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autoware_traffic_light_visualization package from autoware_universe repo

autoware_adapi_specs autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_crossing_objects_noise_filter autoware_radar_fusion_to_detected_object autoware_radar_object_clustering autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simple_object_merger autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_latency_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_component_monitor autoware_component_state_monitor autoware_adapi_adaptors autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Tags No category tags.
Version 0.45.0
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 2025-06-06
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The autoware_traffic_light_visualization package

Additional Links

No additional links.

Maintainers

  • Yukihiro Saito
  • Tao Zhong
  • Masato Saeki
  • Taekjin Lee

Authors

No additional authors.
perception/autoware_traffic_light_visualization/README.md

autoware_traffic_light_visualization

Purpose

The autoware_traffic_light_visualization is a package that includes two visualizing nodes:

traffic_light_map_visualizer

The node shows traffic light’s color and position on rviz as markers.

traffic light map visualization

  • The estimated traffic light color is visualized using map information like the traffic light at the center of the image.
  • May not be possible to visualize without information on each of the lights (light_bulbs) at the traffic lights.

traffic_light_roi_visualizer

The node draws the result of traffic light recognition on the input image as shown in the following figure and publishes it.

traffic light roi visualization

  • The colors ~/input/rois and ~/input/rough/rois are the same as color whose shape is CIRCLE in ~/input/traffic_signals (unknown shows as white).
  • The labels in the upper left of ~/input/rois shows shape and confidence in ~/input/traffic_signals.
  • The type of shape should be referred to images directory. There are only 3 types of arrows in the image, but they can represent 8 directions.

Inner-workings / Algorithms

Inputs / Outputs

traffic_light_map_visualizer

Input

Name Type Description
~/input/tl_state autoware_perception_msgs::msg::TrafficLightGroupArray status of traffic lights
~/input/vector_map autoware_map_msgs::msg::LaneletMapBin vector map

Output

Name Type Description
~/output/traffic_light visualization_msgs::msg::MarkerArray marker array that indicates status of traffic lights

traffic_light_roi_visualizer

Input

Name Type Description
~/input/traffic_signals tier4_perception_msgs::msg::TrafficLightArray status of traffic lights
~/input/image sensor_msgs::msg::Image the image captured by perception cameras
~/input/rois tier4_perception_msgs::msg::TrafficLightRoiArray the ROIs detected by autoware_traffic_light_fine_detector
~/input/rough/rois (option) tier4_perception_msgs::msg::TrafficLightRoiArray the ROIs detected by autoware_traffic_light_map_based_detector

Output

Name Type Description
~/output/image sensor_msgs::msg::Image output image with ROIs

Parameters

traffic_light_map_visualizer

None

traffic_light_roi_visualizer

Node Parameters

{{json_to_markdown(“perception/autoware_traffic_light_visualization/schema/traffic_light_roi_visualizer.schema.json”)}}

Assumptions / Known limits

(Optional) Error detection and handling

(Optional) Performance characterization

(Optional) Future extensions / Unimplemented parts

CHANGELOG

Changelog for package autoware_traffic_light_visualization

0.45.0 (2025-05-22)

  • Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
  • chore(autoware_traffic_light_visualization): modify docs (#10345)
    • fix docs
    • style(pre-commit): autofix
    • add images of docs
    • fix path in json

    * fix typo ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

  • chore: update traffic light packages code owner (#10644) chore: add Taekjin Lee as maintainer to multiple perception packages
  • Contributors: Masato Saeki, Taekjin LEE, TaikiYamada4

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

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)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • feat(tier4_perception_launch): add option for new TL detector model (#9731) * feat: add traffic_light_detector launch fix: tier4 perception launch fix: add multi tlr detector launch fix: tier4 launch fix: tl detector launch fix: data director fix: precision int8 chore: revert to fp16 feat: remove occlusion and add car ped classification merger fix: launch for multi camera chore: pre-commit fix: update matching score feat: add max_iou_threshold feat: add occlusion unknown classifier
    • fix: tl detector launch
    • refactor: traffic_light_launch.xml
    • fix: remove tl fine detector
    • fix: refactor
    • chore: pre-commit
    • fix: cspelling check
    • fix: error after rename package
    • fix: default tl model name
    • fix: new tlr for multi cameras
    • modify args
    • style(pre-commit): autofix
    • refactor
    • add category_merger to container
    • fix args

