Squashed commit of the following:

commit 9c24f8f Author: Tomohito Ando <tomohito.ando@tier4.jp> Date: Mon Aug 21 12:59:59 2023 +0900 add debug log when the signal data is outdated Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> commit 6448663 Author: Tomohito Ando <tomohito.ando@tier4.jp> Date: Mon Aug 21 11:08:35 2023 +0900 fix the traffic signal type in perception reproducer Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> commit fcb7a64 Merge: 1f5cf31 1f8ac87 Author: Tomohito Ando <tomohito.ando@tier4.jp> Date: Mon Aug 21 10:38:56 2023 +0900 Merge branch 'main' into support-new-traffic-signal-interface Resolved conflicts in perception_reproducer.py Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> commit 1f8ac87 Author: kminoda <44218668+kminoda@users.noreply.github.com> Date: Mon Aug 21 09:24:07 2023 +0900 ci: reverting control ignorance (autowarefoundation#4662) * ci: ignore svg for spell-check, as well as reverting control Signed-off-by: kminoda <koji.minoda@tier4.jp> * remove svg Signed-off-by: kminoda <koji.minoda@tier4.jp> --------- Signed-off-by: kminoda <koji.minoda@tier4.jp> commit d794bc0 Author: SakodaShintaro <shintaro.sakoda@tier4.jp> Date: Mon Aug 21 09:22:08 2023 +0900 fix(lanelet2_map_loader): fixed parameter declaration timing (autowarefoundation#4639) Change parameter declaration timing Signed-off-by: Shintaro Sakoda <sakoda@keio.jp> commit 338d4b0 Author: Takamasa Horibe <horibe.takamasa@gmail.com> Date: Sun Aug 20 23:32:03 2023 +0900 feat(mpc): 1d interpolate in steering rate limit calculation (autowarefoundation#4666) * feat(mpc): 1d interpolate in steering rate limit calculation Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix clamp Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove unused funcs Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> --------- Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> commit f91db6b Author: Takamasa Horibe <horibe.takamasa@gmail.com> Date: Sun Aug 20 19:01:43 2023 +0900 fix(mpc): use optimization result when polish failed (autowarefoundation#4673) * fix(mpc): use optimization result when polish failed Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix arg Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> --------- Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> commit c665d9d Author: Kosuke Takeuchi <kosuke.tnp@gmail.com> Date: Sun Aug 20 15:47:00 2023 +0900 fix(start/goal_planner): set previous lane_ids if freespace path is out of lanes (autowarefoundation#4672) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> commit 9dc104f Author: Kosuke Takeuchi <kosuke.tnp@gmail.com> Date: Sun Aug 20 10:31:41 2023 +0900 feat(start_planner): support freespace pull out (autowarefoundation#4610) feat(start_planner): add freespace pull out Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> commit bc86f0e Author: Takayuki Murooka <takayuki5168@gmail.com> Date: Sun Aug 20 01:59:26 2023 +0900 feat(obstacle_stop_planner): consider object velocity direction (autowarefoundation#4648) * feat(obstacle_stop_planner): consider object velocity direction Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * update Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> commit 5ed7ca3 Author: Kosuke Takeuchi <kosuke.tnp@gmail.com> Date: Sat Aug 19 01:32:05 2023 +0900 feat(goal_planner): add lane ids to freespace path (autowarefoundation#4668) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> commit 93478b7 Author: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri Aug 18 19:04:07 2023 +0900 fix(avoidance): fix build error (autowarefoundation#4667) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> commit 04ca20c Author: Kosuke Takeuchi <kosuke.tnp@gmail.com> Date: Fri Aug 18 18:44:53 2023 +0900 feat(behavior_path_planner): add combineLanelets (autowarefoundation#4657) * feat(behavior_path_planner): add combineLanelets Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * Update planning/behavior_path_planner/src/utils/utils.cpp --------- Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> commit 414a2ba Author: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Fri Aug 18 16:43:27 2023 +0900 fix(behavior_path_planner): add fallback for splitting the dynamic drivable area into left and right bounds (autowarefoundation#4646) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> commit ab64a5a Author: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri Aug 18 15:56:49 2023 +0900 fix(avoidance): don't extend backward path if driving lane is updated (autowarefoundation#4593) * fix(avoidance): don't extend backward path if driving lane is updated Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * chore(avoidance): rename variables Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> commit 93b7d4d Author: kminoda <44218668+kminoda@users.noreply.github.com> Date: Fri Aug 18 15:28:15 2023 +0900 fix(map_loader, map_projection_loader): use component interface specs (autowarefoundation#4585) * feat(map): use component_interface_specs in map_projection_loader Signed-off-by: kminoda <koji.minoda@tier4.jp> * update map_loader Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * feat: add dummy typo Signed-off-by: kminoda <koji.minoda@tier4.jp> * update name Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix test Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix test Signed-off-by: kminoda <koji.minoda@tier4.jp> --------- Signed-off-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> commit 25355b5 Author: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Date: Fri Aug 18 11:50:10 2023 +0900 fix(ekf_localizer): fix True to true (autowarefoundation#4659) commit 5551421 Author: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp> Date: Fri Aug 18 11:08:26 2023 +0900 refactor(behavior_path_planner): separete function in utils to objects_filtering (autowarefoundation#4658) * separate utils function to object_filtering Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * chenge call side of util functions Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * refactor Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add explanation for parameters Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> commit f398db4 Author: ito-san <57388357+ito-san@users.noreply.github.com> Date: Fri Aug 18 09:07:22 2023 +0900 fix(system_monitor): high-memory process are not provided in MEM order (autowarefoundation#4654) * fix(process_monitor): high-memory process are not being provided in %MEM order Signed-off-by: ito-san <fumihito.ito@tier4.jp> * changed option from 'g' to 'n' Signed-off-by: ito-san <fumihito.ito@tier4.jp> --------- Signed-off-by: ito-san <fumihito.ito@tier4.jp> commit 02ba0c6 Author: Takayuki Murooka <takayuki5168@gmail.com> Date: Fri Aug 18 08:41:39 2023 +0900 fix(planning_debug_tools): fix the bug of perception_replayer with detected objects publishing (autowarefoundation#4653) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> commit 4df5f8a Author: Kosuke Takeuchi <kosuke.tnp@gmail.com> Date: Fri Aug 18 01:56:27 2023 +0900 fix(start_planner): fix blinker direction (autowarefoundation#4363) * fix(start_planner): fix blinker direction Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * fix Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> --------- Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> commit 1b10386 Author: Kasper Mecklenburg <30662532+kaspermeck-arm@users.noreply.github.com> Date: Thu Aug 17 05:49:00 2023 -0700 refactor(joy_controller): rework parameters (autowarefoundation#3992) * refactor(joy_controller): rework parameters Updated adding a schema according to new ROS node config coding guidelines. Signed-off-by: kaspermeck-arm <kasper.mecklenburg@arm.com> Change-Id: Icf76852cd102bf70a27f7d4111f1b52de087a00d * refactor(joy_controller): rework parameters Updated adding a schema according to new ROS node config coding guidelines. Signed-off-by: kaspermeck-arm <kasper.mecklenburg@arm.com> Change-Id: Icf76852cd102bf70a27f7d4111f1b52de087a00d * Apply suggestions from code review Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> * Added quotes for default values Signed-off-by: kaspermeck-arm <kasper.mecklenburg@arm.com> Change-Id: Ib754b9400003c0871ee1dd9bda8db07215852a78 --------- Signed-off-by: kaspermeck-arm <kasper.mecklenburg@arm.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> commit 81a1e53 Author: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu Aug 17 19:07:00 2023 +0900 fix(intersection): guard invalid access (autowarefoundation#4655) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> commit bb14a40 Author: Mamoru Sobue <mamoru.sobue@tier4.jp> Date: Thu Aug 17 18:52:39 2023 +0900 fix(intersection): refactor first stop timeout (autowarefoundation#4457) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> commit e9dfe5c Author: Berkay Karaman <brkay54@gmail.com> Date: Thu Aug 17 12:24:57 2023 +0300 feat(pid_longitudinal_controller): take into account the current acceleration to calculate delayed pose (autowarefoundation#4616) * feat(pid_longitudinal_controller): take into account the current acceleration to calculate delayed pose Signed-off-by: Berkay Karaman <brkay54@gmail.com> * Update for reverse driving Signed-off-by: Berkay Karaman <brkay54@gmail.com> * update for wrong calculation Signed-off-by: Berkay Karaman <brkay54@gmail.com> * update Signed-off-by: Berkay Karaman <brkay54@gmail.com> --------- Signed-off-by: Berkay Karaman <brkay54@gmail.com> commit b5f83d0 Author: Takayuki Murooka <takayuki5168@gmail.com> Date: Thu Aug 17 17:15:08 2023 +0900 feat(obstacle_cruise_planner): consider object velocity direction (autowarefoundation#4647) * feat(obstacle_cruise_planner): consider object velocity direction Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * update Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * chore: spell fix --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> commit 4d66811 Author: Takayuki Murooka <takayuki5168@gmail.com> Date: Thu Aug 17 17:12:01 2023 +0900 feat(obstacle_velocity_limiter): consider object velocity direction (autowarefoundation#4649) * feat(obstacle_velocity_limiter): consider object velocity direction Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> commit 420af00 Author: Takayuki Murooka <takayuki5168@gmail.com> Date: Thu Aug 17 17:11:33 2023 +0900 feat(occlusion spot): consider object velocity direction (autowarefoundation#4650) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> commit 2da561f Author: Takayuki Murooka <takayuki5168@gmail.com> Date: Thu Aug 17 17:10:55 2023 +0900 feat(intersection): consider object velocity direction (autowarefoundation#4651) * feat(intersection): consider object velocity direction Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * update Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> commit e1a86f9 Author: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp> Date: Thu Aug 17 14:08:56 2023 +0900 refactor(behavior_path_planner): create path_safety_checker directory (autowarefoundation#4644) * create safety_check directory Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * style(pre-commit): autofix * rename directory name safety_check to path_safety_checker Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * style(pre-commit): autofix * change directory name Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> commit 49f9d9d Author: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu Aug 17 13:32:52 2023 +0900 fix(avoidance): fix trimmed shift line alignment (autowarefoundation#4632) * fix(avoidance): fix trimmed shift line alignment Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(avoidance): fill shift line gap Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fixup! fix(avoidance): fix trimmed shift line alignment --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> commit ce01013 Author: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu Aug 17 13:30:14 2023 +0900 feat(avoidance): create detection area from latest generated path (autowarefoundation#4525) * feat(avoidance): create detection area from latest generated path Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * refactor(avoidance): remove unused marker utils Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> commit 1f5cf31 Author: Tomohito Ando <tomohito.ando@tier4.jp> Date: Fri Jul 28 09:51:29 2023 +0900 change input topic of the traffic signals Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> commit 0769685 Merge: a6c8641 d0685fc Author: Tomohito Ando <tomohito.ando@tier4.jp> Date: Thu Jul 20 16:13:13 2023 +0900 Merge branch 'main' into support-new-traffic-signal-interface Resolved conflicts in `scene_crosswalk.cpp` Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> commit a6c8641 Author: Tomohito Ando <tomohito.ando@tier4.jp> Date: Wed Jul 12 14:18:24 2023 +0900 do not return until the all regulatory elements are checked Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> commit 6eccb50 Author: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Tue Jul 11 05:09:54 2023 +0000 style(pre-commit): autofix commit 2c5bb3c Merge: 9767e21 3ae0b00 Author: Tomohito Ando <tomohito.ando@tier4.jp> Date: Tue Jul 11 14:08:10 2023 +0900 Merge branch 'main' into support-new-traffic-signal-interface Resolved conflicts in planning/behavior_velocity_planner_common/package.xml Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> commit 9767e21 Merge: 636420a 5605b19 Author: Tomohito Ando <tomohito.ando@tier4.jp> Date: Mon Jul 10 18:10:50 2023 +0900 Merge branch 'main' into support-new-traffic-signal-interface Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> commit 636420a Author: Tomohito Ando <tomohito.ando@tier4.jp> Date: Mon Jul 10 17:57:26 2023 +0900 change the input of traffic signal to traffic light arbiter Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> commit 1767ba5 Author: Tomohito Ando <tomohito.ando@tier4.jp> Date: Mon Jul 10 17:56:52 2023 +0900 use the regulatory element id instead of traffic light id Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> commit a10dc06 Author: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Mon Jul 10 00:45:55 2023 +0000 style(pre-commit): autofix commit aacf390 Author: Tomohito Ando <tomohito.ando@tier4.jp> Date: Mon Jul 10 09:42:04 2023 +0900 replace TrafficLightElement with TrafficSignalElement Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> commit f900d48 Author: Tomohito Ando <tomohito.ando@tier4.jp> Date: Tue Jul 4 19:33:39 2023 +0900 remove the external signal input source in behavior_planning_launch.py Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> commit 127ce37 Author: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Tue Jul 4 02:31:15 2023 +0000 style(pre-commit): autofix commit 7c010c6 Author: Tomohito Ando <tomohito.ando@tier4.jp> Date: Tue Jul 4 11:29:35 2023 +0900 add missing dependency Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> commit 35a4e97 Author: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Fri Jun 30 13:58:07 2023 +0000 style(pre-commit): autofix commit 1e5bf66 Author: Tomohito Ando <tomohito.ando@tier4.jp> Date: Fri Jun 30 22:33:38 2023 +0900 feat(behavior_velocity): support new traffic signal interface Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
tier4 · Aug 24, 2023 · fb2aee4 · fb2aee4
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diff --git a/.cspell-partial.json b/.cspell-partial.json
@@ -3,7 +3,6 @@
     "**/perception/**",
     "**/planning/**",
     "**/sensing/**",
-    "**/control/**",
     "perception/bytetrack/lib/**"
   ],
   "ignoreRegExpList": [],

