Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Satoshi Ota
- Yoshi Ri
- Tao Zhong
- Masato Saeki
- Taekjin Lee
Authors
autoware_crosswalk_traffic_light_estimator
Purpose
autoware_crosswalk_traffic_light_estimator
estimates pedestrian traffic signals which can be summarized as the following two tasks:
- Estimate pedestrian traffic signals that are not subject to be detected by perception pipeline.
- Estimate whether pedestrian traffic signals are flashing and modify the result.
This module works without ~/input/route
, but its behavior is outputting the subscribed results as is.
Inputs / Outputs
Input
Name | Type | Description |
---|---|---|
~/input/vector_map |
autoware_map_msgs::msg::LaneletMapBin | vector map |
~/input/route |
autoware_planning_msgs::msg::LaneletRoute | optional: route |
~/input/classified/traffic_signals |
autoware_perception_msgs::msg::TrafficLightGroupArray | classified signals |
Output
Name | Type | Description |
---|---|---|
~/output/traffic_signals |
autoware_perception_msgs::msg::TrafficLightGroupArray | output that contains estimated pedestrian traffic signals |
~/debug/processing_time_ms |
autoware_internal_debug_msgs::msg::Float64Stamped | pipeline latency time (ms) |
Parameters
Name | Type | Description | Default value |
---|---|---|---|
use_last_detect_color |
bool | If this parameter is true , this module estimates pedestrian’s traffic signal as RED not only when vehicle’s traffic signal is detected as GREEN/AMBER but also when detection results change GREEN/AMBER to UNKNOWN. (If detection results change RED or AMBER to UNKNOWN, this module estimates pedestrian’s traffic signal as UNKNOWN.) If this parameter is false , this module use only latest detection results for estimation. (Only when the detection result is GREEN/AMBER, this module estimates pedestrian’s traffic signal as RED.) |
true |
use_pedestrian_signal_detect |
bool | If this parameter is true , use the pedestrian’s traffic signal estimated by the perception pipeline. If false , overwrite it with pedestrian’s signals estimated from vehicle traffic signals, HDMap, and route. |
true |
last_detect_color_hold_time |
double | The time threshold to hold for last detect color. The unit is second. | 2.0 |
last_colors_hold_time |
double | The time threshold to hold for history detected pedestrian traffic light color. The unit is second. | 1.0 |
Inner-workings / Algorithms
When the pedestrian traffic signals are detected by perception pipeline
- If estimates the pedestrian traffic signals are flashing, overwrite the results
- Prefer the output from perception pipeline, but overwrite it if the pedestrian traffic signals are invalid(
no detection
,backlight
, orocclusion
)
When the pedestrian traffic signals are NOT detected by perception pipeline
- Estimate the color of pedestrian traffic signals based on detected vehicle traffic signals, HDMap, and route
Estimate whether pedestrian traffic signals are flashing
start
if (the pedestrian traffic light classification result exists)then
: update the flashing flag according to the classification result(in_signal) and last_signals
if (the traffic light is flashing?)then(yes)
: update the traffic light state
else(no)
: the traffic light state is the same with the classification result
if (the classification result not exists)
: the traffic light state is the same with the estimation
: output the current traffic light state
end
Update flashing flag
Update traffic light status
Estimate the color of pedestrian traffic signals
```plantuml
start :subscribe detected traffic signals, HDMap, and route; :extract crosswalk lanelets from HDMap; :extract road lanelets that conflicts crosswalk from route; :initialize non_red_lanelets(lanelet::ConstLanelets); if (Latest detection result is GREEN or AMBER?) then (yes) :push back non_red_lanelets; else (no) if (use_last_detect_color is true?) then (yes) if (Latest detection result is UNKNOWN and last detection result is GREEN or AMBER?) then (yes) :push back non_red_lanelets; endif endif endif if (Is there STRAIGHT-NON-RED road lanelet in non_red_lanelets?) then (yes) :estimate related pedestrian’s traffic signal as RED; else if (Is there both LEFT-NON-RED and RIGHT-NON-RED road lanelet in non_red_lanelets?) then (yes) :estimate related pedestrian’s traffic signal as RED; else (no) :estimate related pedestrian’s traffic signal as UNKNOWN;
File truncated at 100 lines see the full file
Changelog for package autoware_crosswalk_traffic_light_estimator
0.47.0 (2025-08-11)
0.46.0 (2025-06-20)
-
Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
-
feat(autoware_crosswalk_traffic_light_estimator): add parameters to use pedestrian traffic signal result estimated in perception pipeline (#10763)
- add flag to use pedestrian signals result
- style(pre-commit): autofix
* change param name ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
Contributors: Masato Saeki, TaikiYamada4
0.45.0 (2025-05-22)
- Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
- chore: update traffic light packages code owner (#10644) chore: add Taekjin Lee as maintainer to multiple perception packages
- Contributors: Taekjin LEE, TaikiYamada4
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
fix(autoware_crosswalk_traffic_light_estimator): add process that guard access to empty elements (#10281)
- fix(autoware_crosswalk_traffic_light_estimator) : add process that guard access to empty elements.
* fix for linter ---------
-
Contributors: Ryohsuke Mitsudome, k-hazama-esol
0.43.0 (2025-03-21)
-
Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
-
chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
-
chore(perception): refactor perception launch (#10186)
- fundamental change
- style(pre-commit): autofix
- fix typo
- fix params and modify some packages
- pre-commit
- fix
- fix spell check
- fix typo
- integrate model and label path
- style(pre-commit): autofix
- for pre-commit
- run pre-commit
- for awsim
- for simulatior
- style(pre-commit): autofix
- fix grammer in launcher
- add schema for yolox_tlr
- style(pre-commit): autofix
- fix file name
- fix
- rename
- modify arg name to
- fix typo
- change param name
- style(pre-commit): autofix
* chore
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shintaro Tomie <<58775300+Shin-kyoto@users.noreply.github.com>> Co-authored-by: Kenzo Lobos Tsunekawa <<kenzo.lobos@tier4.jp>>
-
Contributors: Hayato Mizushima, Masato Saeki, Yutaka Kondo
0.42.0 (2025-03-03)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
tier4_perception_launch |
Launch files
- launch/crosswalk_traffic_light_estimator.launch.xml
- Copyright 2023 UCI SORA Lab Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
-
- input/vector_map [default: /map/vector_map]
- input/route [default: /planning/mission_planning/route]
- input/traffic_signals [default: judged/traffic_signals]
- output/traffic_signals [default: traffic_signals]
- param_path [default: $(find-pkg-share autoware_crosswalk_traffic_light_estimator)/config/crosswalk_traffic_light_estimator.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_crosswalk_traffic_light_estimator at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Satoshi Ota
- Yoshi Ri
- Tao Zhong
- Masato Saeki
- Taekjin Lee
Authors
autoware_crosswalk_traffic_light_estimator
Purpose
autoware_crosswalk_traffic_light_estimator
estimates pedestrian traffic signals which can be summarized as the following two tasks:
- Estimate pedestrian traffic signals that are not subject to be detected by perception pipeline.
- Estimate whether pedestrian traffic signals are flashing and modify the result.
This module works without ~/input/route
, but its behavior is outputting the subscribed results as is.
