From 49231bcd6fcebddd20266a4e31ab5fdab1790f7d Mon Sep 17 00:00:00 2001
From: Sho Iwasawa <41606073+zusizusi@users.noreply.github.com>
Date: Fri, 9 Aug 2024 10:12:41 +0300
Subject: [PATCH] fix(traffic_light_classifier): fix traffic light monitor
 warning (#8412) (#1455)

fix traffic light monitor warning

Signed-off-by: Sho Iwasawa <sho.iwasawa.2@tier4.jp>
Co-authored-by: Naophis <nao1288stusj@gmail.com>
---
 perception/traffic_light_classifier/src/nodelet.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/perception/traffic_light_classifier/src/nodelet.cpp b/perception/traffic_light_classifier/src/nodelet.cpp
index 440b5b0dcfb3e..a076ea984daf3 100644
--- 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;