feat(autoware_lanelet2_map_validator): introduce autoware_lanelet2_map_validator

map/autoware_lanelet2_map_validator/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.14)
+project(autoware_lanelet2_map_validator)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+ament_auto_find_build_dependencies()
+find_package(yaml-cpp REQUIRED)
+
+include_directories(
+  src
+)
+
+file(GLOB_RECURSE autoware_lanelet2_map_validator_lib_src src/*.cpp)
+ament_auto_add_library(autoware_lanelet2_map_validator_lib SHARED
+  ${autoware_lanelet2_map_validator_lib_src}
+)
+
+ament_auto_add_executable(autoware_lanelet2_map_validator src/main.cpp)
+add_dependencies(autoware_lanelet2_map_validator autoware_lanelet2_map_validator_lib)
+target_link_libraries(autoware_lanelet2_map_validator
+  autoware_lanelet2_map_validator_lib
+  yaml-cpp
+)
+
+if(BUILD_TESTING)
+  function(add_validation_test VALIDATION_NAME)
+    ament_add_ros_isolated_gtest(
+      ${VALIDATION_NAME}_test
+      test/src/test_${VALIDATION_NAME}.cpp
+    )
+    target_link_libraries(
+      ${VALIDATION_NAME}_test
+      autoware_lanelet2_map_validator_lib
+      yaml-cpp
+    )
+  endfunction()
+
+  add_validation_test(missing_regulatory_elements)
+  add_validation_test(regulatory_element_details)
+endif()
+
+ament_auto_package()

map/autoware_lanelet2_map_validator/autoware_requirement_set.yaml

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+requirements:
+  - id: vm-04-01
+    validators:
+      - name: mapping.crosswalk.missing_regulatory_elements
+      - name: mapping.crosswalk.regulatory_element_details
+  - id: vm-05-01
+    validators:
+      - name: mapping.traffic_light.missing_regulatory_elements
+      - name: mapping.traffic_light.regulatory_element_details

map/autoware_lanelet2_map_validator/docs/crosswalk/missing_regulatory_elements_for_crosswalk.md

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+# missing_regulator_elements_for_crosswalk
+
+## Validator name
+
+mapping.crosswalk.missing_regulatory_elements
+
+## Feature
+
+This validator checks whether each `crosswalk` subtype lanelet has a relevant regulatory element.
+The issue specifies the crosswalk "lanelet" as the **primitive**, and the lanelet ID will be specified as the **ID**.
+
+| Message                                           | Severity | Description                                                                                 |
+| ------------------------------------------------- | -------- | ------------------------------------------------------------------------------------------- |
+| "No regulatory element refers to this crosswalk." | Error    | There is a `crosswalk` subtype lanelet that hasn't been referred to any regulatory element. |
+
+## Related source codes
+
+- missing_regulatory_elements_for_crosswalk.hpp
+- missing_regulatory_elements_for_crosswalk.cpp

map/autoware_lanelet2_map_validator/docs/crosswalk/regulatory_element_details_for_crosswalks.md

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+# regulatory_element_details_for_crosswalks
+
+## Validator name
+
+mapping.crosswalk.regulatory_element_details
+
+## Feature
+
+This validator checks whether the details in the `crosswalk` subtype regulatory elements are valid.
+This validator checks seven types of issues.
+
+All output issues specify the crosswalk "regulatory element" as the **primitive**, and the lanelet ID will be specified as the **ID**.
+
+| Message                                                                                  | Severity | Description                                                                                                            |
+| ---------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------------------------------------------------------------- |
+| "Refers of crosswalk regulatory element must have type of crosswalk."                    | Error    | There is a `crosswalk` subtype regulatory element whose `refers` is not a `crosswalk` subtype lanelet.                 |
+| "ref_line of crosswalk regulatory element must have type of stopline."                   | Error    | There is a `crosswalk` subtype regulatory element whose `ref_line` is not a `stop_line` type linestring.               |
+| "Crosswalk polygon of crosswalk regulatory element must have type of Crosswalk_polygon." | Error    | There is a `crosswalk` subtype regulatory element whose `crosswalk_polygon` is not a `crosswalk_polygon` type polygon. |
+| "Regulatory element of cross walk must have lanelet of crosswalk(refers)."               | Error    | There is a `crosswalk` subtype regulatory element that has no `refers`es.                                              |
+| "Regulatory element of cross walk must have only one lanelet of crosswalk(refers)."      | Error    | There is a `crosswalk` subtype regulatory element that has multiple `refers`es.                                        |
+| "Regulatory element of cross walk does not have stop line(ref_line)."                    | Info     | There is a `crosswalk` subtype regulatory element that has no `ref_line`s                                              |
+| "Regulatory element of cross walk is nice to have crosswalk_polygon."                    | Warning  | There is a `crosswalk` subtype regulatory element that has no `crosswalk_polygon`s.                                    |
+| "Regulatory element of cross walk must have only one crosswalk_polygon."                 | Error    | There is a `crosswalk` subtype regulatory element that has multiple `crosswalk_polygon`s.                              |
+
+## Related source codes
+
+- regulatory_element_details_for_crosswalks.hpp
+- regulatory_element_details_for_crosswalks.cpp

map/autoware_lanelet2_map_validator/docs/stop_line/missing_regulatory_elements_for_stop_lines.md