Inputs / Outputs
Input
Name | Type | Description |
---|---|---|
~/input/vector_map |
autoware_map_msgs::msg::LaneletMapBin | vector map |
~/input/route |
autoware_planning_msgs::msg::LaneletRoute | optional: route |
~/input/classified/traffic_signals |
autoware_perception_msgs::msg::TrafficLightGroupArray | classified signals |
Output
Name | Type | Description |
---|---|---|
~/output/traffic_signals |
autoware_perception_msgs::msg::TrafficLightGroupArray | output that contains estimated pedestrian traffic signals |
~/debug/processing_time_ms |
autoware_internal_debug_msgs::msg::Float64Stamped | pipeline latency time (ms) |
Parameters
Name | Type | Description | Default value |
---|---|---|---|
use_last_detect_color |
bool | If this parameter is true , this module estimates pedestrian’s traffic signal as RED not only when vehicle’s traffic signal is detected as GREEN/AMBER but also when detection results change GREEN/AMBER to UNKNOWN. (If detection results change RED or AMBER to UNKNOWN, this module estimates pedestrian’s traffic signal as UNKNOWN.) If this parameter is false , this module use only latest detection results for estimation. (Only when the detection result is GREEN/AMBER, this module estimates pedestrian’s traffic signal as RED.) |
true |
use_pedestrian_signal_detect |
bool | If this parameter is true , use the pedestrian’s traffic signal estimated by the perception pipeline. If false , overwrite it with pedestrian’s signals estimated from vehicle traffic signals, HDMap, and route. |
true |
last_detect_color_hold_time |
double | The time threshold to hold for last detect color. The unit is second. | 2.0 |
last_colors_hold_time |
double | The time threshold to hold for history detected pedestrian traffic light color. The unit is second. | 1.0 |
Inner-workings / Algorithms
When the pedestrian traffic signals are detected by perception pipeline
- If estimates the pedestrian traffic signals are flashing, overwrite the results
- Prefer the output from perception pipeline, but overwrite it if the pedestrian traffic signals are invalid(
no detection
,backlight
, orocclusion
)
When the pedestrian traffic signals are NOT detected by perception pipeline
- Estimate the color of pedestrian traffic signals based on detected vehicle traffic signals, HDMap, and route
Estimate whether pedestrian traffic signals are flashing
start
if (the pedestrian traffic light classification result exists)then
: update the flashing flag according to the classification result(in_signal) and last_signals
if (the traffic light is flashing?)then(yes)
: update the traffic light state
else(no)
: the traffic light state is the same with the classification result
if (the classification result not exists)
: the traffic light state is the same with the estimation
: output the current traffic light state
end
Update flashing flag
Update traffic light status
Estimate the color of pedestrian traffic signals
```plantuml
start :subscribe detected traffic signals, HDMap, and route; :extract crosswalk lanelets from HDMap; :extract road lanelets that conflicts crosswalk from route; :initialize non_red_lanelets(lanelet::ConstLanelets); if (Latest detection result is GREEN or AMBER?) then (yes) :push back non_red_lanelets; else (no) if (use_last_detect_color is true?) then (yes) if (Latest detection result is UNKNOWN and last detection result is GREEN or AMBER?) then (yes) :push back non_red_lanelets; endif endif endif if (Is there STRAIGHT-NON-RED road lanelet in non_red_lanelets?) then (yes) :estimate related pedestrian’s traffic signal as RED; else if (Is there both LEFT-NON-RED and RIGHT-NON-RED road lanelet in non_red_lanelets?) then (yes) :estimate related pedestrian’s traffic signal as RED; else (no) :estimate related pedestrian’s traffic signal as UNKNOWN;
File truncated at 100 lines see the full file
Changelog for package autoware_crosswalk_traffic_light_estimator
0.47.0 (2025-08-11)
0.46.0 (2025-06-20)
-
Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
-
feat(autoware_crosswalk_traffic_light_estimator): add parameters to use pedestrian traffic signal result estimated in perception pipeline (#10763)
- add flag to use pedestrian signals result
- style(pre-commit): autofix
* change param name ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
Contributors: Masato Saeki, TaikiYamada4
0.45.0 (2025-05-22)
- Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
- chore: update traffic light packages code owner (#10644) chore: add Taekjin Lee as maintainer to multiple perception packages
- Contributors: Taekjin LEE, TaikiYamada4
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
fix(autoware_crosswalk_traffic_light_estimator): add process that guard access to empty elements (#10281)
- fix(autoware_crosswalk_traffic_light_estimator) : add process that guard access to empty elements.
* fix for linter ---------
-
Contributors: Ryohsuke Mitsudome, k-hazama-esol
0.43.0 (2025-03-21)
-
Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
-
chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
-
chore(perception): refactor perception launch (#10186)
- fundamental change
- style(pre-commit): autofix
- fix typo
- fix params and modify some packages
- pre-commit
- fix
- fix spell check
- fix typo
- integrate model and label path
- style(pre-commit): autofix
- for pre-commit
- run pre-commit
- for awsim
- for simulatior
- style(pre-commit): autofix
- fix grammer in launcher
- add schema for yolox_tlr
- style(pre-commit): autofix
- fix file name
- fix
- rename
- modify arg name to
- fix typo
- change param name
- style(pre-commit): autofix
* chore
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shintaro Tomie <<58775300+Shin-kyoto@users.noreply.github.com>> Co-authored-by: Kenzo Lobos Tsunekawa <<kenzo.lobos@tier4.jp>>
-
Contributors: Hayato Mizushima, Masato Saeki, Yutaka Kondo
0.42.0 (2025-03-03)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
tier4_perception_launch |
Launch files
- launch/crosswalk_traffic_light_estimator.launch.xml
- Copyright 2023 UCI SORA Lab Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
-
- input/vector_map [default: /map/vector_map]
- input/route [default: /planning/mission_planning/route]
- input/traffic_signals [default: judged/traffic_signals]
- output/traffic_signals [default: traffic_signals]
- param_path [default: $(find-pkg-share autoware_crosswalk_traffic_light_estimator)/config/crosswalk_traffic_light_estimator.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_crosswalk_traffic_light_estimator at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Satoshi Ota
- Yoshi Ri
- Tao Zhong
- Masato Saeki
- Taekjin Lee
Authors
autoware_crosswalk_traffic_light_estimator
Purpose
autoware_crosswalk_traffic_light_estimator
estimates pedestrian traffic signals which can be summarized as the following two tasks:
- Estimate pedestrian traffic signals that are not subject to be detected by perception pipeline.
- Estimate whether pedestrian traffic signals are flashing and modify the result.
This module works without ~/input/route
, but its behavior is outputting the subscribed results as is.
