chore(autoware_lanelet2_map_validator): add requirement vm-02-02 to a…

…utoware_requirement_set (#143) * Add Sobue-san as maintainer of autoware_lanelet2_map_validator Signed-off-by: TaikiYamada4 <[email protected]> * Added maintainers to autoware_lanelet2_map_validator Signed-off-by: TaikiYamada4 <[email protected]> * Added vm-02-02 to autoware_requirement_set.json Signed-off-by: TaikiYamada4 <[email protected]> * Fixed error of autoware_lanelet2_map_validator template Signed-off-by: TaikiYamada4 <[email protected]> * Detect stop lines that are referred as `refers` role. Signed-off-by: TaikiYamada4 <[email protected]> --------- Signed-off-by: TaikiYamada4 <[email protected]>
autowarefoundation · Nov 5, 2024 · 3c33924 · 3c33924
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Showing 4 changed files with 23 additions and 2 deletions.
diff --git a/map/autoware_lanelet2_map_validator/README.md b/map/autoware_lanelet2_map_validator/README.md
@@ -278,7 +278,7 @@ The "Validators" column will be blank if it hasn't be implemented.
 | vm-01-17 | Side strip                                              |                                                                                                                                                                                                                                                                 |
 | vm-01-18 | Side strip Linestring sharing                           |                                                                                                                                                                                                                                                                 |
 | vm-01-19 | Walkway                                                 |                                                                                                                                                                                                                                                                 |
-| vm-02-01 | Stop line alignment                                     |                                                                                                                                                                                                                                                                 |
+| vm-02-01 | Stop line alignment                                     | (Not detectable)                                                                                                                                                                                                                                                |
 | vm-02-02 | Stop sign                                               | [mapping.stop_line.missing_regulatory_elements](./docs/stop_line/missing_regulatory_elements_for_stop_lines.md)                                                                                                                                                 |
 | vm-03-01 | Intersection criteria                                   |                                                                                                                                                                                                                                                                 |
 | vm-03-02 | Lanelet's turn direction and virtual                    |                                                                                                                                                                                                                                                                 |

diff --git a/map/autoware_lanelet2_map_validator/autoware_requirement_set.json b/map/autoware_lanelet2_map_validator/autoware_requirement_set.json
@@ -1,5 +1,13 @@
 {
   "requirements": [
+    {
+      "id": "vm-02-02",
+      "validators": [
+        {
+          "name": "mapping.stop_line.missing_regulatory_elements"
+        }
+      ]
+    },
     {
       "id": "vm-04-01",
       "validators": [

diff --git a/...et2_map_validator/src/validators/stop_line/missing_regulatory_elements_for_stop_lines.cpp b/...et2_map_validator/src/validators/stop_line/missing_regulatory_elements_for_stop_lines.cpp
@@ -63,21 +63,31 @@ MissingRegulatoryElementsForStopLinesValidator::checkMissingRegulatoryElementsFo
   // Filter regulatory elements whose ref_line type is stop line
   auto reg_elem_sl = map.regulatoryElementLayer | ranges::views::filter([](auto && elem) {
                        const auto & params = elem->getParameters();
-                       return params.find(lanelet::RoleNameString::RefLine) != params.end();
+                       return (params.find(lanelet::RoleNameString::RefLine) != params.end()) ||
+                              (params.find(lanelet::RoleNameString::Refers) != params.end());
                      });
 
   // Get all line strings of stop line referred by regulatory elements
   std::set<lanelet::Id> sl_ids_reg_elem;
   for (const auto & elem : reg_elem_sl) {
     const auto & ref_lines =
       elem->getParameters<lanelet::ConstLineString3d>(lanelet::RoleName::RefLine);
+    const auto & refers =
+      elem->getParameters<lanelet::ConstLineString3d>(lanelet::RoleName::Refers);
     for (const auto & ref_line : ref_lines) {
       const auto & attrs = ref_line.attributes();
       const auto & it = attrs.find(lanelet::AttributeName::Type);
       if (it != attrs.end() && it->second == lanelet::AttributeValueString::StopLine) {
         sl_ids_reg_elem.insert(ref_line.id());
       }
     }
+    for (const auto & ref : refers) {
+      const auto & attrs = ref.attributes();
+      const auto & it = attrs.find(lanelet::AttributeName::Type);
+      if (it != attrs.end() && it->second == lanelet::AttributeValueString::StopLine) {
+        sl_ids_reg_elem.insert(ref.id());
+      }
+    }
   }
 
   // Check if all line strings of stop line referred by regulatory elements

diff --git a/map/autoware_lanelet2_map_validator/src/validators/validator_template.cpp b/map/autoware_lanelet2_map_validator/src/validators/validator_template.cpp
@@ -18,7 +18,10 @@ namespace lanelet
 {
 namespace validation
 {
+namespace
+{
 lanelet::validation::RegisterMapValidator<ValidatorTemplate> reg;
+}
 
 lanelet::validation::Issues ValidatorTemplate::operator()(const lanelet::LaneletMap & map)
 {