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+# missing_regulator_elements_for_stop_lines
+
+## Validator name
+
+mapping.stop_line.missing_regulatory_elements
+
+## Feature
+
+This validator checks whether each `stop_line` type linestring has a relevant regulatory element.
+The issue specifies the stop_line "linestring" as the **primitive**, and the lanelet ID will be specified as the **ID**.
+
+| Message                                           | Severity | Description                                                                                 |
+| ------------------------------------------------- | -------- | ------------------------------------------------------------------------------------------- |
+| "No regulatory element refers to this stop line." | Error    | There is a `stop_line` type linestring that hasn't been referred to any regulatory element. |
+
+## Related source codes
+
+- missing_regulatory_elements_for_stop_line.cpp
+- missing_regulatory_elements_for_stop_line.hpp

map/autoware_lanelet2_map_validator/docs/traffic_light/missing_regulatory_elements_for_traffic_lights.md

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+# missing_regulator_elements_for_traffic_lights
+
+## Validator name
+
+mapping.traffic_light.missing_regulatory_elements
+
+## Feature
+
+This validator checks whether each `traffic_light` type linestring has a relevant regulatory element.
+The output issue specifies the traffic_light "linestring" as the **primitive**, and the linestring ID will be specified as the **ID**.
+
+| Message                                               | Severity | Description                                                                                     |
+| ----------------------------------------------------- | -------- | ----------------------------------------------------------------------------------------------- |
+| "No regulatory element refers to this traffic light." | Error    | There is a `traffic_light` type linestring that hasn't been referred to any regulatory element. |
+
+## Related source codes
+
+- missing_regulatory_elements_for_traffic_light.hpp
+- missing_regulatory_elements_for_traffic_light.cpp

map/autoware_lanelet2_map_validator/docs/traffic_light/regulatory_element_details_for_traffic_lights.md

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+# regulatory_element_details_for_traffic_lights
+
+## Validator name
+
+mapping.traffic_light.regulatory_element_details
+
+## Feature
+
+This validator checks whether the details in the `traffic_light` subtype regulatory elements are valid.
+This validator checks four types of issues.
+
+All output issues specify the traffic_light "regulatory element" as the **primitive**, and the linestring ID will be specified as the **ID**.
+
+| Message                                                                       | Severity | Description                                                                                                    |
+| ----------------------------------------------------------------------------- | -------- | -------------------------------------------------------------------------------------------------------------- |
+| "Refers of traffic light regulatory element must have type of traffic_light." | Error    | There is a `traffic_light` subtype regulatory element whose `refers` is not a `traffic_light` type linestring. |
+| "ref_line of traffic light regulatory element must have type of stop_line."   | Error    | There is a `traffic_light` subtype regulatory element whose `ref_line` is not a `stop_line` type linestring.   |
+| "Regulatory element of traffic light must have a traffic light(refers)."      | Error    | There is a `traffic_light` subtype regulatory element that has no `refers`es.                                  |
+| "Regulatory element of traffic light must have a stop line(ref_line)."        | Error    | There is a `traffic_light` subtype regulatory element that has no `ref_line`s                                  |
+
+## Related source codes
+
+- regulatory_element_details_for_traffic_lights.hpp
+- regulatory_element_details_for_traffic_lights.cpp

map/autoware_lanelet2_map_validator/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>autoware_lanelet2_map_validator</name>
+  <version>0.1.0</version>
+  <description>Validation tool for lanelet2 maps especially for Autoware usage</description>
+  <maintainer email="[email protected]">Taiki Yamada</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>autoware_cmake</buildtool_depend>
+
+  <depend>autoware_lanelet2_extension</depend>
+  <depend>lanelet2_core</depend>
+  <depend>lanelet2_io</depend>
+  <depend>lanelet2_maps</depend>
+  <depend>lanelet2_projection</depend>
+  <depend>lanelet2_routing</depend>
+  <depend>lanelet2_traffic_rules</depend>
+  <depend>lanelet2_validation</depend>
+  <depend>yaml-cpp</depend>
+
+  <test_depend>ament_cmake_ros</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

