perception_launch: Traffic light composable nodes

[wep21]

Related PR

https://github.com/tier4/Pilot.Auto/pull/253

How to test

• launch perception
  ros2 launch perception_launch perception.launch.xml mode:=lidar
• clone traffic light dataset publisher(https://github.com/wep21/traffic_light_dataset_publisher) into your workspace and build
• launch dataset publisher
  ros2 launch traffic_light_dataset_publisher traffic_light_dataset_publisher.launch.xml image_folder:=(your_download directory)/voclike_datasets_from_web_noncrop/train/JPEGImages label_folder:=(your_download directory)/voclike_datasets_from_web_noncrop/train/Annotations
• echo traffic light state
  ros2 topic echo /perception/traffic_light_recognition/traffic_light_states
• launch rqt image view and check debug image
  ros2 run rqt_image_view
  
  

[k0suke-murakami]

Could you describe how to check this PR?

[wep21]

@k0suke-murakami I've updated the description above. Please check and test.

[wep21]

@TakaHoribe Have you already tested this?

[TakaHoribe]

@wep21 I could see the debug images as shown in your post. Also noticed the perception.launch died with the following message while checking the data. I'm not sure this is ok or not.

[component_container-9] terminate called after throwing an instance of 'cv::Exception'
[component_container-9]   what():  OpenCV(4.2.0) ../modules/core/src/matrix.cpp:465: error: (-215:Assertion failed) 0 <= roi.x && 0 <= roi.width && roi.x + roi.width <= m.cols && 0 <= roi.y && 0 <= roi.height && roi.y + roi.height <= m.rows in function 'Mat'
[component_container-9] 
[ERROR] [component_container-9]: process has died [pid 152720, exit code -6, cmd '/opt/ros/foxy/lib/rclcpp_components/component_container --ros-args -r __node:=traffic_light_node_container -r __ns:=/perception/traffic_light_recognition'].

[wep21]

@TakaHoribe Thank you for checking. I will try to find the cause of exception.

[TakaHoribe]

@wep21 This happens every time. It may be the demo data contains invalid data, or the processing at the end of the demo data throws an exception.

[TakaHoribe]

Investigation for the exception problem could be later.