Merge branch 'main' into fix/to_plot_ndt_exe_time_ms

autowarefoundation · Nov 25, 2024 · f64898d · f64898d
2 parents 86dda8c + fdf1551
commit f64898d
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diff --git a/common/autoware_debug_tools/package.xml b/common/autoware_debug_tools/package.xml
@@ -7,6 +7,8 @@
   <maintainer email="[email protected]">Yukinari Hisaki</maintainer>
   <maintainer email="[email protected]">Satoshi Ota</maintainer>
   <maintainer email="[email protected]">Kosuke Takeuchi</maintainer>
+  <maintainer email="[email protected]">Shintaro Sakoda</maintainer>
+  <maintainer email="[email protected]">Fumiya Watanabe</maintainer>
 
   <license>Apache License 2.0</license>
 

diff --git a/map/autoware_lanelet2_map_validator/CMakeLists.txt b/map/autoware_lanelet2_map_validator/CMakeLists.txt
@@ -58,8 +58,11 @@ if(BUILD_TESTING)
     )
   endfunction()
 
-  add_validation_test(missing_regulatory_elements)
-  add_validation_test(regulatory_element_details)
+  add_validation_test(missing_regulatory_elements_for_stop_lines)
+  add_validation_test(missing_regulatory_elements_for_crosswalks)
+  add_validation_test(missing_regulatory_elements_for_traffic_lights)
+  add_validation_test(regulatory_elements_details_for_crosswalks)
+  add_validation_test(regulatory_elements_details_for_traffic_lights)
 endif()
 
 ament_auto_package(

diff --git a/...elet2_map_validator/docs/crosswalk/regulatory_element_details_for_crosswalks.md b/...elet2_map_validator/docs/crosswalk/regulatory_element_details_for_crosswalks.md
@@ -16,7 +16,7 @@ The output issue marks "lanelet", "linestring" or "regulatory_element" as the **
 | ---------------------------------------------------------------------------------------- | -------- | ------------------ | ---------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
 | "Refers of crosswalk regulatory element must have type of crosswalk."                    | Error    | lanelet            | There is a `crosswalk` subtype regulatory element whose `refers` is not a `crosswalk` subtype lanelet.                 | Check that the `refers` is a `crosswalk` subtype lanelet                                                                                                                  |
 | "ref_line of crosswalk regulatory element must have type of stopline."                   | Error    | linestring         | There is a `crosswalk` subtype regulatory element whose `ref_line` is not a `stop_line` type linestring.               | Check that the `ref_line` is a `stop_line` type linestring                                                                                                                |
-| "Crosswalk polygon of crosswalk regulatory element must have type of Crosswalk_polygon." | Error    | polygon            | There is a `crosswalk` subtype regulatory element whose `crosswalk_polygon` is not a `crosswalk_polygon` type polygon. | Check that the `crosswalk_polygon` mentioned in the regulatory element refers to a `crosswalk_polygon` type area.                                                         |
+| "Crosswalk polygon of crosswalk regulatory element must have type of crosswalk_polygon." | Error    | polygon            | There is a `crosswalk` subtype regulatory element whose `crosswalk_polygon` is not a `crosswalk_polygon` type polygon. | Check that the `crosswalk_polygon` mentioned in the regulatory element refers to a `crosswalk_polygon` type area.                                                         |
 | "Regulatory element of crosswalk must have lanelet of crosswalk(refers)."                | Error    | regulatory element | There is a `crosswalk` subtype regulatory element that has no `refers`es.                                              | Write `refers` referring to a `crosswalk` subtype lanelet in the regulatory element                                                                                       |
 | "Regulatory element of crosswalk must have only one lanelet of crosswalk(refers)."       | Error    | regulatory element | There is a `crosswalk` subtype regulatory element that has multiple `refers`es.                                        | A `crosswalk` subtype regulatory element can have only one `refers`. Remove the `refers` that is not a crosswalk lanelet.                                                 |
 | "Regulatory element of crosswalk does not have stop line(ref_line)."                     | Info     | regulatory element | There is a `crosswalk` subtype regulatory element that has no `ref_line`s                                              | Generally, there should be a stop line for the crosswalk. Be sure that the stop line exists or doesn't.                                                                   |

