diff --git a/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp b/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp
index 6bac29c51ed80..8fcbbe278a694 100644
--- a/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp
+++ b/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp
@@ -31,6 +31,7 @@
 
 #include <memory>
 #include <string>
+#include <utility>
 #include <vector>
 
 namespace rviz_plugins
@@ -131,8 +132,8 @@ TrafficLightPublishPanel::TrafficLightPublishPanel(QWidget * parent) : rviz_comm
 
 void TrafficLightPublishPanel::onSetTrafficLightState()
 {
-  // const auto traffic_light_id = traffic_light_id_input_->value();
-  const auto traffic_light_id = 0;  // TODO(Mamoru Sobue): use select from items
+  const auto traffic_light_id_str = traffic_light_id_input_->currentText();
+  const auto traffic_light_id = std::stoi(traffic_light_id_str.toStdString());
   const auto color = light_color_combo_->currentText();
   const auto shape = light_shape_combo_->currentText();
   const auto status = light_status_combo_->currentText();
@@ -369,14 +370,14 @@ void TrafficLightPublishPanel::onVectorMap(
   lanelet::LaneletMapPtr lanelet_map(new lanelet::LaneletMap);
   lanelet::utils::conversion::fromBinMsg(*msg, lanelet_map);
   lanelet::ConstLanelets all_lanelets = lanelet::utils::query::laneletLayer(lanelet_map);
-  // TODO(Mamoru Sobue) extract from tl_reg_elem.trafficLights()
   std::vector<lanelet::TrafficLightConstPtr> tl_reg_elems =
     lanelet::utils::query::trafficLights(all_lanelets);
-  std::string info = "traffic light ids = ";
+  std::string info = "Fetching traffic lights :";
+  std::string delim = " ";
   for (auto && tl_reg_elem_ptr : tl_reg_elems) {
     for (auto && traffic_light : tl_reg_elem_ptr->trafficLights()) {
       auto id = static_cast<int>(traffic_light.id());
-      info += (std::to_string(id) + ", ");
+      info += (std::exchange(delim, ", ") + std::to_string(id));
       traffic_light_ids_.insert(id);
     }
   }