Inputs / Outputs
Input
Name | Type | Description |
---|---|---|
~/input/vector_map |
autoware_map_msgs::msg::LaneletMapBin | vector map |
~/input/route |
autoware_planning_msgs::msg::LaneletRoute | optional: route |
~/input/classified/traffic_signals |
autoware_perception_msgs::msg::TrafficLightGroupArray | classified signals |
Output
Name | Type | Description |
---|---|---|
~/output/traffic_signals |
autoware_perception_msgs::msg::TrafficLightGroupArray | output that contains estimated pedestrian traffic signals |
~/debug/processing_time_ms |
autoware_internal_debug_msgs::msg::Float64Stamped | pipeline latency time (ms) |
Parameters
Name | Type | Description | Default value |
---|---|---|---|
use_last_detect_color |
bool | If this parameter is true , this module estimates pedestrian’s traffic signal as RED not only when vehicle’s traffic signal is detected as GREEN/AMBER but also when detection results change GREEN/AMBER to UNKNOWN. (If detection results change RED or AMBER to UNKNOWN, this module estimates pedestrian’s traffic signal as UNKNOWN.) If this parameter is false , this module use only latest detection results for estimation. (Only when the detection result is GREEN/AMBER, this module estimates pedestrian’s traffic signal as RED.) |
true |
use_pedestrian_signal_detect |
bool | If this parameter is true , use the pedestrian’s traffic signal estimated by the perception pipeline. If false , overwrite it with pedestrian’s signals estimated from vehicle traffic signals, HDMap, and route. |
true |
last_detect_color_hold_time |
double | The time threshold to hold for last detect color. The unit is second. | 2.0 |
last_colors_hold_time |
double | The time threshold to hold for history detected pedestrian traffic light color. The unit is second. | 1.0 |
Inner-workings / Algorithms
When the pedestrian traffic signals are detected by perception pipeline
- If estimates the pedestrian traffic signals are flashing, overwrite the results
- Prefer the output from perception pipeline, but overwrite it if the pedestrian traffic signals are invalid(
no detection
,backlight
, orocclusion
)
When the pedestrian traffic signals are NOT detected by perception pipeline
- Estimate the color of pedestrian traffic signals based on detected vehicle traffic signals, HDMap, and route
Estimate whether pedestrian traffic signals are flashing
start
if (the pedestrian traffic light classification result exists)then
: update the flashing flag according to the classification result(in_signal) and last_signals
if (the traffic light is flashing?)then(yes)
: update the traffic light state
else(no)
: the traffic light state is the same with the classification result
if (the classification result not exists)
: the traffic light state is the same with the estimation
: output the current traffic light state
end
Update flashing flag
Update traffic light status
Estimate the color of pedestrian traffic signals
```plantuml
start :subscribe detected traffic signals, HDMap, and route; :extract crosswalk lanelets from HDMap; :extract road lanelets that conflicts crosswalk from route; :initialize non_red_lanelets(lanelet::ConstLanelets); if (Latest detection result is GREEN or AMBER?) then (yes) :push back non_red_lanelets; else (no) if (use_last_detect_color is true?) then (yes) if (Latest detection result is UNKNOWN and last detection result is GREEN or AMBER?) then (yes) :push back non_red_lanelets; endif endif endif if (Is there STRAIGHT-NON-RED road lanelet in non_red_lanelets?) then (yes) :estimate related pedestrian’s traffic signal as RED; else if (Is there both LEFT-NON-RED and RIGHT-NON-RED road lanelet in non_red_lanelets?) then (yes) :estimate related pedestrian’s traffic signal as RED; else (no) :estimate related pedestrian’s traffic signal as UNKNOWN;
File truncated at 100 lines see the full file
Changelog for package autoware_crosswalk_traffic_light_estimator
0.47.0 (2025-08-11)
0.46.0 (2025-06-20)
-
Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
-
feat(autoware_crosswalk_traffic_light_estimator): add parameters to use pedestrian traffic signal result estimated in perception pipeline (#10763)
- add flag to use pedestrian signals result
- style(pre-commit): autofix
* change param name ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
Contributors: Masato Saeki, TaikiYamada4
0.45.0 (2025-05-22)
- Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
- chore: update traffic light packages code owner (#10644) chore: add Taekjin Lee as maintainer to multiple perception packages
- Contributors: Taekjin LEE, TaikiYamada4
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
fix(autoware_crosswalk_traffic_light_estimator): add process that guard access to empty elements (#10281)
- fix(autoware_crosswalk_traffic_light_estimator) : add process that guard access to empty elements.
* fix for linter ---------
-
Contributors: Ryohsuke Mitsudome, k-hazama-esol
0.43.0 (2025-03-21)
-
Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
-
chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
-
chore(perception): refactor perception launch (#10186)
- fundamental change
- style(pre-commit): autofix
- fix typo
- fix params and modify some packages
- pre-commit
- fix
- fix spell check
- fix typo
- integrate model and label path
- style(pre-commit): autofix
- for pre-commit
- run pre-commit
- for awsim
- for simulatior
- style(pre-commit): autofix
- fix grammer in launcher
- add schema for yolox_tlr
- style(pre-commit): autofix
- fix file name
- fix
- rename
- modify arg name to
- fix typo
- change param name
- style(pre-commit): autofix
* chore
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shintaro Tomie <<58775300+Shin-kyoto@users.noreply.github.com>> Co-authored-by: Kenzo Lobos Tsunekawa <<kenzo.lobos@tier4.jp>>
-
Contributors: Hayato Mizushima, Masato Saeki, Yutaka Kondo
0.42.0 (2025-03-03)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
tier4_perception_launch |
Launch files
- launch/crosswalk_traffic_light_estimator.launch.xml
- Copyright 2023 UCI SORA Lab Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
-
- input/vector_map [default: /map/vector_map]
- input/route [default: /planning/mission_planning/route]
- input/traffic_signals [default: judged/traffic_signals]
- output/traffic_signals [default: traffic_signals]
- param_path [default: $(find-pkg-share autoware_crosswalk_traffic_light_estimator)/config/crosswalk_traffic_light_estimator.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_crosswalk_traffic_light_estimator at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Satoshi Ota
- Yoshi Ri
- Tao Zhong
- Masato Saeki
- Taekjin Lee
Authors
autoware_crosswalk_traffic_light_estimator
Purpose
autoware_crosswalk_traffic_light_estimator
estimates pedestrian traffic signals which can be summarized as the following two tasks:
- Estimate pedestrian traffic signals that are not subject to be detected by perception pipeline.
- Estimate whether pedestrian traffic signals are flashing and modify the result.
This module works without ~/input/route
, but its behavior is outputting the subscribed results as is.