diff --git a/...let2_map_validator/src/validators/crosswalk/regulatory_element_details_for_crosswalks.cpp b/...let2_map_validator/src/validators/crosswalk/regulatory_element_details_for_crosswalks.cpp
@@ -115,7 +115,7 @@ RegulatoryElementsDetailsForCrosswalksValidator::checkRegulatoryElementOfCrosswa
     const auto & issue_poly = lanelet::validation::Issue(
       lanelet::validation::Severity::Error, lanelet::validation::Primitive::Polygon,
       lanelet::utils::getId(),
-      "Crosswalk polygon of crosswalk regulatory element must have type of Crosswalk_polygon.");
+      "Crosswalk polygon of crosswalk regulatory element must have type of crosswalk_polygon.");
     lanelet::autoware::validation::checkPrimitivesType(
       crosswalk_polygons, lanelet::autoware::Crosswalk::AutowareRoleNameString::CrosswalkPolygon,
       issue_poly, issues);

diff --git a/...est_describe_unused_validators_input.json → ...est_describe_unused_validators_input.json b/...est_describe_unused_validators_input.json → ...est_describe_unused_validators_input.json
diff --git a/...st_describe_unused_validators_output.json → ...st_describe_unused_validators_output.json b/...st_describe_unused_validators_output.json → ...st_describe_unused_validators_output.json
diff --git a/...2_map_validator/test/data/test_input.json → ..._validator/test/data/json/test_input.json b/...2_map_validator/test/data/test_input.json → ..._validator/test/data/json/test_input.json
diff --git a/...st_summarize_validator_results_input.json → ...st_summarize_validator_results_input.json b/...st_summarize_validator_results_input.json → ...st_summarize_validator_results_input.json
diff --git a/...t_summarize_validator_results_output.json → ...t_summarize_validator_results_output.json b/...t_summarize_validator_results_output.json → ...t_summarize_validator_results_output.json
diff --git a/...p_validator/test/data/map/crosswalk/crosswalk_regulatory_element_with_multiple_refers.osm b/...p_validator/test/data/map/crosswalk/crosswalk_regulatory_element_with_multiple_refers.osm
@@ -0,0 +1,225 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<osm generator="VMB">
+  <MetaInfo format_version="1" map_version="3"/>
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+    <tag k="subtype" v="solid"/>
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+    <nd ref="26"/>
+    <tag k="type" v="stop_line"/>
+    <tag k="subtype" v="solid"/>
+  </way>
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+    <nd ref="28"/>
+    <nd ref="29"/>
+    <tag k="type" v="stop_line"/>
+    <tag k="subtype" v="solid"/>
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+    <nd ref="22"/>
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+    <tag k="type" v="crosswalk_polygon"/>
+    <tag k="area" v="yes"/>
+  </way>
+  <relation id="7">
+    <member type="way" role="left" ref="6"/>
+    <member type="way" role="right" ref="3"/>
+    <member type="relation" role="regulatory_element" ref="31"/>
+    <tag k="type" v="lanelet"/>
+    <tag k="subtype" v="road"/>
+    <tag k="speed_limit" v="10"/>
+    <tag k="location" v="urban"/>
+    <tag k="one_way" v="yes"/>
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+    <tag k="subtype" v="road"/>
+    <tag k="speed_limit" v="10"/>
+    <tag k="location" v="urban"/>
+    <tag k="one_way" v="yes"/>
+  </relation>
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+    <member type="way" role="left" ref="17"/>
+    <member type="way" role="right" ref="14"/>
+    <tag k="type" v="lanelet"/>
+    <tag k="subtype" v="crosswalk"/>
+    <tag k="speed_limit" v="10"/>
+    <tag k="location" v="urban"/>
+    <tag k="one_way" v="yes"/>
+    <tag k="participant:pedestrian" v="yes"/>
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+    <member type="way" role="right" ref="34"/>
+    <tag k="type" v="lanelet"/>
+    <tag k="subtype" v="crosswalk"/>
+    <tag k="speed_limit" v="10"/>
+    <tag k="location" v="urban"/>
+    <tag k="one_way" v="yes"/>
+    <tag k="participant:pedestrian" v="yes"/>
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+    <member type="way" role="ref_line" ref="27"/>
+    <member type="way" role="ref_line" ref="30"/>
+    <member type="relation" role="refers" ref="18"/>
+    <member type="relation" role="refers" ref="38"/>
+    <tag k="type" v="regulatory_element"/>
+    <tag k="subtype" v="crosswalk"/>
+  </relation>
+</osm>