feat(map_height_fitter): fitting by vector_map

[SakodaShintaro]

Description

This pull request adds a new feature to map_height_fitter to fit z position by vector_map.

Context

planning_simulator does not use Localization, so the PointCloud map is essentially unnecessary. However, because map_height_fitter relies on PointCloud map to fit the z position of initial pose, planning_simulator as a whole relies on PointCloud map.

This dependency causes changes to PointCloud map to affect planning_simulator. Below is an example.
#6294

Modifying the map_height_fitter to be able to fit the z position from the vector_map allows planning_simulator to work independently of the PointCloud map.

Changes

• Added a new feature to map_height_fitter to fit z position by vector_map.
• Added fit_target as an argument to maintain the same behavior as before. You can choose from vector_map or pointcloud_map. Default is pointcloud_map.

Related PR

• feat(planning_simulator): use fit_target=vector_map in planning_simulator autoware_launch#859

Tests performed

AWSIM

I have confirmed that both fit_target works properly.

ros2 launch autoware_launch e2e_simulator.launch.xml \
    map_path:=path/to/map \
    vehicle_model:=sample_vehicle \
    sensor_model:=awsim_sensor_kit

ros2 launch autoware_launch e2e_simulator.launch.xml \
    map_path:=path/to/map \
    vehicle_model:=sample_vehicle \
    sensor_model:=awsim_sensor_kit \
    fit_target:='pointcloud_map'

planning_simulator

The following command works correctly even if there is no pcd in sample-map-planning.

ros2 launch autoware_launch planning_simulator.launch.xml \
  map_path:=path/to/sample-map-planning/ \
  vehicle_model:=sample_vehicle \
  sensor_model:=sample_sensor_kit

driving_log_replayer

The following command works fine.

driving_log_replayer simulation run -p localization --rate 0.5

Effects on system behavior

In default setting, there are no effects on system behavior.

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[codecov]

Codecov Report

Attention: 84 lines in your changes are missing coverage. Please review.

Comparison is base (99c8b32) 14.88% compared to head (461fd40) 14.84%.
Report is 6 commits behind head on main.

Files	Patch %	Lines
map/map_height_fitter/src/map_height_fitter.cpp	0.00%	84 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6340      +/-   ##
==========================================
- Coverage   14.88%   14.84%   -0.05%     
==========================================
  Files        1838     1845       +7     
  Lines      126709   126024     -685     
  Branches    38044    37497     -547     
==========================================
- Hits        18865    18710     -155     
+ Misses      86545    86414     -131     
+ Partials    21299    20900     -399     

Flag	Coverage Δ		*Carryforward flag
differential	3.28% <0.00%> (?)
total	14.85% <ø> (-0.04%)	⬇️	Carriedforward from 9a47cde

*This pull request uses carry forward flags. Click here to find out more.

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[SakodaShintaro]

[Additional test]
map_height_fitter is launched as a node in driving_log_replayer. I confirmed that driving_log_replayer still works fine after this pull request change.

driving_log_replayer simulation run -p localization --rate 0.5

[SakodaShintaro]

Sorry, it seems there is an error in driving_log_replayer. please wait a moment

-> Fixed in 21b4f3f

and json schema is fixed in 69ceb62

[isamu-takagi]

LGTM

[KYabuuchi]

I have confirmed that it works as intended in several modes. 🙆‍♂️
I made a minor point. Once it is resolved, I can approve this.

[KYabuuchi]

LGTM 🙆‍♂️

[TaikiYamada4]

LGTM