Inputs / Outputs
Input
Name | Type | Description |
---|---|---|
~/input/vector_map |
autoware_map_msgs::msg::LaneletMapBin | vector map |
~/input/route |
autoware_planning_msgs::msg::LaneletRoute | optional: route |
~/input/classified/traffic_signals |
autoware_perception_msgs::msg::TrafficLightGroupArray | classified signals |
Output
Name | Type | Description |
---|---|---|
~/output/traffic_signals |
autoware_perception_msgs::msg::TrafficLightGroupArray | output that contains estimated pedestrian traffic signals |
~/debug/processing_time_ms |
autoware_internal_debug_msgs::msg::Float64Stamped | pipeline latency time (ms) |
Parameters
Name | Type | Description | Default value |
---|---|---|---|
use_last_detect_color |
bool | If this parameter is true , this module estimates pedestrian’s traffic signal as RED not only when vehicle’s traffic signal is detected as GREEN/AMBER but also when detection results change GREEN/AMBER to UNKNOWN. (If detection results change RED or AMBER to UNKNOWN, this module estimates pedestrian’s traffic signal as UNKNOWN.) If this parameter is false , this module use only latest detection results for estimation. (Only when the detection result is GREEN/AMBER, this module estimates pedestrian’s traffic signal as RED.) |
true |
use_pedestrian_signal_detect |
bool | If this parameter is true , use the pedestrian’s traffic signal estimated by the perception pipeline. If false , overwrite it with pedestrian’s signals estimated from vehicle traffic signals, HDMap, and route. |
true |
last_detect_color_hold_time |
double | The time threshold to hold for last detect color. The unit is second. | 2.0 |
last_colors_hold_time |
double | The time threshold to hold for history detected pedestrian traffic light color. The unit is second. | 1.0 |
Inner-workings / Algorithms
When the pedestrian traffic signals are detected by perception pipeline
- If estimates the pedestrian traffic signals are flashing, overwrite the results
- Prefer the output from perception pipeline, but overwrite it if the pedestrian traffic signals are invalid(
no detection
,backlight
, orocclusion
)
When the pedestrian traffic signals are NOT detected by perception pipeline
- Estimate the color of pedestrian traffic signals based on detected vehicle traffic signals, HDMap, and route
Estimate whether pedestrian traffic signals are flashing
start
if (the pedestrian traffic light classification result exists)then
: update the flashing flag according to the classification result(in_signal) and last_signals
if (the traffic light is flashing?)then(yes)
: update the traffic light state
else(no)
: the traffic light state is the same with the classification result
if (the classification result not exists)
: the traffic light state is the same with the estimation
: output the current traffic light state
end
Update flashing flag
Update traffic light status
Estimate the color of pedestrian traffic signals
```plantuml
start :subscribe detected traffic signals, HDMap, and route; :extract crosswalk lanelets from HDMap; :extract road lanelets that conflicts crosswalk from route; :initialize non_red_lanelets(lanelet::ConstLanelets); if (Latest detection result is GREEN or AMBER?) then (yes) :push back non_red_lanelets; else (no) if (use_last_detect_color is true?) then (yes) if (Latest detection result is UNKNOWN and last detection result is GREEN or AMBER?) then (yes) :push back non_red_lanelets; endif endif endif if (Is there STRAIGHT-NON-RED road lanelet in non_red_lanelets?) then (yes) :estimate related pedestrian’s traffic signal as RED; else if (Is there both LEFT-NON-RED and RIGHT-NON-RED road lanelet in non_red_lanelets?) then (yes) :estimate related pedestrian’s traffic signal as RED; else (no) :estimate related pedestrian’s traffic signal as UNKNOWN;
File truncated at 100 lines see the full file
Changelog for package autoware_crosswalk_traffic_light_estimator
0.47.0 (2025-08-11)
0.46.0 (2025-06-20)
-
Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
-
feat(autoware_crosswalk_traffic_light_estimator): add parameters to use pedestrian traffic signal result estimated in perception pipeline (#10763)
- add flag to use pedestrian signals result
- style(pre-commit): autofix
* change param name ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
Contributors: Masato Saeki, TaikiYamada4
0.45.0 (2025-05-22)
- Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
- chore: update traffic light packages code owner (#10644) chore: add Taekjin Lee as maintainer to multiple perception packages
- Contributors: Taekjin LEE, TaikiYamada4
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
fix(autoware_crosswalk_traffic_light_estimator): add process that guard access to empty elements (#10281)
- fix(autoware_crosswalk_traffic_light_estimator) : add process that guard access to empty elements.
* fix for linter ---------
-
Contributors: Ryohsuke Mitsudome, k-hazama-esol
0.43.0 (2025-03-21)
-
Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
-
chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
-
chore(perception): refactor perception launch (#10186)
- fundamental change
- style(pre-commit): autofix
- fix typo
- fix params and modify some packages
- pre-commit
- fix
- fix spell check
- fix typo
- integrate model and label path
- style(pre-commit): autofix
- for pre-commit
- run pre-commit
- for awsim
- for simulatior
- style(pre-commit): autofix
- fix grammer in launcher
- add schema for yolox_tlr
- style(pre-commit): autofix
- fix file name
- fix
- rename
- modify arg name to
- fix typo
- change param name
- style(pre-commit): autofix
* chore
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shintaro Tomie <<58775300+Shin-kyoto@users.noreply.github.com>> Co-authored-by: Kenzo Lobos Tsunekawa <<kenzo.lobos@tier4.jp>>
-
Contributors: Hayato Mizushima, Masato Saeki, Yutaka Kondo
0.42.0 (2025-03-03)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
tier4_perception_launch |
Launch files
- launch/crosswalk_traffic_light_estimator.launch.xml
- Copyright 2023 UCI SORA Lab Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
-
- input/vector_map [default: /map/vector_map]
- input/route [default: /planning/mission_planning/route]
- input/traffic_signals [default: judged/traffic_signals]
- output/traffic_signals [default: traffic_signals]
- param_path [default: $(find-pkg-share autoware_crosswalk_traffic_light_estimator)/config/crosswalk_traffic_light_estimator.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_crosswalk_traffic_light_estimator at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Satoshi Ota
- Yoshi Ri
- Tao Zhong
- Masato Saeki
- Taekjin Lee
Authors
autoware_crosswalk_traffic_light_estimator
Purpose
autoware_crosswalk_traffic_light_estimator
estimates pedestrian traffic signals which can be summarized as the following two tasks:
- Estimate pedestrian traffic signals that are not subject to be detected by perception pipeline.
- Estimate whether pedestrian traffic signals are flashing and modify the result.
This module works without ~/input/route
, but its behavior is outputting the subscribed results as is.
Inputs / Outputs
Input
Name | Type | Description |
---|---|---|
~/input/vector_map |
autoware_map_msgs::msg::LaneletMapBin | vector map |
~/input/route |
autoware_planning_msgs::msg::LaneletRoute | optional: route |
~/input/classified/traffic_signals |
autoware_perception_msgs::msg::TrafficLightGroupArray | classified signals |
Output
Name | Type | Description |
---|---|---|
~/output/traffic_signals |
autoware_perception_msgs::msg::TrafficLightGroupArray | output that contains estimated pedestrian traffic signals |
~/debug/processing_time_ms |
autoware_internal_debug_msgs::msg::Float64Stamped | pipeline latency time (ms) |
Parameters
Name | Type | Description | Default value |
---|---|---|---|
use_last_detect_color |
bool | If this parameter is true , this module estimates pedestrian’s traffic signal as RED not only when vehicle’s traffic signal is detected as GREEN/AMBER but also when detection results change GREEN/AMBER to UNKNOWN. (If detection results change RED or AMBER to UNKNOWN, this module estimates pedestrian’s traffic signal as UNKNOWN.) If this parameter is false , this module use only latest detection results for estimation. (Only when the detection result is GREEN/AMBER, this module estimates pedestrian’s traffic signal as RED.) |
true |
use_pedestrian_signal_detect |
bool | If this parameter is true , use the pedestrian’s traffic signal estimated by the perception pipeline. If false , overwrite it with pedestrian’s signals estimated from vehicle traffic signals, HDMap, and route. |
true |
last_detect_color_hold_time |
double | The time threshold to hold for last detect color. The unit is second. | 2.0 |
last_colors_hold_time |
double | The time threshold to hold for history detected pedestrian traffic light color. The unit is second. | 1.0 |
Inner-workings / Algorithms
When the pedestrian traffic signals are detected by perception pipeline
- If estimates the pedestrian traffic signals are flashing, overwrite the results
- Prefer the output from perception pipeline, but overwrite it if the pedestrian traffic signals are invalid(
no detection
,backlight
, orocclusion
)
When the pedestrian traffic signals are NOT detected by perception pipeline
- Estimate the color of pedestrian traffic signals based on detected vehicle traffic signals, HDMap, and route
Estimate whether pedestrian traffic signals are flashing
start
if (the pedestrian traffic light classification result exists)then
: update the flashing flag according to the classification result(in_signal) and last_signals
if (the traffic light is flashing?)then(yes)
: update the traffic light state
else(no)
: the traffic light state is the same with the classification result
if (the classification result not exists)
: the traffic light state is the same with the estimation
: output the current traffic light state
end
Update flashing flag
Update traffic light status
Estimate the color of pedestrian traffic signals
```plantuml
start :subscribe detected traffic signals, HDMap, and route; :extract crosswalk lanelets from HDMap; :extract road lanelets that conflicts crosswalk from route; :initialize non_red_lanelets(lanelet::ConstLanelets); if (Latest detection result is GREEN or AMBER?) then (yes) :push back non_red_lanelets; else (no) if (use_last_detect_color is true?) then (yes) if (Latest detection result is UNKNOWN and last detection result is GREEN or AMBER?) then (yes) :push back non_red_lanelets; endif endif endif if (Is there STRAIGHT-NON-RED road lanelet in non_red_lanelets?) then (yes) :estimate related pedestrian’s traffic signal as RED; else if (Is there both LEFT-NON-RED and RIGHT-NON-RED road lanelet in non_red_lanelets?) then (yes) :estimate related pedestrian’s traffic signal as RED; else (no) :estimate related pedestrian’s traffic signal as UNKNOWN;
File truncated at 100 lines see the full file
Changelog for package autoware_crosswalk_traffic_light_estimator
0.47.0 (2025-08-11)
0.46.0 (2025-06-20)
-
Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
-
feat(autoware_crosswalk_traffic_light_estimator): add parameters to use pedestrian traffic signal result estimated in perception pipeline (#10763)
- add flag to use pedestrian signals result
- style(pre-commit): autofix
* change param name ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
Contributors: Masato Saeki, TaikiYamada4
0.45.0 (2025-05-22)
- Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
- chore: update traffic light packages code owner (#10644) chore: add Taekjin Lee as maintainer to multiple perception packages
- Contributors: Taekjin LEE, TaikiYamada4
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
fix(autoware_crosswalk_traffic_light_estimator): add process that guard access to empty elements (#10281)
- fix(autoware_crosswalk_traffic_light_estimator) : add process that guard access to empty elements.
