Traffic light detection topic content changes

[hzkkk1997]

I have been using autoware.universe for learning, but I found that there seemed to be some changes in the content of topic /perception/traffic_light_recognition/traffic_signals sent from the traffic light recognition module to the planning module. The previous version said traffic_light_id, but now version v1.0 says the id of regulatory_element for traffic lights. May I ask why there is such a modification? What are the reasons for making such a change?

[yukkysaito]

In the latest update, there has been a transition to autoware_msgs, and regulatory_element has been replaced with traffic_light_group_id. From the planning perspective, it would be problematic to receive different identification results for traffic lights that behave the same. Therefore, there was a discussion that identification results should be sent to groups of traffic lights that exhibit the same behavior. Additionally, from the V2I perspective, it was deemed more appropriate to send identification results to groups of traffic lights rather than individual traffic lights (traffic_light_id).

• traffic_light_group_id: Traffic lights that exhibit the same behavior at a single intersection
• traffic_light_id: The ID of each individual traffic light

autowarefoundation/autoware.universe#2567