Add traffic light recognition msgs (#6)

* cherry-pick from https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/merge_requests/16
* add TrafficLightRoi and TrafficLightRoiArray messages
* add confidence
* adapt to AutowareArchitectureProposal

Co-authored-by: Joshua Whitley <josh.whitley@autoware.org>

messages/autoware_auto_perception_msgs/CMakeLists.txt

@@ -27,6 +27,11 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/TrackedObject.idl"
   "msg/TrackedObjectKinematics.idl"
   "msg/TrackedObjects.idl"
+  "msg/TrafficLight.idl"
+  "msg/TrafficSignal.idl"
+  "msg/TrafficSignalArray.idl"
+  "msg/TrafficLightRoi.idl"
+  "msg/TrafficLightRoiArray.idl"
   DEPENDENCIES
     "autoware_auto_geometry_msgs"
     "geometry_msgs"

messages/autoware_auto_perception_msgs/msg/TrafficLight.idl

@@ -0,0 +1,35 @@
+module autoware_auto_perception_msgs {
+  module msg {
+    module TrafficLight_Constants {
+      const uint8 RED = 1;
+      const uint8 AMBER = 2;
+      const uint8 GREEN = 3;
+      const uint8 WHITE = 4;
+      const uint8 CIRCLE = 5;
+      const uint8 LEFT_ARROW = 6;
+      const uint8 RIGHT_ARROW = 7;
+      const uint8 UP_ARROW = 8;
+      const uint8 DOWN_ARROW = 9;
+      const uint8 DOWN_LEFT_ARROW = 10;
+      const uint8 DOWN_RIGHT_ARROW = 11;
+      const uint8 CROSS = 12;
+      const uint8 SOLID_OFF = 13;
+      const uint8 SOLID_ON = 14;
+      const uint8 FLASHING = 15;
+      const uint8 UNKNOWN = 16;
+    };
+    struct TrafficLight {
+      @default (value=0)
+      uint8 color;
+
+      @default (value=0)
+      uint8 shape;
+
+      @default (value=0)
+      uint8 status;
+
+      @default (value=0.0)
+      float confidence;
+    };
+  };
+};

messages/autoware_auto_perception_msgs/msg/TrafficLightRoi.idl

@@ -0,0 +1,10 @@
+#include "sensor_msgs/msg/RegionOfInterest.idl"
+
+module autoware_auto_perception_msgs {
+  module msg {
+    struct TrafficLightRoi {
+      sensor_msgs::msg::RegionOfInterest roi;
+      int32 id;
+    };
+  };
+};

messages/autoware_auto_perception_msgs/msg/TrafficLightRoiArray.idl

@@ -0,0 +1,11 @@
+#include "autoware_auto_perception_msgs/msg/TrafficLightRoi.idl"
+#include "std_msgs/msg/Header.idl"
+
+module autoware_auto_perception_msgs {
+  module msg {
+    struct TrafficLightRoiArray {
+      std_msgs::msg::Header header;
+      sequence<autoware_auto_perception_msgs::msg::TrafficLightRoi> rois;
+    };
+  };
+};

messages/autoware_auto_perception_msgs/msg/TrafficSignal.idl

@@ -0,0 +1,19 @@
+#include "autoware_auto_perception_msgs/msg/TrafficLight.idl"
+
+module autoware_auto_perception_msgs {
+  module msg {
+    @verbatim (language="comment", text=
+    " A TrafficSignal is defined here as a group of multiple TrafficLights" "\n"
+    " which each represent a single light, indicator, or bulb.")
+    struct TrafficSignal {
+      @verbatim (language="comment", text=
+        " A value of 0 indicates an invalid map_primitive_id. Signals which are not"
+        " associated with map primitives should not be used in planning because this"
+        " indicates that the required signal-to-lane mapping is not available.")
+      @default (value=0)
+      int32 map_primitive_id;
+
+      sequence<autoware_auto_perception_msgs::msg::TrafficLight, 10> lights;
+    };
+  };
+};

messages/autoware_auto_perception_msgs/msg/TrafficSignalArray.idl

@@ -0,0 +1,11 @@
+#include "autoware_auto_perception_msgs/msg/TrafficSignal.idl"
+#include "std_msgs/msg/Header.idl"
+
+module autoware_auto_perception_msgs {
+  module msg {
+    struct TrafficSignalArray {
+      std_msgs::msg::Header header;
+      sequence<autoware_auto_perception_msgs::msg::TrafficSignal> signals;
+    };
+  };
+};