* fix for linter ---------
-
Contributors: Ryohsuke Mitsudome, k-hazama-esol
0.43.0 (2025-03-21)
-
Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
-
chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
-
chore(perception): refactor perception launch (#10186)
- fundamental change
- style(pre-commit): autofix
- fix typo
- fix params and modify some packages
- pre-commit
- fix
- fix spell check
- fix typo
- integrate model and label path
- style(pre-commit): autofix
- for pre-commit
- run pre-commit
- for awsim
- for simulatior
- style(pre-commit): autofix
- fix grammer in launcher
- add schema for yolox_tlr
- style(pre-commit): autofix
- fix file name
- fix
- rename
- modify arg name to
- fix typo
- change param name
- style(pre-commit): autofix
* chore
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shintaro Tomie <<58775300+Shin-kyoto@users.noreply.github.com>> Co-authored-by: Kenzo Lobos Tsunekawa <<kenzo.lobos@tier4.jp>>
-
Contributors: Hayato Mizushima, Masato Saeki, Yutaka Kondo
0.42.0 (2025-03-03)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
tier4_perception_launch |
Launch files
- launch/crosswalk_traffic_light_estimator.launch.xml
- Copyright 2023 UCI SORA Lab Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
-
- input/vector_map [default: /map/vector_map]
- input/route [default: /planning/mission_planning/route]
- input/traffic_signals [default: judged/traffic_signals]
- output/traffic_signals [default: traffic_signals]
- param_path [default: $(find-pkg-share autoware_crosswalk_traffic_light_estimator)/config/crosswalk_traffic_light_estimator.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_crosswalk_traffic_light_estimator at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Satoshi Ota
- Yoshi Ri
- Tao Zhong
- Masato Saeki
- Taekjin Lee
Authors
autoware_crosswalk_traffic_light_estimator
Purpose
autoware_crosswalk_traffic_light_estimator
estimates pedestrian traffic signals which can be summarized as the following two tasks:
- Estimate pedestrian traffic signals that are not subject to be detected by perception pipeline.
- Estimate whether pedestrian traffic signals are flashing and modify the result.
This module works without ~/input/route
, but its behavior is outputting the subscribed results as is.
Inputs / Outputs
Input
Name | Type | Description |
---|---|---|
~/input/vector_map |
autoware_map_msgs::msg::LaneletMapBin | vector map |
~/input/route |
autoware_planning_msgs::msg::LaneletRoute | optional: route |
~/input/classified/traffic_signals |
autoware_perception_msgs::msg::TrafficLightGroupArray | classified signals |
Output
Name | Type | Description |
---|---|---|
~/output/traffic_signals |
autoware_perception_msgs::msg::TrafficLightGroupArray | output that contains estimated pedestrian traffic signals |
~/debug/processing_time_ms |
autoware_internal_debug_msgs::msg::Float64Stamped | pipeline latency time (ms) |
Parameters
Name | Type | Description | Default value |
---|---|---|---|
use_last_detect_color |
bool | If this parameter is true , this module estimates pedestrian’s traffic signal as RED not only when vehicle’s traffic signal is detected as GREEN/AMBER but also when detection results change GREEN/AMBER to UNKNOWN. (If detection results change RED or AMBER to UNKNOWN, this module estimates pedestrian’s traffic signal as UNKNOWN.) If this parameter is false , this module use only latest detection results for estimation. (Only when the detection result is GREEN/AMBER, this module estimates pedestrian’s traffic signal as RED.) |
true |
use_pedestrian_signal_detect |
bool | If this parameter is true , use the pedestrian’s traffic signal estimated by the perception pipeline. If false , overwrite it with pedestrian’s signals estimated from vehicle traffic signals, HDMap, and route. |
true |
last_detect_color_hold_time |
double | The time threshold to hold for last detect color. The unit is second. | 2.0 |
last_colors_hold_time |
double | The time threshold to hold for history detected pedestrian traffic light color. The unit is second. | 1.0 |
Inner-workings / Algorithms
When the pedestrian traffic signals are detected by perception pipeline
- If estimates the pedestrian traffic signals are flashing, overwrite the results
- Prefer the output from perception pipeline, but overwrite it if the pedestrian traffic signals are invalid(
no detection
,backlight
, orocclusion
)
When the pedestrian traffic signals are NOT detected by perception pipeline
- Estimate the color of pedestrian traffic signals based on detected vehicle traffic signals, HDMap, and route
Estimate whether pedestrian traffic signals are flashing
start
if (the pedestrian traffic light classification result exists)then
: update the flashing flag according to the classification result(in_signal) and last_signals
if (the traffic light is flashing?)then(yes)
: update the traffic light state
else(no)
: the traffic light state is the same with the classification result
if (the classification result not exists)
: the traffic light state is the same with the estimation
: output the current traffic light state
end
Update flashing flag
Update traffic light status
Estimate the color of pedestrian traffic signals
```plantuml
start :subscribe detected traffic signals, HDMap, and route; :extract crosswalk lanelets from HDMap; :extract road lanelets that conflicts crosswalk from route; :initialize non_red_lanelets(lanelet::ConstLanelets); if (Latest detection result is GREEN or AMBER?) then (yes) :push back non_red_lanelets; else (no) if (use_last_detect_color is true?) then (yes) if (Latest detection result is UNKNOWN and last detection result is GREEN or AMBER?) then (yes) :push back non_red_lanelets; endif endif endif if (Is there STRAIGHT-NON-RED road lanelet in non_red_lanelets?) then (yes) :estimate related pedestrian’s traffic signal as RED; else if (Is there both LEFT-NON-RED and RIGHT-NON-RED road lanelet in non_red_lanelets?) then (yes) :estimate related pedestrian’s traffic signal as RED; else (no) :estimate related pedestrian’s traffic signal as UNKNOWN;
File truncated at 100 lines see the full file
Changelog for package autoware_crosswalk_traffic_light_estimator
0.47.0 (2025-08-11)
0.46.0 (2025-06-20)
-
Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
-
feat(autoware_crosswalk_traffic_light_estimator): add parameters to use pedestrian traffic signal result estimated in perception pipeline (#10763)
- add flag to use pedestrian signals result
- style(pre-commit): autofix
* change param name ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
Contributors: Masato Saeki, TaikiYamada4
0.45.0 (2025-05-22)
- Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
- chore: update traffic light packages code owner (#10644) chore: add Taekjin Lee as maintainer to multiple perception packages
- Contributors: Taekjin LEE, TaikiYamada4
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
fix(autoware_crosswalk_traffic_light_estimator): add process that guard access to empty elements (#10281)
- fix(autoware_crosswalk_traffic_light_estimator) : add process that guard access to empty elements.
