86 new segmentation node

[okrusch]

Description

I build a new rosnode that uses object-detection and image-segmentation.

Fixes # (86)

Type of change

Please delete options that are not relevant.

• New feature (non-breaking change which adds functionality)

Does this PR introduce a breaking change?

We have a new running node in the perception

Most important changes

Running VisionNode.
Visualisation of model output in Rviz.

Checklist:

• My code follows the style guidelines of this project
• I have performed a self-review of my own code
• I have commented my code, particularly in hard-to-understand areas
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works (might be obsolete with CI later on)
• New and existing unit tests pass locally with my changes (might be obsolete with CI later on)

[github-actions]

Simulation results

Metric	Value
Avg. driving score	0.01456
Avg. route completion	0.05
Avg. infraction penalty	0.364
Collisions with pedestrians	0.364
Collisions with vehicles	0.0
Collisions with layout	146.027
Red lights infractions	292.055
Stop sign infractions	0.0
Off-road infractions	0.0
Route deviations	0
Route timeouts	0.0
Agent blocked	292.055
Yield emergency vehicles infractions	0.0
Scenario timeouts	0.0
Min speed infractions	292.055
undefined	0.0

[MaxJa4]

Looks good overall.
Looking forward to see it "live" with close to real-time performance when CUDA works.
Maybe adding FP16 mode helps with the OOM issue. CUDA not working might be due to old/wrong cuda/torch versions in the image or locally.

[MaxJa4]

The linter fails in the docs file.

[github-actions]

Simulation results

Metric	Value
Avg. driving score	0.006941
Avg. route completion	0.11
Avg. infraction penalty	0.249718
Collisions with pedestrians	0.249718
Collisions with vehicles	0.0
Collisions with layout	134.193
Red lights infractions	201.29
Stop sign infractions	0.0
Off-road infractions	0.0
Route deviations	0.01
Route timeouts	0.0
Agent blocked	134.193
Yield emergency vehicles infractions	0.0
Scenario timeouts	0.0
Min speed infractions	67.097
undefined	0.0

[github-actions]

Simulation results

Metric	Value
Avg. driving score	0.010465
Avg. route completion	0.035
Avg. infraction penalty	0.364
Collisions with pedestrians	0.364
Collisions with vehicles	0.0
Collisions with layout	206.865
Red lights infractions	413.731
Stop sign infractions	0.0
Off-road infractions	0.0
Route deviations	0
Route timeouts	0.0
Agent blocked	413.731
Yield emergency vehicles infractions	0.0
Scenario timeouts	0.0
Min speed infractions	413.731
undefined	0.0