feat: add lanelet2 divider tool

Signed-off-by: Barış Zeren <[email protected]>

map/autoware_lanelet2_divider/README.md

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+# autoware_lanalet2_divider
+
+This is a lanelet2 tile generator tool for Autoware dynamic lanelet2 map loading feature.
+
+Working principal of this tool is sequentally:
+- Take the inputs from the user
+- Generate square grids according to the input MGRS grid
+- Filter generated square grids with the input lanelet2_map.osm
+- Generate map tiles from filtered grids and input lanelet2_map.osm with Osmium Tool
+
+- [autoware_lanalet2_divider](#autoware_lanalet2_divider)
+  - [System Requirements](#system-requirements)
+  - [Inputs](#inputs)
+    - [MGRS Grid](#mgrs-grid)
+    - [Grid Edge Size](#grid-edge-size)
+    - [Input Lanelet2 Map Path](#input-lanelet2-map-path)
+  - [Outputs](#outputs)
+    - [lanelet2_map.osm Folder](#lanelet2_maposm-folder)
+    - [lanelet2_map_metadata.yaml](#lanelet2_map_metadatayaml)
+    - [config.json Files](#configjson-files)
+    - [output_layers.gpkg](#output_layersgpkg)
+  - [Installation](#installation)
+    - [Poetry](#poetry)
+    - [Osmium Tool](#osmium-tool)
+    - [autoware_lanalet2_divider Python Dependencies](#autoware_lanalet2_divider-python-dependencies)
+  - [Running](#running)
+  - [Example Data](#example-data)
+    - [Yildiz Technical University Original Lanelet2 Map](#yildiz-technical-university-original-lanelet2-map)
+    - [Yildiz Technical University Extended Lanelet2 Map (Synthetic)](#yildiz-technical-university-extended-lanelet2-map-synthetic)
+  - [Params](#params)
+
+## System Requirements
+
+- [Python](https://www.python.org/) (tested with 3.10)
+- [Poetry package](https://python-poetry.org/docs/)
+- [Osmium Tool](https://github.com/osmcode/osmium-tool)
+
+## Inputs
+
+### MGRS Grid
+
+100 kilometer MGRS grid that the input lanelet2_map is in. This is needed for generating the grids inside of the
+MGRS grid and filtering them.
+
+### Grid Edge Size
+
+This determines the vertice length of the generated map tiles. Map tiles are generated with squares and the edges of
+those squares are determined by the user's input.
+
+### Input Lanelet2 Map Path
+
+The full path of the input `lanelet2_map.osm`. This file won't be corrupted.
+
+## Outputs
+
+### lanelet2_map.osm Folder
+
+This is a folder. Autoware's dynamic lanelet2 map loading pipeline needs this folder to find generated map-tiles.
+It contains all the generated lanelet2 maps.
+
+### lanelet2_map_metadata.yaml
+
+This metadata file holds the origin points of all the generated lanelet2 map files inside the `lanelet2_map.osm`
+folder. Origin point of each lanelet2 map is the coordinates of the left bottom vertice of the corresponding
+square created with `mgrs_grid` and `grid_edge_size` parameters.
+
+### config.json Files
+
+Those files contain the coordinates of the vertices of the created squares. With those coordinates, **Osmium Tool**
+runs an **extract** operation and divides the input lanelet2_map.osm file.
+
+### output_layers.gpkg
+
+This file contains the geographical visualization for generated data. This is not used in Autoware or somewhere else.
+It is generating only for debugging the output files. [QGIS](https://qgis.org/en/site/) can be used for opening this
+file. You need to see the visualizations of generated grids, filtered grids and input lanelet2 map.
+<p align='center'>
+    <img src="docs/img_ytu_layers.png" alt="img_ytu_layers" width="60%"/>
+</p>
+<p align='center'>
+    <img src="docs/img_ytu_extended_layers_full.png" alt="img_ytu_extended_layers_full" width="57%"/>
+    <img src="docs/img_ytu_extended_layers.png" alt="img_ytu_extended_layers" width="40%"/>
+</p>
+
+## Installation
+
+Additional to `colcon build`, you have to follow individual installation steps for the tools that are used in this
+project.
+
+### Poetry:
+
+```bash
+pip install poetry
+```
+
+### Osmium Tool
+
+https://github.com/osmcode/osmium-tool?tab=readme-ov-file#building
+
+```bash
+cd <path-to-libraries>
+git clone https://github.com/osmcode/osmium-tool.git
+cd osmium-tool
+mkdir build
+cd build
+cmake ..
+ccmake .  ## optional: change CMake settings if needed
+make
+```
+
+### autoware_lanalet2_divider Python Dependencies
+
+```bash
+cd <path-to-autoware_tools/map/autoware_lanalet2_divider>
+pip install -r requirements.txt
+```
+
+## Running
+
+Before running the tool, you should check the `config/lanelet2_divider.param.yaml` file. You can change the default
+parameters from this file.
+
+```bash
+ros2 run autoware_lanelet2_divider lanelet2_divider --ros-args --params-file install/autoware_lanelet2_divider/share/autoware_lanelet2_divider/lanelet2_divider.param.yaml
+```
+
+## Example Data
+### Yildiz Technical University Original Lanelet2 Map
+This is an original lanelet2 map file that contains stop lines, speed bumps or other regulatory elements:
+https://drive.google.com/drive/folders/1VFN0zidAHzIuQCnznVaFzefqqdRS_X5l?usp=drive_link
+
+<p align='center'>
+    <img src="docs/img_ytu_original.png" alt="img_ytu_original" width="60%"/>
+</p>
+
+### Yildiz Technical University Extended Lanelet2 Map (Synthetic)
+This is the extended version of the original lanelet2 map file. We extended it to 80 kilometers by hand.
+Still it contains all the regulatory elements:
+https://drive.google.com/drive/folders/1CRBYp19_NXzHXxL9JkO_ffbhGARoRaAV?usp=drive_link
+
+<p align='center'>
+    <img src="docs/img_ytu_extended.png" alt="img_ytu_extended"/>
+</p>
+
+## Params
+
+| Param              | Description                                             |
+|--------------------|---------------------------------------------------------|
+| mgrs_grid          | The 100 kilometer MGRS grid that the lanelet2 map is in |
+| grid_edge_size     | Wanted edge length in meters for map-tiles to generate  |
+| input_lanelet2_map | Full path of the lanelet2_map to divide                 |
+| output_folder      | Full path of the output folder to fill                  |

