feat(SegmentationMask): add instance segmentation message

[StepTurtle]

Description

Add a new message type to send instance segmentation results.

Related links

Parent Issue:

• Implement RTMDet to Perception Pipeline autoware.universe#7235

Discussion:

• https://github.com/orgs/autowarefoundation/discussions/5047

Parent PR:

• feat(autoware_tensorrt_rtmdet): add tensorrt rtmdet model autoware.universe#8165

Tests performed

Notes for reviewers

Interface changes

ROS Topic Changes

ROS Parameter Changes

Effects on system behavior

Currently, we plan to use this message type at perception camera pipeline.

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[mitsudome-r]

Note:
This is being discussed in the following discussion thread: https://github.com/orgs/autowarefoundation/discussions/5047

[StepTurtle]

@xmfcx can you review?

[StepTurtle]

Closing the discussion and PRs as won't do due to a lack of motivation, requests on this topic, and no feedback received for a while.

[amadeuszsz]

@mitsudome-r
I'm looking on all messages in autoware_internal_msgs and I'm not sure if this repository is best place for SegmentationMask. Shouldn't we place it in autoware_perception_msgs? Sorry, if I missed some comment about architecture/design decision and I'm wrong.

[amadeuszsz]

@StepTurtle
After discussion, we would like to introduce your new msg into autoware_msgs. Could you open new PR for that package? After that, please update your PRs which depend on this msg type and close this PR.

[mitsudome-r]

Let me talk with @xmfcx on this during Software WG call.
Generally speaking, autoware_msgs is for inter-component message, and we would like to put messages used internally within a component (perception module in this case) to be placed in this repo.

We are planning to refactor this repository similarly to autoware_msgs so that we have autoware_internal_perception_msgs as well.

[amadeuszsz]

@mitsudome-r
Understood. Therefore looking forward for an update after next Software WG meeting.

@StepTurtle
Sorry for inconvenience regarding requested change of your msg from my side. With reference to @mitsudome-r comment, please give us a bit time and we will back to you with final design decision. I believe this is the last remaining step to merge RTMDet into autoware.universe.

[xmfcx]

Sorry for the delays, I will open up a PR in autoware_internal_msgs to solve this problem.

[xmfcx]

• feat(autoware_internal_perception_msgs): add SegmentationMask.msg #29 was merged, we now have this message ✅