diff --git a/common/tier4_traffic_light_rviz_plugin/README.md b/common/tier4_traffic_light_rviz_plugin/README.md
@@ -8,9 +8,9 @@ This plugin panel publishes dummy traffic light signals.
 
 ### Output
 
-| Name                                                    | Type                                                     | Description                   |
-| ------------------------------------------------------- | -------------------------------------------------------- | ----------------------------- |
-| `/perception/traffic_light_recognition/traffic_signals` | `autoware_auto_perception_msgs::msg::TrafficSignalArray` | Publish traffic light signals |
+| Name                                                    | Type                                                | Description                   |
+| ------------------------------------------------------- | --------------------------------------------------- | ----------------------------- |
+| `/perception/traffic_light_recognition/traffic_signals` | `autoware_perception_msgs::msg::TrafficSignalArray` | Publish traffic light signals |
 
 ## HowToUse
 

diff --git a/common/tier4_traffic_light_rviz_plugin/package.xml b/common/tier4_traffic_light_rviz_plugin/package.xml
@@ -11,7 +11,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_auto_mapping_msgs</depend>
-  <depend>autoware_auto_perception_msgs</depend>
+  <depend>autoware_perception_msgs</depend>
   <depend>lanelet2_extension</depend>
   <depend>libqt5-core</depend>
   <depend>libqt5-gui</depend>

diff --git a/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp b/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp
@@ -34,6 +34,7 @@
 #include <utility>
 #include <vector>
 
+#undef signals
 namespace rviz_plugins
 {
 TrafficLightPublishPanel::TrafficLightPublishPanel(QWidget * parent) : rviz_common::Panel(parent)
@@ -138,55 +139,55 @@ void TrafficLightPublishPanel::onSetTrafficLightState()
   const auto shape = light_shape_combo_->currentText();
   const auto status = light_status_combo_->currentText();
 
-  TrafficLight traffic_light;
+  TrafficSignalElement traffic_light;
   traffic_light.confidence = traffic_light_confidence_input_->value();
 
   if (color == "RED") {
-    traffic_light.color = TrafficLight::RED;
+    traffic_light.color = TrafficSignalElement::RED;
   } else if (color == "AMBER") {
-    traffic_light.color = TrafficLight::AMBER;
+    traffic_light.color = TrafficSignalElement::AMBER;
   } else if (color == "GREEN") {
-    traffic_light.color = TrafficLight::GREEN;
+    traffic_light.color = TrafficSignalElement::GREEN;
   } else if (color == "WHITE") {
-    traffic_light.color = TrafficLight::WHITE;
+    traffic_light.color = TrafficSignalElement::WHITE;
   } else if (color == "UNKNOWN") {
-    traffic_light.color = TrafficLight::UNKNOWN;
+    traffic_light.color = TrafficSignalElement::UNKNOWN;
   }
 