* fix for linter ---------
-
Contributors: Ryohsuke Mitsudome, k-hazama-esol
0.43.0 (2025-03-21)
-
Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
-
chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
-
chore(perception): refactor perception launch (#10186)
- fundamental change
- style(pre-commit): autofix
- fix typo
- fix params and modify some packages
- pre-commit
- fix
- fix spell check
- fix typo
- integrate model and label path
- style(pre-commit): autofix
- for pre-commit
- run pre-commit
- for awsim
- for simulatior
- style(pre-commit): autofix
- fix grammer in launcher
- add schema for yolox_tlr
- style(pre-commit): autofix
- fix file name
- fix
- rename
- modify arg name to
- fix typo
- change param name
- style(pre-commit): autofix
* chore
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shintaro Tomie <<58775300+Shin-kyoto@users.noreply.github.com>> Co-authored-by: Kenzo Lobos Tsunekawa <<kenzo.lobos@tier4.jp>>
-
Contributors: Hayato Mizushima, Masato Saeki, Yutaka Kondo
0.42.0 (2025-03-03)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
tier4_perception_launch |
Launch files
- launch/crosswalk_traffic_light_estimator.launch.xml
- Copyright 2023 UCI SORA Lab Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
-
- input/vector_map [default: /map/vector_map]
- input/route [default: /planning/mission_planning/route]
- input/traffic_signals [default: judged/traffic_signals]
- output/traffic_signals [default: traffic_signals]
- param_path [default: $(find-pkg-share autoware_crosswalk_traffic_light_estimator)/config/crosswalk_traffic_light_estimator.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_crosswalk_traffic_light_estimator at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Satoshi Ota
- Yoshi Ri
- Tao Zhong
- Masato Saeki
- Taekjin Lee
Authors
autoware_crosswalk_traffic_light_estimator
Purpose
autoware_crosswalk_traffic_light_estimator
estimates pedestrian traffic signals which can be summarized as the following two tasks:
- Estimate pedestrian traffic signals that are not subject to be detected by perception pipeline.
- Estimate whether pedestrian traffic signals are flashing and modify the result.
This module works without ~/input/route
, but its behavior is outputting the subscribed results as is.
Inputs / Outputs
Input
Name | Type | Description |
---|---|---|
~/input/vector_map |
autoware_map_msgs::msg::LaneletMapBin | vector map |
~/input/route |
autoware_planning_msgs::msg::LaneletRoute | optional: route |
~/input/classified/traffic_signals |
autoware_perception_msgs::msg::TrafficLightGroupArray | classified signals |
Output
Name | Type | Description |
---|---|---|
~/output/traffic_signals |
autoware_perception_msgs::msg::TrafficLightGroupArray | output that contains estimated pedestrian traffic signals |
~/debug/processing_time_ms |
autoware_internal_debug_msgs::msg::Float64Stamped | pipeline latency time (ms) |
Parameters
Name | Type | Description | Default value |
---|---|---|---|
use_last_detect_color |
bool | If this parameter is true , this module estimates pedestrian’s traffic signal as RED not only when vehicle’s traffic signal is detected as GREEN/AMBER but also when detection results change GREEN/AMBER to UNKNOWN. (If detection results change RED or AMBER to UNKNOWN, this module estimates pedestrian’s traffic signal as UNKNOWN.) If this parameter is false , this module use only latest detection results for estimation. (Only when the detection result is GREEN/AMBER, this module estimates pedestrian’s traffic signal as RED.) |
true |
use_pedestrian_signal_detect |
bool | If this parameter is true , use the pedestrian’s traffic signal estimated by the perception pipeline. If false , overwrite it with pedestrian’s signals estimated from vehicle traffic signals, HDMap, and route. |
true |
last_detect_color_hold_time |
double | The time threshold to hold for last detect color. The unit is second. | 2.0 |
last_colors_hold_time |
double | The time threshold to hold for history detected pedestrian traffic light color. The unit is second. | 1.0 |
Inner-workings / Algorithms
When the pedestrian traffic signals are detected by perception pipeline
- If estimates the pedestrian traffic signals are flashing, overwrite the results
- Prefer the output from perception pipeline, but overwrite it if the pedestrian traffic signals are invalid(
no detection
,backlight
, orocclusion
)
When the pedestrian traffic signals are NOT detected by perception pipeline
- Estimate the color of pedestrian traffic signals based on detected vehicle traffic signals, HDMap, and route
Estimate whether pedestrian traffic signals are flashing
start
if (the pedestrian traffic light classification result exists)then
: update the flashing flag according to the classification result(in_signal) and last_signals
if (the traffic light is flashing?)then(yes)
: update the traffic light state
else(no)
: the traffic light state is the same with the classification result
if (the classification result not exists)
: the traffic light state is the same with the estimation
: output the current traffic light state
end
Update flashing flag
Update traffic light status
Estimate the color of pedestrian traffic signals
```plantuml
start :subscribe detected traffic signals, HDMap, and route; :extract crosswalk lanelets from HDMap; :extract road lanelets that conflicts crosswalk from route; :initialize non_red_lanelets(lanelet::ConstLanelets); if (Latest detection result is GREEN or AMBER?) then (yes) :push back non_red_lanelets; else (no) if (use_last_detect_color is true?) then (yes) if (Latest detection result is UNKNOWN and last detection result is GREEN or AMBER?) then (yes) :push back non_red_lanelets; endif endif endif if (Is there STRAIGHT-NON-RED road lanelet in non_red_lanelets?) then (yes) :estimate related pedestrian’s traffic signal as RED; else if (Is there both LEFT-NON-RED and RIGHT-NON-RED road lanelet in non_red_lanelets?) then (yes) :estimate related pedestrian’s traffic signal as RED; else (no) :estimate related pedestrian’s traffic signal as UNKNOWN;
File truncated at 100 lines see the full file
Changelog for package autoware_crosswalk_traffic_light_estimator
0.47.0 (2025-08-11)
0.46.0 (2025-06-20)
-
Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
-
feat(autoware_crosswalk_traffic_light_estimator): add parameters to use pedestrian traffic signal result estimated in perception pipeline (#10763)
- add flag to use pedestrian signals result
- style(pre-commit): autofix
* change param name ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
Contributors: Masato Saeki, TaikiYamada4
0.45.0 (2025-05-22)
- Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
- chore: update traffic light packages code owner (#10644) chore: add Taekjin Lee as maintainer to multiple perception packages
- Contributors: Taekjin LEE, TaikiYamada4
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
fix(autoware_crosswalk_traffic_light_estimator): add process that guard access to empty elements (#10281)
- fix(autoware_crosswalk_traffic_light_estimator) : add process that guard access to empty elements.
