feat(traffic_light_category_merger): add new traffic_light_category_m…

…erger package (autowarefoundation#9748)

* feat: init traffic light signal merger

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* fix: add tl merger launch

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* fix: cmake lt merger

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* fix: remove unused depend

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* chore: pre-commit

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* feat: add occlusion unknown classifier

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* chore: docs

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* fix: launcher

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* style(pre-commit): autofix

* Revert "feat: add occlusion unknown classifier"

This reverts commit 9999d28.

* fix: launcher

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* refactor

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* chore: add maintainer

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* chore: docs update

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* style(pre-commit): autofix

* refactor: rename package

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* fix: typo

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* change output topic name

Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp>

---------

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Masato Saeki <78376491+MasatoSaeki@users.noreply.github.com>
Co-authored-by: MasatoSaeki <masato.saeki@tier4.jp>

perception/autoware_traffic_light_category_merger/CMakeLists.txt

@@ -0,0 +1,28 @@
+cmake_minimum_required(VERSION 3.8)
+project(autoware_traffic_light_category_merger)
+
+# find dependencies
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+# Targets
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/traffic_light_category_merger_node.cpp
+)
+
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "autoware::traffic_light::TrafficLightCategoryMergerNode"
+  EXECUTABLE traffic_light_category_merger_node)
+
+
+if(BUILD_TESTING)
+  list(APPEND AMENT_LINT_AUTO_EXCLUDE ament_cmake_uncrustify)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+
+endif()
+
+ament_auto_package(
+  INSTALL_TO_SHARE
+  launch
+)

perception/autoware_traffic_light_category_merger/README.md

@@ -0,0 +1,22 @@
+`autoware_traffic_light_category_merger`
+
+## Overview
+
+`autoware_traffic_light_category_merger` receives the Traffic Light (TL) classification result from Car/Pedestrian classifiers to merge into single classification result. The expect ROIs TL without classification result will be filled as Unknown.
+
+## Input topics
+
+| Name                       | Type                                          | Description                   |
+| -------------------------- | --------------------------------------------- | ----------------------------- |
+| `input/car_signals`        | tier4_perception_msgs::msg::TrafficLightArray | Car TLs classification        |
+| `input/pedestrian_signals` | tier4_perception_msgs::msg::TrafficLightArray | Pedestrian TLs classification |
+
+## Output topics
+
+| Name                     | Type                                          | Description                           |
+| ------------------------ | --------------------------------------------- | ------------------------------------- |
+| `output/traffic_signals` | tier4_perception_msgs::msg::TrafficLightArray | Car and Pedestrian TLs classification |
+
+## Node parameters
+
+N/A

perception/autoware_traffic_light_category_merger/launch/traffic_light_category_merger.launch.xml

@@ -0,0 +1,13 @@
+<launch>
+  <!-- Output -->
+  <arg name="input/car_signals" default="classified/car/traffic_signals"/>
+  <arg name="input/pedestrian_signals" default="classified/pedestrian/traffic_signals"/>
+  <arg name="output/traffic_signals" default="classification/traffic_signals"/>
+
+  <!-- Node -->
+  <node pkg="autoware_traffic_light_category_merger" exec="traffic_light_category_merger_node" name="traffic_light_category_merger" output="screen">
+    <remap from="input/car_signals" to="$(var input/car_signals)"/>
+    <remap from="input/pedestrian_signals" to="$(var input/pedestrian_signals)"/>
+    <remap from="output/traffic_signals" to="$(var output/traffic_signals)"/>
+  </node>
+</launch>

perception/autoware_traffic_light_category_merger/package.xml

@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>autoware_traffic_light_category_merger</name>
+  <version>0.0.0</version>
+  <description>The ROS 2 autoware_traffic_light_category_merger package</description>
+  <maintainer email="yoshi.ri@tier4.jp">Yoshi Ri</maintainer>
+  <maintainer email="masato.saeki@tier4.jp">Masato Saeki</maintainer>
+  <maintainer email="dai.nguyen@tier4.jp">Dai Nguyen</maintainer>
+  <license>Apache License 2.0</license>
+  <author email="dai.nguyen@tier4.jp">Dai Nguyen</author>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <depend>autoware_test_utils</depend>
+  <depend>message_filters</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
+  <depend>tier4_perception_msgs</depend>
+  <build_depend>autoware_cmake</build_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

perception/autoware_traffic_light_category_merger/src/traffic_light_category_merger_node.cpp

