add TrafficLight msgs

Signed-off-by: Yutaka Kondo <[email protected]>
autowarefoundation · May 9, 2024 · 18463a6 · 18463a6
1 parent f2a2096
commit 18463a6
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Showing 4 changed files with 39 additions and 0 deletions.
diff --git a/autoware_perception_msgs/CMakeLists.txt b/autoware_perception_msgs/CMakeLists.txt
@@ -17,6 +17,10 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/TrackedObject.msg"
   "msg/TrackedObjectKinematics.msg"
   "msg/TrackedObjects.msg"
+  "msg/TrafficLightElement.msg"
+  "msg/TrafficLightGroup.msg"
+  "msg/TrafficLightGroupArray.msg"
+  # TODO(youtalk): Remove below after migration to TrafficLight
   "msg/TrafficSignalElement.msg"
   "msg/TrafficSignal.msg"
   "msg/TrafficSignalArray.msg"

diff --git a/autoware_perception_msgs/msg/TrafficLightElement.msg b/autoware_perception_msgs/msg/TrafficLightElement.msg
@@ -0,0 +1,31 @@
+# constants for common use
+uint8 UNKNOWN = 0
+
+# constants for color
+uint8 RED = 1
+uint8 AMBER = 2
+uint8 GREEN = 3
+uint8 WHITE = 4
+
+# constants for shape
+uint8 CIRCLE = 1
+uint8 LEFT_ARROW = 2
+uint8 RIGHT_ARROW = 3
+uint8 UP_ARROW = 4
+uint8 UP_LEFT_ARROW=5
+uint8 UP_RIGHT_ARROW=6
+uint8 DOWN_ARROW = 7
+uint8 DOWN_LEFT_ARROW = 8
+uint8 DOWN_RIGHT_ARROW = 9
+uint8 CROSS = 10
+
+# constants for status
+uint8 SOLID_OFF = 1
+uint8 SOLID_ON = 2
+uint8 FLASHING = 3
+
+# variables
+uint8 color
+uint8 shape
+uint8 status
+float32 confidence
diff --git a/autoware_perception_msgs/msg/TrafficLightGroup.msg b/autoware_perception_msgs/msg/TrafficLightGroup.msg
@@ -0,0 +1,2 @@
+int64 traffic_light_group_id
+autoware_perception_msgs/TrafficLightElement[] elements
diff --git a/autoware_perception_msgs/msg/TrafficLightGroupArray.msg b/autoware_perception_msgs/msg/TrafficLightGroupArray.msg
@@ -0,0 +1,2 @@
+builtin_interfaces/Time stamp
+autoware_perception_msgs/TrafficLightGroup[] traffic_light_groups