   if (shape == "CIRCLE") {
-    traffic_light.shape = TrafficLight::CIRCLE;
+    traffic_light.shape = TrafficSignalElement::CIRCLE;
   } else if (shape == "LEFT_ARROW") {
-    traffic_light.shape = TrafficLight::LEFT_ARROW;
+    traffic_light.shape = TrafficSignalElement::LEFT_ARROW;
   } else if (shape == "RIGHT_ARROW") {
-    traffic_light.shape = TrafficLight::RIGHT_ARROW;
+    traffic_light.shape = TrafficSignalElement::RIGHT_ARROW;
   } else if (shape == "UP_ARROW") {
-    traffic_light.shape = TrafficLight::UP_ARROW;
+    traffic_light.shape = TrafficSignalElement::UP_ARROW;
   } else if (shape == "DOWN_ARROW") {
-    traffic_light.shape = TrafficLight::DOWN_ARROW;
+    traffic_light.shape = TrafficSignalElement::DOWN_ARROW;
   } else if (shape == "DOWN_LEFT_ARROW") {
-    traffic_light.shape = TrafficLight::DOWN_LEFT_ARROW;
+    traffic_light.shape = TrafficSignalElement::DOWN_LEFT_ARROW;
   } else if (shape == "DOWN_RIGHT_ARROW") {
-    traffic_light.shape = TrafficLight::DOWN_RIGHT_ARROW;
+    traffic_light.shape = TrafficSignalElement::DOWN_RIGHT_ARROW;
   } else if (shape == "UNKNOWN") {
-    traffic_light.shape = TrafficLight::UNKNOWN;
+    traffic_light.shape = TrafficSignalElement::UNKNOWN;
   }
 
   if (status == "SOLID_OFF") {
-    traffic_light.status = TrafficLight::SOLID_OFF;
+    traffic_light.status = TrafficSignalElement::SOLID_OFF;
   } else if (status == "SOLID_ON") {
-    traffic_light.status = TrafficLight::SOLID_ON;
+    traffic_light.status = TrafficSignalElement::SOLID_ON;
   } else if (status == "FLASHING") {
-    traffic_light.status = TrafficLight::FLASHING;
+    traffic_light.status = TrafficSignalElement::FLASHING;
   } else if (status == "UNKNOWN") {
-    traffic_light.status = TrafficLight::UNKNOWN;
+    traffic_light.status = TrafficSignalElement::UNKNOWN;
   }
 
   TrafficSignal traffic_signal;
-  traffic_signal.lights.push_back(traffic_light);
-  traffic_signal.map_primitive_id = traffic_light_id;
+  traffic_signal.elements.push_back(traffic_light);
+  traffic_signal.traffic_signal_id = traffic_light_id;
 
   for (auto & signal : extra_traffic_signals_.signals) {
-    if (signal.map_primitive_id == traffic_light_id) {
+    if (signal.traffic_signal_id == traffic_light_id) {
       signal = traffic_signal;
       return;
     }
@@ -247,7 +248,7 @@ void TrafficLightPublishPanel::createWallTimer()
 void TrafficLightPublishPanel::onTimer()
 {
   if (enable_publish_) {
-    extra_traffic_signals_.header.stamp = rclcpp::Clock().now();
+    extra_traffic_signals_.stamp = rclcpp::Clock().now();
     pub_traffic_signals_->publish(extra_traffic_signals_);
   }
 
@@ -260,35 +261,35 @@ void TrafficLightPublishPanel::onTimer()
   for (size_t i = 0; i < extra_traffic_signals_.signals.size(); ++i) {
     const auto & signal = extra_traffic_signals_.signals.at(i);
 
-    if (signal.lights.empty()) {
+    if (signal.elements.empty()) {
       continue;
     }
 
-    auto id_label = new QLabel(QString::number(signal.map_primitive_id));
+    auto id_label = new QLabel(QString::number(signal.traffic_signal_id));
     id_label->setAlignment(Qt::AlignCenter);
 
     auto color_label = new QLabel();
     color_label->setAlignment(Qt::AlignCenter);
 