* fix for linter ---------
-
Contributors: Ryohsuke Mitsudome, k-hazama-esol
0.43.0 (2025-03-21)
-
Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
-
chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
-
chore(perception): refactor perception launch (#10186)
- fundamental change
- style(pre-commit): autofix
- fix typo
- fix params and modify some packages
- pre-commit
- fix
- fix spell check
- fix typo
- integrate model and label path
- style(pre-commit): autofix
- for pre-commit
- run pre-commit
- for awsim
- for simulatior
- style(pre-commit): autofix
- fix grammer in launcher
- add schema for yolox_tlr
- style(pre-commit): autofix
- fix file name
- fix
- rename
- modify arg name to
- fix typo
- change param name
- style(pre-commit): autofix
* chore
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shintaro Tomie <<58775300+Shin-kyoto@users.noreply.github.com>> Co-authored-by: Kenzo Lobos Tsunekawa <<kenzo.lobos@tier4.jp>>
-
Contributors: Hayato Mizushima, Masato Saeki, Yutaka Kondo
0.42.0 (2025-03-03)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
tier4_perception_launch |
Launch files
- launch/crosswalk_traffic_light_estimator.launch.xml
- Copyright 2023 UCI SORA Lab Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
-
- input/vector_map [default: /map/vector_map]
- input/route [default: /planning/mission_planning/route]
- input/traffic_signals [default: judged/traffic_signals]
- output/traffic_signals [default: traffic_signals]
- param_path [default: $(find-pkg-share autoware_crosswalk_traffic_light_estimator)/config/crosswalk_traffic_light_estimator.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_crosswalk_traffic_light_estimator at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Satoshi Ota
- Yoshi Ri
- Tao Zhong
- Masato Saeki
- Taekjin Lee
Authors
autoware_crosswalk_traffic_light_estimator
Purpose
autoware_crosswalk_traffic_light_estimator
estimates pedestrian traffic signals which can be summarized as the following two tasks:
- Estimate pedestrian traffic signals that are not subject to be detected by perception pipeline.
- Estimate whether pedestrian traffic signals are flashing and modify the result.
This module works without ~/input/route
, but its behavior is outputting the subscribed results as is.
Inputs / Outputs
Input
Name | Type | Description |
---|---|---|
~/input/vector_map |
autoware_map_msgs::msg::LaneletMapBin | vector map |
~/input/route |
autoware_planning_msgs::msg::LaneletRoute | optional: route |
~/input/classified/traffic_signals |
autoware_perception_msgs::msg::TrafficLightGroupArray | classified signals |
Output
Name | Type | Description |
---|---|---|
~/output/traffic_signals |
autoware_perception_msgs::msg::TrafficLightGroupArray | output that contains estimated pedestrian traffic signals |
~/debug/processing_time_ms |
autoware_internal_debug_msgs::msg::Float64Stamped | pipeline latency time (ms) |
Parameters
Name | Type | Description | Default value |
---|---|---|---|
use_last_detect_color |
bool | If this parameter is true , this module estimates pedestrian’s traffic signal as RED not only when vehicle’s traffic signal is detected as GREEN/AMBER but also when detection results change GREEN/AMBER to UNKNOWN. (If detection results change RED or AMBER to UNKNOWN, this module estimates pedestrian’s traffic signal as UNKNOWN.) If this parameter is false , this module use only latest detection results for estimation. (Only when the detection result is GREEN/AMBER, this module estimates pedestrian’s traffic signal as RED.) |
true |
use_pedestrian_signal_detect |
bool | If this parameter is true , use the pedestrian’s traffic signal estimated by the perception pipeline. If false , overwrite it with pedestrian’s signals estimated from vehicle traffic signals, HDMap, and route. |
true |
last_detect_color_hold_time |
double | The time threshold to hold for last detect color. The unit is second. | 2.0 |
last_colors_hold_time |
double | The time threshold to hold for history detected pedestrian traffic light color. The unit is second. | 1.0 |
Inner-workings / Algorithms
When the pedestrian traffic signals are detected by perception pipeline
- If estimates the pedestrian traffic signals are flashing, overwrite the results
- Prefer the output from perception pipeline, but overwrite it if the pedestrian traffic signals are invalid(
no detection
,backlight
, orocclusion
)
When the pedestrian traffic signals are NOT detected by perception pipeline
- Estimate the color of pedestrian traffic signals based on detected vehicle traffic signals, HDMap, and route
Estimate whether pedestrian traffic signals are flashing
start
if (the pedestrian traffic light classification result exists)then
: update the flashing flag according to the classification result(in_signal) and last_signals
if (the traffic light is flashing?)then(yes)
: update the traffic light state
else(no)
: the traffic light state is the same with the classification result
if (the classification result not exists)
: the traffic light state is the same with the estimation
: output the current traffic light state
end
Update flashing flag
Update traffic light status
Estimate the color of pedestrian traffic signals
```plantuml
start :subscribe detected traffic signals, HDMap, and route; :extract crosswalk lanelets from HDMap; :extract road lanelets that conflicts crosswalk from route; :initialize non_red_lanelets(lanelet::ConstLanelets); if (Latest detection result is GREEN or AMBER?) then (yes) :push back non_red_lanelets; else (no) if (use_last_detect_color is true?) then (yes) if (Latest detection result is UNKNOWN and last detection result is GREEN or AMBER?) then (yes) :push back non_red_lanelets; endif endif endif if (Is there STRAIGHT-NON-RED road lanelet in non_red_lanelets?) then (yes) :estimate related pedestrian’s traffic signal as RED; else if (Is there both LEFT-NON-RED and RIGHT-NON-RED road lanelet in non_red_lanelets?) then (yes) :estimate related pedestrian’s traffic signal as RED; else (no) :estimate related pedestrian’s traffic signal as UNKNOWN;
File truncated at 100 lines see the full file
Changelog for package autoware_crosswalk_traffic_light_estimator
0.47.0 (2025-08-11)
0.46.0 (2025-06-20)
-
Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
-
feat(autoware_crosswalk_traffic_light_estimator): add parameters to use pedestrian traffic signal result estimated in perception pipeline (#10763)
- add flag to use pedestrian signals result
- style(pre-commit): autofix
* change param name ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
Contributors: Masato Saeki, TaikiYamada4
0.45.0 (2025-05-22)
- Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
- chore: update traffic light packages code owner (#10644) chore: add Taekjin Lee as maintainer to multiple perception packages
- Contributors: Taekjin LEE, TaikiYamada4
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
fix(autoware_crosswalk_traffic_light_estimator): add process that guard access to empty elements (#10281)
- fix(autoware_crosswalk_traffic_light_estimator) : add process that guard access to empty elements.
