fix(map_loader): show traffic light regulatory element id per lanelet (…

…#6028) * fix(map_loader): show traffic light regulatory element id per lanelet Signed-off-by: satoshi-ota <[email protected]> * feat(map_loader): show traffic light id Signed-off-by: satoshi-ota <[email protected]> --------- Signed-off-by: satoshi-ota <[email protected]> Co-authored-by: Ryohsuke Mitsudome <[email protected]>
autowarefoundation · Jan 10, 2024 · 27d8668 · 27d8668
1 parent 2a6c16b
commit 27d8668
Showing 1 changed file with 6 additions and 0 deletions.
diff --git a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp b/map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp
@@ -215,6 +215,12 @@ void Lanelet2MapVisualizationNode::onMapBin(
   insertMarkerArray(
     &map_marker_array,
     lanelet::visualization::autowareTrafficLightsAsMarkerArray(aw_tl_reg_elems, cl_trafficlights));
+  insertMarkerArray(
+    &map_marker_array, lanelet::visualization::generateTrafficLightRegulatoryElementIdMaker(
+                         road_lanelets, cl_trafficlights));
+  insertMarkerArray(
+    &map_marker_array, lanelet::visualization::generateTrafficLightRegulatoryElementIdMaker(
+                         crosswalk_lanelets, cl_trafficlights));
   insertMarkerArray(
     &map_marker_array,
     lanelet::visualization::generateTrafficLightIdMaker(aw_tl_reg_elems, cl_trafficlights));