From 6d0a454f667960790fc2b2583699394739e6cf10 Mon Sep 17 00:00:00 2001
From: Mamoru Sobue <hilo.soblin@gmail.com>
Date: Wed, 4 Sep 2024 18:31:36 +0900
Subject: [PATCH] feat(behavior_planning): update test map for BusStopArea and
 bicycle_lanes (#8694)

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
---
 .../CMakeLists.txt                            |    2 +-
 .../test_map/road_shoulder/lanelet2_map.osm   |   93 +-
 .../test_map/intersection/lanelet2_map.osm    | 7112 +++++++++--------
 3 files changed, 3805 insertions(+), 3402 deletions(-)

diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt
index 2c2dd723d9e3e..4a2891e116cc8 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt
@@ -58,4 +58,4 @@ if(BUILD_TESTING)
   )
 endif()
 
-ament_auto_package()
+ament_auto_package(INSTALL_TO_SHARE test_map)
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test_map/road_shoulder/lanelet2_map.osm b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test_map/road_shoulder/lanelet2_map.osm
index 53954c3ca47aa..8539aec143d67 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test_map/road_shoulder/lanelet2_map.osm
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test_map/road_shoulder/lanelet2_map.osm
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <osm generator="VMB">
-  <MetaInfo format_version="1" map_version="1"/>
+  <MetaInfo format_version="2" map_version="1"/>
   <node id="8" lat="0.00091815748" lon="-1.20048259655">
     <tag k="local_x" v="274.3833"/>
     <tag k="local_y" v="101.5344"/>
@@ -6793,6 +6793,66 @@
     <tag k="local_y" v="406.4862"/>
     <tag k="ele" v="100"/>
   </node>
+  <node id="18501" lat="0.00389152267" lon="-1.19773255123">
+    <tag k="local_x" v="580.5463"/>
+    <tag k="local_y" v="430.3445"/>
+    <tag k="ele" v="100"/>
+  </node>
+  <node id="18502" lat="0.00384556171" lon="-1.19774034165">
+    <tag k="local_x" v="579.679"/>
+    <tag k="local_y" v="425.2619"/>
+    <tag k="ele" v="100"/>
+  </node>
+  <node id="18503" lat="0.00374086677" lon="-1.19772799573">
+    <tag k="local_x" v="581.0535"/>
+    <tag k="local_y" v="413.6842"/>
+    <tag k="ele" v="100"/>
+  </node>
+  <node id="18505" lat="0.00373707518" lon="-1.19775601055">
+    <tag k="local_x" v="577.9346"/>
+    <tag k="local_y" v="413.2649"/>
+    <tag k="ele" v="100"/>
+  </node>
+  <node id="18506" lat="0.00377689158" lon="-1.1977642023">
+    <tag k="local_x" v="577.0226"/>
+    <tag k="local_y" v="417.668"/>
+    <tag k="ele" v="100"/>
+  </node>
+  <node id="18507" lat="0.00384385179" lon="-1.19777165834">
+    <tag k="local_x" v="576.1925"/>
+    <tag k="local_y" v="425.0728"/>
+    <tag k="ele" v="100"/>
+  </node>
+  <node id="18513" lat="0.00358160582" lon="-1.20050835808">
+    <tag k="local_x" v="271.5149"/>
+    <tag k="local_y" v="396.0717"/>
+    <tag k="ele" v="100"/>
+  </node>
+  <node id="18514" lat="0.00369930538" lon="-1.20050796442">
+    <tag k="local_x" v="271.5587"/>
+    <tag k="local_y" v="409.0875"/>
+    <tag k="ele" v="100"/>
+  </node>
+  <node id="18516" lat="0.00369927458" lon="-1.20048351553">
+    <tag k="local_x" v="274.2806"/>
+    <tag k="local_y" v="409.0841"/>
+    <tag k="ele" v="100"/>
+  </node>
+  <node id="18517" lat="0.00369951331" lon="-1.20048055228">
+    <tag k="local_x" v="274.6105"/>
+    <tag k="local_y" v="409.1105"/>
+    <tag k="ele" v="100"/>
+  </node>
+  <node id="18518" lat="0.00358228669" lon="-1.20048067826">
+    <tag k="local_x" v="274.5965"/>
+    <tag k="local_y" v="396.147"/>
+    <tag k="ele" v="100"/>
+  </node>
+  <node id="18519" lat="0.00358218454" lon="-1.20050037103">
+    <tag k="local_x" v="272.4041"/>
+    <tag k="local_y" v="396.1357"/>
+    <tag k="ele" v="100"/>
+  </node>
   <way id="53">
     <nd ref="49"/>
     <nd ref="50"/>
@@ -9012,6 +9072,25 @@
     <tag k="type" v="parking_lot"/>
     <tag k="area" v="yes"/>
   </way>
+  <way id="18508">
+    <nd ref="18502"/>
+    <nd ref="18503"/>
+    <nd ref="18505"/>
+    <nd ref="18506"/>
+    <nd ref="18507"/>
+    <tag k="type" v="bus_stop_area"/>
+    <tag k="area" v="yes"/>
+  </way>
+  <way id="18520">
+    <nd ref="18513"/>
+    <nd ref="18514"/>
+    <nd ref="18516"/>
+    <nd ref="18517"/>