@@ -0,0 +1,57 @@
+// Copyright 2025 TIER IV, Inc.
+//
+// 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.
+
+#include "traffic_light_category_merger_node.hpp"
+
+#include <memory>
+#include <string>
+#include <vector>
+
+namespace autoware::traffic_light
+{
+
+TrafficLightCategoryMergerNode::TrafficLightCategoryMergerNode(
+  const rclcpp::NodeOptions & node_options)
+: rclcpp::Node("traffic_light_category_merger_node", node_options),
+  tf_buffer_(get_clock()),
+  tf_listener_(tf_buffer_),
+  car_signal_sub_(this, "input/car_signals", rclcpp::QoS{1}.get_rmw_qos_profile()),
+  pedestrian_signal_sub_(this, "input/pedestrian_signals", rclcpp::QoS{1}.get_rmw_qos_profile()),
+  sync_(SyncPolicy(10), car_signal_sub_, pedestrian_signal_sub_)
+{
+  using std::placeholders::_1;
+  using std::placeholders::_2;
+  sync_.registerCallback(std::bind(&TrafficLightCategoryMergerNode::signalsCallback, this, _1, _2));
+  pub_traffic_light_signals_ =
+    create_publisher<TrafficLightArray>("output/traffic_signals", rclcpp::QoS{1});
+}
+
+void TrafficLightCategoryMergerNode::signalsCallback(
+  const TrafficLightArray::ConstSharedPtr & car_signals_msg,
+  const TrafficLightArray::ConstSharedPtr & pedestrian_signals_msg)
+{
+  TrafficLightArray output;
+  output.header = car_signals_msg->header;
+  output.signals.insert(
+    output.signals.end(), car_signals_msg->signals.begin(), car_signals_msg->signals.end());
+  output.signals.insert(
+    output.signals.end(), pedestrian_signals_msg->signals.begin(),
+    pedestrian_signals_msg->signals.end());
+  pub_traffic_light_signals_->publish(output);
+}
+
+}  // namespace autoware::traffic_light
+
+#include "rclcpp_components/register_node_macro.hpp"
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::traffic_light::TrafficLightCategoryMergerNode)

perception/autoware_traffic_light_category_merger/src/traffic_light_category_merger_node.hpp

@@ -0,0 +1,62 @@
+// Copyright 2025 TIER IV, Inc.
+//
+// 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.
+
+#ifndef TRAFFIC_LIGHT_CATEGORY_MERGER_NODE_HPP_
+#define TRAFFIC_LIGHT_CATEGORY_MERGER_NODE_HPP_
+
+#include <autoware/universe_utils/ros/transform_listener.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+#include <tier4_perception_msgs/msg/traffic_light_array.hpp>
+
+#include <message_filters/subscriber.h>
+#include <message_filters/sync_policies/approximate_time.h>
+#include <message_filters/synchronizer.h>
+
+#include <chrono>
+#include <memory>
+#include <string>
+#include <vector>
+
+namespace autoware::traffic_light
+{
+using tier4_perception_msgs::msg::TrafficLightArray;
+
+class TrafficLightCategoryMergerNode : public rclcpp::Node
+{
+public:
+  explicit TrafficLightCategoryMergerNode(const rclcpp::NodeOptions & node_options);
+
+private:
+  // Subscriber
+  tf2_ros::Buffer tf_buffer_;
+  tf2_ros::TransformListener tf_listener_;
+
+  message_filters::Subscriber<TrafficLightArray> car_signal_sub_;
+  message_filters::Subscriber<TrafficLightArray> pedestrian_signal_sub_;
+
+  typedef message_filters::sync_policies::ApproximateTime<TrafficLightArray, TrafficLightArray>
+    SyncPolicy;
+  message_filters::Synchronizer<SyncPolicy> sync_;
+
+  void signalsCallback(
+    const TrafficLightArray::ConstSharedPtr & car_signals_msg,
+    const TrafficLightArray::ConstSharedPtr & pedestrian_signals_msg);
+
+  rclcpp::Publisher<TrafficLightArray>::SharedPtr pub_traffic_light_signals_;
+};
+
+}  // namespace autoware::traffic_light
+
+#endif  // TRAFFIC_LIGHT_CATEGORY_MERGER_NODE_HPP_