-    const auto & light = signal.lights.front();
+    const auto & light = signal.elements.front();
     switch (light.color) {
-      case TrafficLight::RED:
+      case TrafficSignalElement::RED:
         color_label->setText("RED");
         color_label->setStyleSheet("background-color: #FF0000;");
         break;
-      case TrafficLight::AMBER:
+      case TrafficSignalElement::AMBER:
         color_label->setText("AMBER");
         color_label->setStyleSheet("background-color: #FFBF00;");
         break;
-      case TrafficLight::GREEN:
+      case TrafficSignalElement::GREEN:
         color_label->setText("GREEN");
         color_label->setStyleSheet("background-color: #7CFC00;");
         break;
-      case TrafficLight::WHITE:
+      case TrafficSignalElement::WHITE:
         color_label->setText("WHITE");
         color_label->setStyleSheet("background-color: #FFFFFF;");
         break;
-      case TrafficLight::UNKNOWN:
+      case TrafficSignalElement::UNKNOWN:
         color_label->setText("UNKNOWN");
         color_label->setStyleSheet("background-color: #808080;");
         break;
@@ -300,31 +301,28 @@ void TrafficLightPublishPanel::onTimer()
     shape_label->setAlignment(Qt::AlignCenter);
 
     switch (light.shape) {
-      case TrafficLight::CIRCLE:
+      case TrafficSignalElement::CIRCLE:
         shape_label->setText("CIRCLE");
         break;
-      case TrafficLight::LEFT_ARROW:
+      case TrafficSignalElement::LEFT_ARROW:
         shape_label->setText("LEFT_ARROW");
         break;
-      case TrafficLight::RIGHT_ARROW:
+      case TrafficSignalElement::RIGHT_ARROW:
         shape_label->setText("RIGHT_ARROW");
         break;
-      case TrafficLight::UP_ARROW:
+      case TrafficSignalElement::UP_ARROW:
         shape_label->setText("UP_ARROW");
         break;
-      case TrafficLight::DOWN_ARROW:
+      case TrafficSignalElement::DOWN_ARROW:
         shape_label->setText("DOWN_ARROW");
         break;
-      case TrafficLight::DOWN_LEFT_ARROW:
+      case TrafficSignalElement::DOWN_LEFT_ARROW:
         shape_label->setText("DOWN_LEFT_ARROW");
         break;
-      case TrafficLight::DOWN_RIGHT_ARROW:
+      case TrafficSignalElement::DOWN_RIGHT_ARROW:
         shape_label->setText("DOWN_RIGHT_ARROW");
         break;
-      case TrafficLight::FLASHING:
-        shape_label->setText("FLASHING");
-        break;
-      case TrafficLight::UNKNOWN:
+      case TrafficSignalElement::UNKNOWN:
         shape_label->setText("UNKNOWN");
         break;
       default:
@@ -335,16 +333,16 @@ void TrafficLightPublishPanel::onTimer()
     status_label->setAlignment(Qt::AlignCenter);
 
     switch (light.status) {
-      case TrafficLight::SOLID_OFF:
+      case TrafficSignalElement::SOLID_OFF:
         status_label->setText("SOLID_OFF");
         break;
-      case TrafficLight::SOLID_ON:
+      case TrafficSignalElement::SOLID_ON:
         status_label->setText("SOLID_ON");
         break;
-      case TrafficLight::FLASHING:
+      case TrafficSignalElement::FLASHING:
         status_label->setText("FLASHING");
         break;
-      case TrafficLight::UNKNOWN:
+      case TrafficSignalElement::UNKNOWN:
         status_label->setText("UNKNOWN");
         break;
       default:
@@ -375,11 +373,9 @@ void TrafficLightPublishPanel::onVectorMap(const HADMapBin::ConstSharedPtr msg)
   std::string info = "Fetching traffic lights :";
   std::string delim = " ";
   for (auto && tl_reg_elem_ptr : tl_reg_elems) {
-    for (auto && traffic_light : tl_reg_elem_ptr->trafficLights()) {
-      auto id = static_cast<int>(traffic_light.id());
-      info += (std::exchange(delim, ", ") + std::to_string(id));
-      traffic_light_ids_.insert(id);
-    }
+    auto id = static_cast<int>(tl_reg_elem_ptr->id());
+    info += (std::exchange(delim, ", ") + std::to_string(id));
+    traffic_light_ids_.insert(id);
   }
   RCLCPP_INFO_STREAM(raw_node_->get_logger(), info);
   received_vector_map_ = true;

diff --git a/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.hpp b/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.hpp
@@ -27,7 +27,7 @@
 #include <rviz_common/panel.hpp>
 
 #include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
-#include <autoware_auto_perception_msgs/msg/traffic_signal_array.hpp>
+#include <autoware_perception_msgs/msg/traffic_signal_array.hpp>
 #endif
 