map/autoware_lanelet2_map_validator/src/lib/cli.cpp

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+// Copyright 2023 Autoware Foundation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "lib/cli.hpp"
+
+namespace po = boost::program_options;
+
+namespace lanelet
+{
+namespace autoware
+{
+namespace validation
+{
+
+MetaConfig parseCommandLine(int argc, const char * argv[])
+{
+  MetaConfig config;
+  auto & validation_config = config.command_line_config.validationConfig;
+  po::options_description desc(
+    "Runs a set of validators on a map. Think of it like a linter. The following checks are "
+    "available:");
+  desc.add_options()("help,h", "this help message")
+
+    ("map_file,m", po::value<std::string>(), "Path to the map to be validated")
+
+      ("input_requirements,i", po::value<std::string>(),
+       "Path to the yaml file where the list of requirements and validators is written")
+
+        ("output_directory,o", po::value<std::string>(),
+         "Directory to save the list of validation results in a yaml format")
+
+          ("validator,v", po::value(&validation_config.checksFilter),
+           "Comma separated list of regexes to filter the applicable validators. Will run all "
+           "validators by "
+           "default. Example: "
+           "routing_graph.* to run all checks for the routing graph")
+
+            ("projector,p", po::value(&config.projector_type)->composing(),
+             "Projector used for loading lanelet map. Available projectors are: mgrs, utm, "
+             "transverse_mercator. (default: mgrs)")
+
+              ("location,l",
+               po::value(&validation_config.location)->default_value(validation_config.location),
+               "Location of the map (for instantiating the traffic rules), e.g. de for Germany")
+
+                ("participants", po::value(&validation_config.participants)->composing(),
+                 "Participants for which the routing graph will be instantiated (default: vehicle)")
+
+                  ("lat",
+                   po::value(&validation_config.origin.lat)
+                     ->default_value(validation_config.origin.lat),
+                   "latitude coordinate of map origin. This is required for the transverse "
+                   "mercator "
+                   "and utm projector.")
+
+                    ("lon",
+                     po::value(&validation_config.origin.lon)
+                       ->default_value(validation_config.origin.lon),
+                     "longitude coordinate of map origin. This is required for the transverse "
+                     "mercator "
+                     "and utm projector.")
+
+                      ("print", "Print all available checker without running them");
+  po::variables_map vm;
+  po::positional_options_description pos;
+  pos.add("map_file", 1);
+  po::store(po::command_line_parser(argc, argv).options(desc).positional(pos).run(), vm);
+  po::notify(vm);
+  config.command_line_config.help = vm.count("help") != 0;
+  config.command_line_config.print = vm.count("print") != 0;
+  if (vm.count("map_file") != 0) {
+    config.command_line_config.mapFile =
+      vm["map_file"].as<decltype(config.command_line_config.mapFile)>();
+  }
+  if (vm.count("input_requirements") != 0) {
+    config.requirements_file = vm["input_requirements"].as<std::string>();
+  }
+  if (vm.count("output_directory") != 0) {
+    config.output_file_path = vm["output_directory"].as<std::string>();
+  }
+  if (
+    (vm.count("lat") != 0 && vm.count("lon") != 0) &&
+    (config.projector_type == "tm" || config.projector_type == "utm")) {
+    throw std::runtime_error(
+      "Please set latitude and longitude. These are required for " + config.projector_type +
+      " projector. Please refer to the help message.");
+  }
+  if (config.command_line_config.help) {
+    std::cout << '\n' << desc;
+  } else if (config.command_line_config.mapFile.empty() && !config.command_line_config.print) {
+    std::cout << "Please pass either a valid file or '--print' or '--help'!\n";
+  }
+  return config;
+}
+
+}  // namespace validation
+}  // namespace autoware
+}  // namespace lanelet

map/autoware_lanelet2_map_validator/src/lib/cli.hpp

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+// Copyright 2023 Autoware Foundation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef LIB__CLI_HPP_
+#define LIB__CLI_HPP_
+
+#include <boost/program_options.hpp>
+
+#include <lanelet2_validation/Cli.h>
+
+#include <iostream>
+#include <string>
+
+namespace lanelet
+{
+namespace autoware
+{
+namespace validation
+{
+struct MetaConfig
+{
+  lanelet::validation::CommandLineConfig command_line_config;
+  std::string projector_type;
+  std::string requirements_file;
+  std::string output_file_path;
+};
+
+MetaConfig parseCommandLine(int argc, const char * argv[]);
+
+}  // namespace validation
+}  // namespace autoware
+}  // namespace lanelet
+
+#endif  // LIB__CLI_HPP_