解决merge中的重复列名，修改traffic.csv中simTime倒序问题，增加交通灯与车辆航向角筛选交通灯

core/processors/built_in/lst.py

@@ -567,7 +567,7 @@ class ZipCSVProcessor:
         # df_vehicle.dropna(subset=[col for col in required_pos if col in df_vehicle.columns], inplace=True)
 
         try:
-            df_vehicle["simTime"] = np.round(np.linspace(df_raw["simTime"].tolist()[0], df_raw["simTime"].tolist()[0] + 0.01*(len(df_vehicle)), len(df_vehicle)), 2)
+            df_vehicle["simTime"] = np.round(np.linspace(df_raw["simTime"].tolist()[0]+28800, df_raw["simTime"].tolist()[0]+28800 + 0.01*(len(df_vehicle)), len(df_vehicle)), 2)
             df_vehicle["simFrame"] = np.arange(1, len(df_vehicle) + 1)
             df_vehicle["playerId"] = int(player_id)
             df_vehicle['playerId'] = pd.to_numeric(df_vehicle['playerId']).astype(int)
@@ -1696,7 +1696,7 @@ class RosbagProcessor:
         ('V2C', 'VulnerableRoadUserCollisionW'): "/c2v/VulnerableObject",
         ('V2C', 'EmergencyVehiclesPriority'): "/c2v/EmergencyVehiclesPriority",
         ('V2C', 'LitterW'): "/c2v/RoadSpillageWarning",
-        ('V2V', 'ForwardCollisionW'): "/V2VForwardCollisionWarning",
+        ('V2V', 'ForwardCollision'): "/V2VForwardCollisionWarning",
         ('V2C', 'VisibilityW'): "/c2v/VisibilityWarinning",
         ('V2V', 'EmergencyBrakeW'): "/V2VEmergencyBrakeWarning",
         ('V2I', 'GreenLightOptimalSpeedAdvisory'): "/GreenLightOptimalSpeedAdvisory",  # Check exact topic name