 #include <set>
@@ -36,10 +36,9 @@ namespace rviz_plugins
 {
 
 using autoware_auto_mapping_msgs::msg::HADMapBin;
-using autoware_auto_perception_msgs::msg::TrafficLight;
-using autoware_auto_perception_msgs::msg::TrafficSignal;
-using autoware_auto_perception_msgs::msg::TrafficSignalArray;
-
+using autoware_perception_msgs::msg::TrafficSignal;
+using autoware_perception_msgs::msg::TrafficSignalArray;
+using autoware_perception_msgs::msg::TrafficSignalElement;
 class TrafficLightPublishPanel : public rviz_common::Panel
 {
   Q_OBJECT

diff --git a/control/joy_controller/config/joy_controller.param.yaml b/control/joy_controller/config/joy_controller.param.yaml
@@ -1,5 +1,6 @@
 /**:
   ros__parameters:
+    joy_type: DS4
     update_rate: 10.0
     accel_ratio: 3.0
     brake_ratio: 5.0

diff --git a/control/joy_controller/schema/joy_controller.schema.json b/control/joy_controller/schema/joy_controller.schema.json
@@ -0,0 +1,118 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Joy Controller node",
+  "type": "object",
+  "definitions": {
+    "joy_controller": {
+      "type": "object",
+      "properties": {
+        "joy_type": {
+          "type": "string",
+          "description": "Joy controller type",
+          "default": "DS4",
+          "enum": ["P65", "DS4", "G29"]
+        },
+        "update_rate": {
+          "type": "number",
+          "description": "Update rate to publish control commands",
+          "default": "10.0",
+          "exclusiveMinimum": 0
+        },
+        "accel_ratio": {
+          "type": "number",
+          "description": "Ratio to calculate acceleration (commanded acceleration is ratio * operation)",
+          "default": "3.0"
+        },
+        "brake_ratio": {
+          "type": "number",
+          "description": "Ratio to calculate deceleration (commanded acceleration is -ratio * operation)",
+          "default": "5.0"
+        },
+        "steer_ratio": {
+          "type": "number",
+          "description": "Ratio to calculate deceleration (commanded steer is ratio * operation)",
+          "default": "0.5"
+        },
+        "steering_angle_velocity": {
+          "type": "number",
+          "description": "Steering angle velocity for operation",
+          "default": "0.1"
+        },
+        "accel_sensitivity": {
+          "type": "number",
+          "description": "Sensitivity to calculate acceleration for external API (commanded acceleration is pow(operation, 1 / sensitivity))",
+          "default": "1.0",
+          "maximum": 1.0,
+          "exclusiveMinimum": 0.0
+        },
+        "brake_sensitivity": {
+          "type": "number",
+          "description": "Sensitivity to calculate deceleration for external API (commanded acceleration is pow(operation, 1 / sensitivity))",
+          "default": "1.0",
+          "maximum": 1.0,
+          "exclusiveMinimum": 0.0
+        },
+        "control_command": {
+          "type": "object",
+          "properties": {
+            "velocity_gain": {
+              "type": "number",
+              "description": "Ratio to calculate velocity by acceleration",
+              "default": "3.0"
+            },
+            "max_forward_velocity": {
+              "type": "number",
+              "description": "Absolute max velocity to go forward",
+              "default": "20.0",
+              "minimum": 0
+            },
+            "max_backward_velocity": {
+              "type": "number",
+              "description": "Absolute max velocity to go backward",
+              "default": "3.0",
+              "minimum": 0
+            },
+            "backward_accel_ratio": {
+              "type": "number",
+              "description": "Ratio to calculate deceleration (commanded acceleration is -ratio * operation)",
+              "default": "1.0"
+            }
+          },
+          "required": [
+            "velocity_gain",
+            "max_forward_velocity",
+            "max_backward_velocity",
+            "backward_accel_ratio"
+          ],
+          "additionalProperties": false
+        }
+      },
+      "required": [
+        "joy_type",
+        "update_rate",
+        "accel_ratio",
+        "brake_ratio",
+        "steer_ratio",
+        "steering_angle_velocity",
+        "accel_sensitivity",
+        "brake_sensitivity",
+        "control_command"
+      ],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/joy_controller"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}