fix(traffic_light): fix traffic_light_arbiter pipeline (autowarefound…

…ation#685)

* fix(traffic_light): fix traffic_light_arbiter pipeline

Signed-off-by: 1222-takeshi <m.takeshi1995@gmail.com>

* style(pre-commit): autofix

---------

Signed-off-by: 1222-takeshi <m.takeshi1995@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml

@@ -9,7 +9,8 @@
   <arg name="classifier_model_path" default="$(find-pkg-share traffic_light_classifier)/data/traffic_light_classifier_mobilenetv2_batch_6.onnx" description="classifier onnx model path"/>
   <arg name="input/cloud" default="/sensing/lidar/top/pointcloud_raw" description="point cloud for occlusion prediction"/>
   <arg name="internal/traffic_signals" default="/perception/traffic_light_recognition/internal/traffic_signals"/>
-  <arg name="output/traffic_signals" default="/perception/traffic_light_recognition/traffic_signals"/>
+  <arg name="external/traffic_signals" default="/perception/traffic_light_recognition/external/traffic_signals"/>
+  <arg name="output/traffic_signals" default="/perception/traffic_light_arbiter/traffic_signals"/>
   <arg name="use_crosswalk_traffic_light_estimator" default="true" description="output pedestrian's traffic light signals"/>
   <arg name="image_number" default="1" description="choose image raw number(1-2)"/>
   <arg name="namespace1" default="camera6"/>
@@ -130,7 +131,7 @@
   <group>
     <include file="$(find-pkg-share traffic_light_arbiter)/launch/traffic_light_arbiter.launch.xml">
       <arg name="perception_traffic_signals" value="$(var internal/traffic_signals)"/>
-      <arg name="external_traffic_signals" value="/external/traffic_light_recognition/traffic_signals"/>
+      <arg name="external_traffic_signals" value="$(var external/traffic_signals)"/>
       <arg name="output_traffic_signals" value="$(var output/traffic_signals)"/>
     </include>
   </group>

perception/traffic_light_arbiter/launch/traffic_light_arbiter.launch.xml

@@ -1,11 +1,15 @@
 <launch>
+  <arg name="perception_traffic_signals" default="/internal/traffic_signals"/>
+  <arg name="external_traffic_signals" default="/external/traffic_signals"/>
+  <arg name="output_traffic_signals" default="/traffic_light_arbiter/traffic_signals"/>
+
   <push-ros-namespace namespace="traffic_light_arbiter"/>
   <node_container pkg="rclcpp_components" exec="component_container" name="container" namespace="">
     <composable_node pkg="traffic_light_arbiter" plugin="TrafficLightArbiter" name="arbiter">
       <remap from="~/sub/vector_map" to="/map/vector_map"/>
-      <remap from="~/sub/perception_traffic_signals" to="/perception/traffic_light_recognition/traffic_signals"/>
-      <remap from="~/sub/external_traffic_signals" to="/external/traffic_light_recognition/traffic_signals"/>
-      <remap from="~/pub/traffic_signals" to="/perception/traffic_light_arbiter/traffic_signals"/>
+      <remap from="~/sub/perception_traffic_signals" to="$(var perception_traffic_signals)"/>
+      <remap from="~/sub/external_traffic_signals" to="$(var external_traffic_signals)"/>
+      <remap from="~/pub/traffic_signals" to="$(var output_traffic_signals)"/>
     </composable_node>
   </node_container>
 </launch>