_light_arbiter.cpp

@@ -98,7 +98,7 @@ void TrafficLightArbiter::onExternalMsg(const TrafficSignalArray::ConstSharedPtr
   if (
     (rclcpp::Time(msg->stamp) - rclcpp::Time(latest_perception_msg_.stamp)).seconds() >
     perception_time_tolerance_) {
-    latest_external_msg_.signals.clear();
+    latest_perception_msg_.signals.clear();
   }
 
   arbitrateAndPublish(msg->stamp);