feat: add multi lanelet parser

[StepTurtle]

Description

Move autowarefoundation/autoware_common#234 to new autoware_lanelet2_extension repository.

This PR add a new library class to facilitate the loading of multiple OSM files in lanelet2_extension. These changes were made to support dynamic lanelet loading.

Related links

Proposal Link

Tests performed

In this video, the map in background loaded with current approach and the white map load new class and cannot see any difference. Also the maps which loaded with new class tested with mission and behavior planner and cannot see any problem.

Video Link

Notes for reviewers

Interface changes

Effects on system behavior

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[mitsudome-r]

I was wondering if we should create another parser for loading multiple files. Are there any reasons for not merging the Lanelets after loading each files one by one?

[StepTurtle]

I was wondering if we should create another parser for loading multiple files. Are there any reasons for not merging the Lanelets after loading each files one by one?

After call OsmParser::parse and create map object, I did not find a good way to merge map objects. Is there any way to merge map objects?

[YamatoAndo]

@reviewers
@kosuke55 @soblin @Motsu-san @mitsudome-r @takayuki5168 @youtalk
The review of the related PRs is almost finished.
I would appreciate it if you could proceed with the review of this PR.

[Motsu-san]

@soblin Could you review and test this PR?

[Motsu-san]

@soblin Could you review and test this PR?

@soblin I misunderstood. In the parent PR, Maxim-san already has tested the related PR including this PR. So please ignore my request to test.

[Motsu-san]

I was wondering if we should create another parser for loading multiple files. Are there any reasons for not merging the Lanelets after loading each files one by one?

After call OsmParser::parse and create map object, I did not find a good way to merge map objects. Is there any way to merge map objects?

@mitsudome-r Could you respond to this message?

[YamatoAndo]

@kosuke55 @soblin @Motsu-san @mitsudome-r @takayuki5168 @youtalk
Review this PR!!

[soblin]

Can you align the function return type to lanelet::LaneletMapPtr just like lanelet::io::load ? Although I guess lanelet::LaneletMapPtr is just an alias of std::unique_ptr (or shared_ptr)

[StepTurtle]

2ddb81f

[soblin]

Is this future related to the differential loading mechanism ? Then can we dynamically add next map while dropping visited map by using the add and removed function to each layers, so we do not need to recreate the entire lanelet map whenever ego passes the boundary ?

https://github.com/fzi-forschungszentrum-informatik/Lanelet2/blob/507033b82d9915f086f2539d56c3b62e71802438/lanelet2_core/include/lanelet2_core/LaneletMap.h#L245-L263

[soblin]

@StepTurtle

After call OsmParser::parse and create map object, I did not find a good way to merge map objects. Is there any way to merge map objects?

I think my comments answers your question. I believe it is possible to merge/delete map objects in sliding window manner in the context of differential map loading.

Here is my suggestion:

• the MuptileOsmParser just reads the file and store the list of element_ids for each layer for each file -- you know there are 6 primitive layers in LaneletMapPtr (see https://github.com/fzi-forschungszentrum-informatik/Lanelet2/blob/507033b82d9915f086f2539d56c3b62e71802438/lanelet2_core/include/lanelet2_core/LaneletMap.h#L353-L358) -- , just managing the file name and element ids
• the DifferetialMapLoader decides which file to load next and which file to drop next, and MultipleOsmParser just tells which element_ids to load and drop for the loading.

[mitsudome-r]

@StepTurtle

After call OsmParser::parse and create map object, I did not find a good way to merge map objects. Is there any way to merge map objects?

You can create a function to merge each layer of Lanelet map as mentioned by @soblin's comment.
Something like the following:

// merge map2 to map1
void mergeMap( lanelet::LaneletMapPtr map1, lanelet::LaneletMapPtr map2)
{
  for(auto llt : map2->laneletLayer){
    map1.add(llt);
  }
  for(auto area : map2->areaLayer){
    map1.add(area);
  }
  for(auto reg_elem : map2->regulatoryElementLayer){
    map1.add(reg_elem);
  }
  for(auto poly : map2->polygonLayer){
    map1.add(poly);
  }
  for(auto ls : map2->lineStringLayer){
    map1.add(ls);
  }
  for(auto pt : map2->pointLayer){
    map1.add(pt);
  }
}

(Note that above code is just an image and I haven't tested the code.

[YamatoAndo]

@soblin @mitsudome-r cc: @StepTurtle
Thank you for stating review.
Please create a new release tag after merging.

[StepTurtle]

Hey @YamatoAndo , sorry about this, but I tried a few things and couldn't quite figure out the points from the last comments. I also haven’t had enough time to work on the lanelet reviews. Could I ask for your help with the this PR? Apologies again for the trouble. 🙏🏽

[YamatoAndo]

@StepTurtle Hi,

I tried a few things and couldn't quite figure out the points from the last comments

After merging this PR, please create a PR similar to #30. Once that PR is merged, we will create a new release tag.
Since I haven't done this task before, I would like you to collaborate with @soblin and @mitsudome-r to move forward with the process.

[YamatoAndo]

@kosuke55 @soblin @Motsu-san @mitsudome-r @takayuki5168 @youtalk

I also haven’t had enough time to work on the lanelet reviews. Could I ask for your help with the this PR?

Could you support this PR instead?

[soblin]

@StepTurtle All right, then I'd like to propose moving your implementation in autoware.universe's
common package for now.
The reason for my suggestion is that this "feature" is experimental and has room for future additional requirements and better implementation. Also it should not be placed under map module because it renders planning dependent on map (relates to this initiative https://github.com/orgs/autowarefoundation/discussions/4661#discussioncomment-9995806 cc : @youtalk ). I am Ok with current implementation !

[YamatoAndo]

@kosuke55 @soblin @Motsu-san @mitsudome-r @takayuki5168 @youtalk
Does it seem like you can support this?

[mitsudome-r]

Let me follow up on this.
@StepTurtle Do you have Discord account? I would like to setup a call to how we should treat this PR.

[xmfcx]

@mitsudome-r @StepTurtle what are the actions that you've decided to take on this task?

[StepTurtle]

@mitsudome-r @StepTurtle what are the actions that you've decided to take on this task?

@mitsudome-r will handle this PR and I guess he will do some updates on code in this week.