Traffic light module run and failed

[JasonBourne1998]

Describe the bug
I modify the input of Traffic light module into /apollo/sensor/camera/front_6mm/image/compressed,/apollo/sensor/camera/front_12mm/image/compressed". And then I run the traffic light module, in the beginning, it works fine when it has a long distance to stop line, and the result shows unknown. Then the module is down. The log show there is a mismatch between channels. But I have deployed the modifications.

apollo/modules/perception/production/conf/perception/camera/trafficlights_perception_component.config:
tl_tf2_frame_id : "world"
#tl_tf2_child_frame_id : "perception_localization_100hz"
tl_tf2_child_frame_id : "novatel"
tf2_timeout_second : 0.1
camera_names : "front_6mm,front_12mm"
camera_channel_names : "/apollo/sensor/camera/front_6mm/image/compressed,/apollo/sensor/camera/front_12mm/image/compressed"
tl_image_timestamp_offset : 0.0
max_process_image_fps : 8
query_tf_interval_seconds : 0.3
valid_hdmap_interval : 1.5
image_sys_ts_diff_threshold : 0.5
sync_interval_seconds : 0.5
camera_traffic_light_perception_conf_dir : "/apollo/modules/perception/production/conf/perception/camera"
camera_traffic_light_perception_conf_file : "trafficlight.pt"
default_image_border_size : 100
#traffic_light_output_channel_name : "/perception/traffic_light_status"
traffic_light_output_channel_name : "/apollo/perception/traffic_light"
simulation_channel_name : "/perception/traffic_light_simulation"
v2x_trafficlights_input_channel_name : "/apollo/v2x/traffic_light"
v2x_sync_interval_seconds : 0.1
max_v2x_msg_buff_size : 50
tl_preprocessor_name : "TLPreprocessor"

Expected behavior
A clear and concise description of what you expected to happen.

Screenshots

Desktop (please complete the following information):

• Apollo 7.0
• Carla 0.9.14

[JasonBourne1998]

@daohu527 Hi, could you please have a look at this ?

[JasonBourne1998]