feat(tier4_simulation_msgs): add traffic light v1 messages

[HansRobo]

Signed-off-by: Kotaro Yoshimoto [email protected]

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Description

The messages for traffic light was changed not to represent physical traffic lights, in autoware_perception_msgs.
This change made difficult to visualize or do something about physical traffic lights based on Autoware's traffic light topic.

These messages are for treating physical traffic light instead of old autoware_auto_perception_msgs.

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[yukkysaito]

Which specific types of autoware_auto_msgs are you referring to?
The migration list is written here:
https://github.com/orgs/autowarefoundation/discussions/3862#discussioncomment-9638820

[HansRobo]

@yukkysaito
Thank you for the comment!

Which specific types of autoware_auto_msgs are you referring to?

The correspondence with autoware_auto_msgs is as follows:

message in this PR	message in autoware_auto_msgs
tier4_simulation_msgs/TrafficLightArrayV1	autoware_auto_perception_msgs//TrafficSignalArray
tier4_simulation_msgs/TrafficLightV1	autoware_auto_perception_msgs//TrafficSignal
tier4_simulation_msgs/TrafficLightBulbV1	autoware_auto_perception_msgs//TrafficLight

The migration list is written here:

I don't intend to do a migration.
One of the reasons for defining new custom messages is to avoid effects from message changes in Autoware.

[mitsudome-r]

I think what @HansRobo is trying to represent with this new message is individual traffic light instead of TrafficLightGroup (which is a group of traffic lights with same behavior).
Actually, we have tier4_perception_msgs/TrafficLight to represent this.

[mitsudome-r]

Could you also explain if this message will be used to communicate between Autoware and a simulator (e.g., scenario_simulator) or is this just for internal communication within simulator modules?

[HansRobo]

Could you also explain if this message will be used to communicate between Autoware and simulator (e.g., scenario_simulator) or is this just for internal communication within simulator modules?

This message is used for output from ScenarioSimulator to external.
However, it is not intended to be used by Autoware, and is intended specifically for external tools such as Autoware Evalautor.

[HansRobo]

I think what @HansRobo is trying to represent with this new message is individual traffic light instead of TrafficLightGroup (which is a group of traffic lights with same behavior).

exactly.
Furthermore, the added messages are designed so that external tools can properly detect large message changes as type changes, while small constant changes can be handled without requiring tooling changes.

[yukkysaito]

@HansRobo Thanks for your reply
What information is missing from the existing TrafficLight?

[HansRobo]

@yukkysaito

What information is missing from the existing TrafficLight?

The information is sufficient in the existing TrafficLight.
However, the purpose is to provide additional support like described below and to separate the messages.

Furthermore, the added messages are designed so that external tools can properly detect large message changes as type changes, while small constant changes can be handled without requiring tooling changes.

[HansRobo]

@yukkysaito @mitsudome-r

How should we proceed with this PR?
I understand that there are similar messages, but separating the messages in the first place is meaningful in itself, so for now I'm not considering tier4_perception_msgs/TrafficLight as an option.

[HansRobo]

Note: The visualization of traffic lights on Autoware Evaluator was implemented and released based on these messages.
CC: @vios-fish

[HansRobo]

CC: @YoshinoriTsutake

[HansRobo]

The messages are moved into scenario_simulator_v2
tier4/scenario_simulator_v2#1262