+    <nd ref="18518"/>
+    <nd ref="18519"/>
+    <tag k="type" v="bus_stop_area"/>
+    <tag k="area" v="yes"/>
+  </way>
   <relation id="14">
     <member type="way" role="left" ref="1241"/>
     <member type="way" role="right" ref="1243"/>
@@ -9042,6 +9121,7 @@
   <relation id="66">
     <member type="way" role="left" ref="62"/>
     <member type="way" role="right" ref="1271"/>
+    <member type="relation" role="regulatory_element" ref="18521"/>
     <tag k="type" v="lanelet"/>
     <tag k="subtype" v="road_shoulder"/>
     <tag k="speed_limit" v="10"/>
@@ -9963,6 +10043,7 @@
   <relation id="18500">
     <member type="way" role="left" ref="18491"/>
     <member type="way" role="right" ref="18490"/>
+    <member type="relation" role="regulatory_element" ref="18512"/>
     <tag k="type" v="lanelet"/>
     <tag k="subtype" v="road_shoulder"/>
     <tag k="speed_limit" v="20"/>
@@ -9974,4 +10055,14 @@
     <tag k="type" v="regulatory_element"/>
     <tag k="subtype" v="no_parking_area"/>
   </relation>
+  <relation id="18512">
+    <member type="way" role="refers" ref="18508"/>
+    <tag k="type" v="regulatory_element"/>
+    <tag k="subtype" v="bus_stop_area"/>
+  </relation>
+  <relation id="18521">
+    <member type="way" role="refers" ref="18520"/>
+    <tag k="type" v="regulatory_element"/>
+    <tag k="subtype" v="bus_stop_area"/>
+  </relation>
 </osm>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test_map/intersection/lanelet2_map.osm b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test_map/intersection/lanelet2_map.osm
index f6ed497461c2e..70ebd23ae88ee 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test_map/intersection/lanelet2_map.osm
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test_map/intersection/lanelet2_map.osm
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <osm generator="VMB">
-  <MetaInfo format_version="1" map_version="1"/>
+  <MetaInfo format_version="2" map_version="1"/>
   <node id="3004524" lat="0.00811104094" lon="-1.19961327077">
     <tag k="local_x" v="371.1636"/>
     <tag k="local_y" v="896.9595"/>
@@ -7139,5793 +7139,5958 @@
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     <tag k="ele" v="100"/>
   </node>
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-    <tag k="local_y" v="1087.7177773484277"/>
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+    <tag k="local_y" v="1087.7178"/>
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   </node>
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   </node>
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+    <tag k="local_x" v="1210.42"/>
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+    <tag k="local_x" v="1173.0076"/>
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+    <tag k="local_x" v="1173.0662"/>
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+    <tag k="ele" v="100"/>
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+    <tag k="local_x" v="1127.748"/>
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+    <tag k="ele" v="100"/>
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+    <tag k="local_x" v="1158.1237"/>
+    <tag k="local_y" v="836.9729"/>
+    <tag k="ele" v="100"/>
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+    <tag k="local_x" v="905.9761"/>
+    <tag k="local_y" v="833.851"/>
+    <tag k="ele" v="100"/>
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+    <tag k="local_x" v="1126.9098"/>
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   <way id="3006380">
     <nd ref="3004828"/>
     <nd ref="3004662"/>
@@ -17803,6 +17968,85 @@
     <tag k="type" v="light_bulbs"/>
     <tag k="subtype" v="solid"/>
   </way>
+  <way id="3025301">
+    <nd ref="3025299"/>
+    <nd ref="3025300"/>
+    <tag k="type" v="line_thin"/>
+    <tag k="subtype" v="solid"/>
+  </way>
+  <way id="3025309">
+    <nd ref="3025299"/>
+    <nd ref="3025307"/>
+    <nd ref="3025308"/>
+    <tag k="type" v="line_thin"/>
+    <tag k="subtype" v="solid"/>
+  </way>
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+    <nd ref="3025300"/>
+    <nd ref="3025315"/>
+    <nd ref="3025316"/>
+    <nd ref="3025317"/>
+    <nd ref="3025318"/>
+    <nd ref="3025319"/>
