fix(traffic_light_classifier): fix traffic light monitor warning (aut…

…owarefoundation#8412) (#1455) fix traffic light monitor warning Signed-off-by: Sho Iwasawa <[email protected]> Co-authored-by: Naophis <[email protected]>
tier4 · Aug 9, 2024 · 49231bc · 49231bc
1 parent ec3ad51
commit 49231bc
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/perception/traffic_light_classifier/src/nodelet.cpp b/perception/traffic_light_classifier/src/nodelet.cpp
@@ -84,7 +84,10 @@ void TrafficLightClassifierNodelet::imageRoiCallback(
   if (classifier_ptr_.use_count() == 0) {
     return;
   }
+  tier4_perception_msgs::msg::TrafficLightArray output_msg;
   if (input_rois_msg->rois.empty()) {
+    output_msg.header = input_image_msg->header;
+    traffic_signal_array_pub_->publish(output_msg);
     return;
   }
 
@@ -97,7 +100,6 @@ void TrafficLightClassifierNodelet::imageRoiCallback(
       input_image_msg->encoding.c_str());
   }
 
-  tier4_perception_msgs::msg::TrafficLightArray output_msg;
   output_msg.signals.resize(input_rois_msg->rois.size());
 
   std::vector<cv::Mat> images;