feat(autoware_perception_msgs): update traffic light messages to include future states (#134)

* feat: add autoware_perception_msgs/FutureTrafficLightState message

Signed-off-by: Yu Asabe <yu.asabe@tier4.jp>

* feat: update autoware_perception_msgs/TrafficLightGroup to include predictions

Signed-off-by: Yu Asabe <yu.asabe@tier4.jp>

* fix: add inline comments to autoware_perception_msgs/FutureTrafficLightState message

Signed-off-by: Yu Asabe <yu.asabe@tier4.jp>

* fix: rename to PredictedTrafficLightState, update field names

Signed-off-by: Yu Asabe <yu.asabe@tier4.jp>

* fix: change CMakeLists.txt to alphabetical order

Signed-off-by: Yu Asabe <yu.asabe@tier4.jp>

* fix: add local_perception as predicted traffic light state information_source

Signed-off-by: Yu Asabe <yu.asabe@tier4.jp>

---------

Signed-off-by: Yu Asabe <yu.asabe@tier4.jp>

Author: yuasabe

autoware_perception_msgs/CMakeLists.txt

@@ -13,6 +13,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/PredictedObjectKinematics.msg"
   "msg/PredictedObjects.msg"
   "msg/PredictedPath.msg"
+  "msg/PredictedTrafficLightState.msg"
   "msg/Shape.msg"
   "msg/TrackedObject.msg"
   "msg/TrackedObjectKinematics.msg"

autoware_perception_msgs/msg/PredictedTrafficLightState.msg

@@ -0,0 +1,28 @@
+# Information source values (string constants):
+# - V2N: Signal data sent from a server (Internet)
+# - V2I: Direct from RSU (Roadside Unit)
+# - V2V: Signal data from another vehicle
+# - LOCAL_PERCEPTION: Information detected by onboard sensors
+# - MANUAL_OVERRIDE: Manually set signal data (for testing/debugging)
+# - SIMULATION: Signal data from a simulated environment
+# - INTERNAL_ESTIMATION: Information that was predicted by an onboard model
+
+string INFORMATION_SOURCE_V2N="V2N"
+string INFORMATION_SOURCE_V2I="V2I"
+string INFORMATION_SOURCE_V2V="V2V"
+string INFORMATION_SOURCE_LOCAL_PERCEPTION="LOCAL_PERCEPTION"
+string INFORMATION_SOURCE_MANUAL_OVERRIDE="MANUAL_OVERRIDE"
+string INFORMATION_SOURCE_SIMULATION="SIMULATION"
+string INFORMATION_SOURCE_INTERNAL_ESTIMATION="INTERNAL_ESTIMATION"
+
+# Absolute time this state is expected
+builtin_interfaces/Time predicted_stamp
+
+# Valid signals at this time
+autoware_perception_msgs/TrafficLightElement[] simultaneous_elements
+
+# Confidence level [0.0–1.0]
+float32 reliability
+
+# Source of information, using predefined string constants
+string information_source

autoware_perception_msgs/msg/TrafficLightGroup.msg

@@ -1,2 +1,3 @@
 int64 traffic_light_group_id
 autoware_perception_msgs/TrafficLightElement[] elements
+autoware_perception_msgs/PredictedTrafficLightState[] predictions