Traffic Light Indicator Weird Behavior

[KhalilSelyan]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

Traffic Light Indicator in the Rviz2 Overlay, flickers between indicators (green/red/yellow) because of sensor messages received ? planning seems to be doing the correct thing and following the indicator it should but not the indicator in the UI

Video

Expected behavior

No flickering, just stable light indicator according to which one the planning is following

Actual behavior

Signals received alternate between colors depending on which signal is first on the array of signals received in the message from the topic being subscribed to

Steps to reproduce

1. Launch Autoware and AWSIM
2. Drive by a few traffic lights

Versions

• OS : Ubuntu 22.04
• ROS: Humble

Possible causes

The way the UI Indicator subscribes/displays the data is not the same as how the planning is being handled most likely

Additional context

• The code related to the drawing of the traffic display in the overlay
  

  autoware.universe/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/traffic_display.cpp

  Lines 73 to 96 in f297d06

  	if (!current_traffic_.signals.empty()) {
  	switch (current_traffic_.signals[0].elements[0].color) {
  	case 1:
  	painter.setBrush(QBrush(tl_red_));
  	painter.drawEllipse(circleRect);
  	break;
  	case 2:
  	painter.setBrush(QBrush(tl_yellow_));
  	painter.drawEllipse(circleRect);
  	break;
  	case 3:
  	painter.setBrush(QBrush(tl_green_));
  	painter.drawEllipse(circleRect);
  	break;
  	case 4:
  	painter.setBrush(tl_gray_);
  	painter.drawEllipse(circleRect);
  	break;
  	default:
  	painter.setBrush(tl_gray_);
  	painter.drawEllipse(circleRect);
  	break;
  	}
  	}

[KhalilSelyan]

Ping: @xmfcx @miura @takayuki5168

[maxime-clem]

I think we need to do the following:

• use the traffic_signal_id in the TrafficSignal messages to get the corresponding traffic lights in the map.
• calculate the traffic light longitudinal positions on the ego path.
• select the traffic light with the smallest longitudinal position (but ahead of the ego position).

Doing this requires adding many dependencies and topics to the rviz panel. If that's okay then I can implement it.

[xmfcx]

@maxime-clem what about publishing this from where the planning code already does this as a debug message?

[maxime-clem]

@maxime-clem what about publishing this from where the planning code already does this as a debug message?

It may be better yes. I will try that first.

[maxime-clem]

@KhalilSelyan I opened a PR with the change: #6899
I cannot easily test it at the moment so please confirm if it fixes the chattering issue.