+    <nd ref="3025320"/>
+    <nd ref="3025321"/>
+    <nd ref="3025322"/>
+    <nd ref="3025323"/>
+    <nd ref="3025324"/>
+    <nd ref="3025325"/>
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+    <nd ref="3025327"/>
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+    <nd ref="3025331"/>
+    <nd ref="3025332"/>
+    <nd ref="3025333"/>
+    <nd ref="3025334"/>
+    <nd ref="3025335"/>
+    <tag k="type" v="line_thin"/>
+    <tag k="subtype" v="solid"/>
+  </way>
+  <way id="3025340">
+    <nd ref="3025338"/>
+    <nd ref="3025339"/>
+    <nd ref="3025300"/>
+    <tag k="type" v="line_thin"/>
+    <tag k="subtype" v="solid"/>
+  </way>
+  <way id="3025343">
+    <nd ref="3025341"/>
+    <nd ref="3025342"/>
+    <nd ref="3024163"/>
+    <tag k="type" v="line_thin"/>
+    <tag k="subtype" v="solid"/>
+  </way>
+  <way id="3025348">
+    <nd ref="3025346"/>
+    <nd ref="3025347"/>
+    <tag k="type" v="line_thin"/>
+    <tag k="subtype" v="solid"/>
+  </way>
+  <way id="3025352">
+    <nd ref="3025350"/>
+    <nd ref="3025351"/>
+    <nd ref="3025346"/>
+    <tag k="type" v="line_thin"/>
+    <tag k="subtype" v="solid"/>
+  </way>
+  <way id="3025369">
+    <nd ref="3025367"/>
+    <nd ref="3025368"/>
+    <tag k="type" v="line_thin"/>
+    <tag k="subtype" v="solid"/>
+  </way>
+  <way id="3025373">
+    <nd ref="3025371"/>
+    <nd ref="3025372"/>
+    <nd ref="3025367"/>
+    <tag k="type" v="line_thin"/>
+    <tag k="subtype" v="solid"/>
+  </way>
   <way id="3008126">
     <nd ref="3005482"/>
     <nd ref="3007044"/>
@@ -17928,10 +18172,6 @@
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     <nd ref="3024192"/>
@@ -19766,6 +20006,78 @@
     <tag k="one_way" v="yes"/>
     <tag k="participant:vehicle" v="yes"/>
   </relation>
+  <relation id="3025302">
+    <member type="way" role="left" ref="3025301"/>
+    <member type="way" role="right" ref="3025111"/>
+    <tag k="type" v="lanelet"/>
+    <tag k="subtype" v="bicycle_lane"/>
+    <tag k="speed_limit" v="10"/>
+    <tag k="location" v="urban"/>
+    <tag k="one_way" v="yes"/>
+  </relation>
+  <relation id="3025310">
+    <member type="way" role="left" ref="3025309"/>
+    <member type="way" role="right" ref="3025173"/>
+    <tag k="type" v="lanelet"/>
+    <tag k="subtype" v="bicycle_lane"/>
+    <tag k="speed_limit" v="10"/>
+    <tag k="location" v="urban"/>
+    <tag k="one_way" v="yes"/>
+  </relation>
+  <relation id="3025337">
+    <member type="way" role="left" ref="3025336"/>
+    <member type="way" role="right" ref="3025130"/>
+    <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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+    <member type="way" role="left" ref="3025340"/>
+    <member type="way" role="right" ref="3025343"/>
+    <tag k="type" v="lanelet"/>
+    <tag k="subtype" v="bicycle_lane"/>
+    <tag k="speed_limit" v="10"/>
+    <tag k="location" v="urban"/>
+    <tag k="one_way" v="yes"/>
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+    <member type="way" role="left" ref="3025348"/>
+    <member type="way" role="right" ref="3025094"/>
+    <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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+    <member type="way" role="left" ref="3025352"/>
+    <member type="way" role="right" ref="3025089"/>
+    <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"/>
+  </relation>
+  <relation id="3025370">
+    <member type="way" role="left" ref="3025369"/>
+    <member type="way" role="right" ref="3025107"/>
+    <tag k="type" v="lanelet"/>
+    <tag k="subtype" v="road_shoulder"/>
+    <tag k="speed_limit" v="10"/>
+    <tag k="location" v="urban"/>
+    <tag k="one_way" v="yes"/>
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+  <relation id="3025374">
+    <member type="way" role="left" ref="3025373"/>
+    <member type="way" role="right" ref="3025177"/>
+    <tag k="type" v="lanelet"/>
+    <tag k="subtype" v="road_shoulder"/>
+    <tag k="speed_limit" v="10"/>
+    <tag k="location" v="urban"/>
+    <tag k="one_way" v="yes"/>
+  </relation>
   <relation id="3006533">
     <member type="way" role="refers" ref="3006532"/>
     <tag k="type" v="regulatory_element"/>