    * run pre-commit ---------Co-authored-by: Masato Saeki <<78376491+MasatoSaeki@users.noreply.github.com>> Co-authored-by: MasatoSaeki <<masato.saeki@tier4.jp>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

  • Contributors: Fumiya Watanabe, badai nguyen

0.41.2 (2025-02-19)

  • chore: bump version to 0.41.1 (#10088)
  • Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • fix(autoware_traffic_light_visualization): fix bugprone-branch-clone (#9668) fix: bugprone-error
  • Contributors: Fumiya Watanabe, kobayu858

0.40.0 (2024-12-12)

  • Merge branch 'main' into release-0.40.0
  • Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
  • fix: fix ticket links in CHANGELOG.rst (#9588)
  • chore(package.xml): bump version to 0.39.0 (#9587)
    • chore(package.xml): bump version to 0.39.0
    • fix: fix ticket links in CHANGELOG.rst

    * fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

  • fix: fix ticket links in CHANGELOG.rst (#9588)
  • fix(cpplint): include what you use - perception (#9569)
  • fix(traffic_light_roi_visualizer): show unknown results correctly (#9467) fix: show unknown results correctly
  • 0.39.0
  • update changelog
  • Merge commit '6a1ddbd08bd' into release-0.39.0
  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
  • chore(autoware_traffic_light_visualization): include opencv as system (#9331)
  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
  • chore(autoware_traffic_light*): add maintainer (#9280)
    • add fundamental commit

    * add forgot package ---------

  • chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
    • unify package.xml version to 0.37.0
    • remove system_monitor/CHANGELOG.rst
    • add changelog

    * 0.38.0

  • Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Masato Saeki, Ryohsuke Mitsudome, Tao Zhong, Yukinari Hisaki, Yutaka Kondo

0.39.0 (2024-11-25)

0.38.0 (2024-11-08)

  • unify package.xml version to 0.37.0
  • fix(docs): fix documentation for traffic light visualization (#8303) fix docs traffic light visualization
  • fix(autoware_traffic_light_visualization): fix to visualize correct color and shapes (#8428) fix(autoware_traffic_light_visualization): fix vialization to draw correct shapes Co-authored-by: Yi-Hsiang Fang (Vivid) <<146902905+vividf@users.noreply.github.com>>
  • fix(traffic_light_visualization): fix funcArgNamesDifferent (#8156) fix:funcArgNamesDifferent
  • fix(traffic_light_visualizer): remove cerr temporarily to avoid flooding logs (#8294)
    • fix(traffic_light_visualizer): remove cerr temporarily to avoid flooding logs
    • fix precommit

    * fix

  • fix(autoware_traffic_light_visualization): fix passedByValue (#8241) fix:passedByValue

  • feat(traffic_light_roi_visualizer): add an option to use normal publisher instead of image tranport in traffic light roi visualizer (#8157) * apply new parameter schemes, set default parameters add an option to use normal publisher instead of image tranport in traffic light roi visualizer * small fix on default value ---------

  • refactor(traffic_light_*)!: add package name prefix of autoware_ (#8159)
    • chore: rename traffic_light_fine_detector to autoware_traffic_light_fine_detector
    • chore: rename traffic_light_multi_camera_fusion to autoware_traffic_light_multi_camera_fusion
    • chore: rename traffic_light_occlusion_predictor to autoware_traffic_light_occlusion_predictor
    • chore: rename traffic_light_classifier to autoware_traffic_light_classifier
    • chore: rename traffic_light_map_based_detector to autoware_traffic_light_map_based_detector

    * chore: rename traffic_light_visualization to autoware_traffic_light_visualization ---------

  • Contributors: Kotaro Uetake, Taekjin LEE, Yutaka Kondo, Yuxuan Liu, kminoda, kobayu858

0.26.0 (2024-04-03)

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/traffic_light_roi_visualizer.launch.xml
      • input/image [default: /camera/image_raw]
      • input/rois [default: ~/input/rois]
      • input/rough/rois [default: ~/rough/rois]
      • input/traffic_signals [default: ~/input/traffic_signals]
      • output/image [default: ~/debug/rois]
      • use_high_accuracy_detection [default: true]
      • use_image_transport [default: true]
  • launch/traffic_light_map_visualizer.launch.xml
      • input/tl_state [default: traffic_signals]
      • input/vector_map [default: /map/vector_map]
      • output/traffic_light [default: traffic_signals/markers]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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