* fix for linter ---------
-
Contributors: Ryohsuke Mitsudome, k-hazama-esol
0.43.0 (2025-03-21)
-
Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
-
chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
-
chore(perception): refactor perception launch (#10186)
- fundamental change
- style(pre-commit): autofix
- fix typo
- fix params and modify some packages
- pre-commit
- fix
- fix spell check
- fix typo
- integrate model and label path
- style(pre-commit): autofix
- for pre-commit
- run pre-commit
- for awsim
- for simulatior
- style(pre-commit): autofix
- fix grammer in launcher
- add schema for yolox_tlr
- style(pre-commit): autofix
- fix file name
- fix
- rename
- modify arg name to
- fix typo
- change param name
- style(pre-commit): autofix
* chore
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shintaro Tomie <<58775300+Shin-kyoto@users.noreply.github.com>> Co-authored-by: Kenzo Lobos Tsunekawa <<kenzo.lobos@tier4.jp>>
-
Contributors: Hayato Mizushima, Masato Saeki, Yutaka Kondo
0.42.0 (2025-03-03)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
tier4_perception_launch |
Launch files
- launch/crosswalk_traffic_light_estimator.launch.xml
- Copyright 2023 UCI SORA Lab Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
-
- input/vector_map [default: /map/vector_map]
- input/route [default: /planning/mission_planning/route]
- input/traffic_signals [default: judged/traffic_signals]
- output/traffic_signals [default: traffic_signals]
- param_path [default: $(find-pkg-share autoware_crosswalk_traffic_light_estimator)/config/crosswalk_traffic_light_estimator.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_crosswalk_traffic_light_estimator at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Satoshi Ota
- Yoshi Ri
- Tao Zhong
- Masato Saeki
- Taekjin Lee
Authors
autoware_crosswalk_traffic_light_estimator
Purpose
autoware_crosswalk_traffic_light_estimator
estimates pedestrian traffic signals which can be summarized as the following two tasks:
- Estimate pedestrian traffic signals that are not subject to be detected by perception pipeline.
- Estimate whether pedestrian traffic signals are flashing and modify the result.
This module works without ~/input/route
, but its behavior is outputting the subscribed results as is.
Inputs / Outputs
Input
Name | Type | Description |
---|---|---|
~/input/vector_map |
autoware_map_msgs::msg::LaneletMapBin | vector map |
~/input/route |
autoware_planning_msgs::msg::LaneletRoute | optional: route |
~/input/classified/traffic_signals |
autoware_perception_msgs::msg::TrafficLightGroupArray | classified signals |
Output
Name | Type | Description |
---|---|---|
~/output/traffic_signals |
autoware_perception_msgs::msg::TrafficLightGroupArray | output that contains estimated pedestrian traffic signals |
~/debug/processing_time_ms |
autoware_internal_debug_msgs::msg::Float64Stamped | pipeline latency time (ms) |
Parameters
Name | Type | Description | Default value |
---|---|---|---|
use_last_detect_color |
bool | If this parameter is true , this module estimates pedestrian’s traffic signal as RED not only when vehicle’s traffic signal is detected as GREEN/AMBER but also when detection results change GREEN/AMBER to UNKNOWN. (If detection results change RED or AMBER to UNKNOWN, this module estimates pedestrian’s traffic signal as UNKNOWN.) If this parameter is false , this module use only latest detection results for estimation. (Only when the detection result is GREEN/AMBER, this module estimates pedestrian’s traffic signal as RED.) |
true |
use_pedestrian_signal_detect |
bool | If this parameter is true , use the pedestrian’s traffic signal estimated by the perception pipeline. If false , overwrite it with pedestrian’s signals estimated from vehicle traffic signals, HDMap, and route. |
true |
last_detect_color_hold_time |
double | The time threshold to hold for last detect color. The unit is second. | 2.0 |
last_colors_hold_time |
double | The time threshold to hold for history detected pedestrian traffic light color. The unit is second. | 1.0 |
Inner-workings / Algorithms
When the pedestrian traffic signals are detected by perception pipeline
- If estimates the pedestrian traffic signals are flashing, overwrite the results
- Prefer the output from perception pipeline, but overwrite it if the pedestrian traffic signals are invalid(
no detection
,backlight
, orocclusion
)
When the pedestrian traffic signals are NOT detected by perception pipeline
- Estimate the color of pedestrian traffic signals based on detected vehicle traffic signals, HDMap, and route
Estimate whether pedestrian traffic signals are flashing
start
if (the pedestrian traffic light classification result exists)then
: update the flashing flag according to the classification result(in_signal) and last_signals
if (the traffic light is flashing?)then(yes)
: update the traffic light state
else(no)
: the traffic light state is the same with the classification result
if (the classification result not exists)
: the traffic light state is the same with the estimation
: output the current traffic light state
end
Update flashing flag
Update traffic light status
Estimate the color of pedestrian traffic signals
```plantuml
start :subscribe detected traffic signals, HDMap, and route; :extract crosswalk lanelets from HDMap; :extract road lanelets that conflicts crosswalk from route; :initialize non_red_lanelets(lanelet::ConstLanelets); if (Latest detection result is GREEN or AMBER?) then (yes) :push back non_red_lanelets; else (no) if (use_last_detect_color is true?) then (yes) if (Latest detection result is UNKNOWN and last detection result is GREEN or AMBER?) then (yes) :push back non_red_lanelets; endif endif endif if (Is there STRAIGHT-NON-RED road lanelet in non_red_lanelets?) then (yes) :estimate related pedestrian’s traffic signal as RED; else if (Is there both LEFT-NON-RED and RIGHT-NON-RED road lanelet in non_red_lanelets?) then (yes) :estimate related pedestrian’s traffic signal as RED; else (no) :estimate related pedestrian’s traffic signal as UNKNOWN;
File truncated at 100 lines see the full file
Changelog for package autoware_crosswalk_traffic_light_estimator
0.47.0 (2025-08-11)
0.46.0 (2025-06-20)
-
Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
-
feat(autoware_crosswalk_traffic_light_estimator): add parameters to use pedestrian traffic signal result estimated in perception pipeline (#10763)
- add flag to use pedestrian signals result
- style(pre-commit): autofix
* change param name ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
Contributors: Masato Saeki, TaikiYamada4
0.45.0 (2025-05-22)
- Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
- chore: update traffic light packages code owner (#10644) chore: add Taekjin Lee as maintainer to multiple perception packages
- Contributors: Taekjin LEE, TaikiYamada4
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
fix(autoware_crosswalk_traffic_light_estimator): add process that guard access to empty elements (#10281)
- fix(autoware_crosswalk_traffic_light_estimator) : add process that guard access to empty elements.
* fix for linter ---------
-
Contributors: Ryohsuke Mitsudome, k-hazama-esol
0.43.0 (2025-03-21)
-
Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
-
chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
-
chore(perception): refactor perception launch (#10186)
- fundamental change
- style(pre-commit): autofix
- fix typo
- fix params and modify some packages
- pre-commit
- fix
- fix spell check
- fix typo
- integrate model and label path
- style(pre-commit): autofix
- for pre-commit
- run pre-commit
- for awsim
- for simulatior
- style(pre-commit): autofix
- fix grammer in launcher
- add schema for yolox_tlr
- style(pre-commit): autofix
- fix file name
- fix
- rename
- modify arg name to
- fix typo
- change param name
- style(pre-commit): autofix
* chore
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shintaro Tomie <<58775300+Shin-kyoto@users.noreply.github.com>> Co-authored-by: Kenzo Lobos Tsunekawa <<kenzo.lobos@tier4.jp>>
-
Contributors: Hayato Mizushima, Masato Saeki, Yutaka Kondo
0.42.0 (2025-03-03)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
tier4_perception_launch |
Launch files
- launch/crosswalk_traffic_light_estimator.launch.xml
- Copyright 2023 UCI SORA Lab Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
-
- input/vector_map [default: /map/vector_map]
- input/route [default: /planning/mission_planning/route]
- input/traffic_signals [default: judged/traffic_signals]
- output/traffic_signals [default: traffic_signals]
- param_path [default: $(find-pkg-share autoware_crosswalk_traffic_light_estimator)/config/crosswalk_traffic_light_estimator.param.yaml]