map/autoware_lanelet2_divider/autoware_lanelet2_divider/__init__.py

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+import importlib.metadata as importlib_metadata
+
+try:
+    # This will read version from pyproject.toml
+    __version__ = importlib_metadata.version(__package__ or __name__)
+except importlib_metadata.PackageNotFoundError:
+    __version__ = "development"
+
+from .autoware_lanelet2_divider import AutowareLanlet2Divider
+import autoware_lanelet2_divider.osmium_tool.osmium_tool as osmium_tool
+import autoware_lanelet2_divider.xml_tool.xml_tool as xml_tool
+import autoware_lanelet2_divider.data_preperation.data_preperation as data_preparation
+from autoware_lanelet2_divider.debug import Debug, DebugMessageType

map/autoware_lanelet2_divider/autoware_lanelet2_divider/autoware_lanelet2_divider.py

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+import rclpy
+from rclpy.node import Node
+
+import autoware_lanelet2_divider.osmium_tool.osmium_tool as osmium_tool
+import autoware_lanelet2_divider.xml_tool.xml_tool as xml_tool
+import autoware_lanelet2_divider.data_preperation.data_preperation as data_preparation
+from autoware_lanelet2_divider.debug import Debug, DebugMessageType
+
+import os
+
+class AutowareLanlet2Divider(Node):
+    def __init__(self):
+        super().__init__('autoware_lanelet2_divider')
+        Debug.log('Autoware Lanelet2 Divider Node has been started.', DebugMessageType.INFO)
+
+        self.declare_params()
+
+        self.input_lanelet2_map_path = self.get_parameter('input_lanelet2_map_path').get_parameter_value().string_value
+        self.output_folder_path = self.get_parameter('output_folder_path').get_parameter_value().string_value
+        self.mgrs_grid = self.get_parameter('mgrs_grid').get_parameter_value().string_value
+        self.grid_edge_size = self.get_parameter('grid_edge_size').get_parameter_value().integer_value
+
+        Debug.log('Input Lanelet2 Map Path: %s' % self.input_lanelet2_map_path, DebugMessageType.INFO)
+        Debug.log('Output Folder Path: %s' % self.output_folder_path, DebugMessageType.INFO)
+        Debug.log('MGRS Grid: %s' % self.mgrs_grid, DebugMessageType.INFO)
+        Debug.log('Grid Edge Size: %d' % self.grid_edge_size, DebugMessageType.INFO)
+
+        # Complete if missing "version" element in lanelet2_map.osm
+        xml_tool.complete_missing_version_tag(self.input_lanelet2_map_path)
+
+        # Create config file to extract osm file
+        config_files = data_preparation.data_preparation(self.mgrs_grid, self.grid_edge_size, self.input_lanelet2_map_path, self.output_folder_path)
+        # Extract osm file
+        for config_file_path in config_files:
+            is_extracted = osmium_tool.extract_osm_file(self.input_lanelet2_map_path, config_file_path,
+                                                os.path.join(self.output_folder_path, "lanelet2_map.osm"))
+            if not is_extracted:
+                Debug.log("Failed to extract osm file.\n", DebugMessageType.ERROR)
+                rclpy.shutdown()
+
+        # Complete missing elements in osm file
+        xml_tool.complete_missing_elements(self.input_lanelet2_map_path, os.path.join(self.output_folder_path, "lanelet2_map.osm"))
+
+        Debug.log('Autoware Lanelet2 Divider Node has been finished.', DebugMessageType.SUCCESS)
+        exit(0)
+
+    def declare_params(self) -> None:
+        self.declare_parameter('input_lanelet2_map_path', '')
+        self.declare_parameter('output_folder_path', '')
+        self.declare_parameter('mgrs_grid', '')
+        self.declare_parameter('grid_edge_size', 100)
+
+def main(args=None):
+    rclpy.init(args=args)
+    autoware_lanelet2_divider = AutowareLanlet2Divider()
+    rclpy.spin(autoware_lanelet2_divider)
+    autoware_lanelet2_divider.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()