feat(feature_environment_recognizer)!: add feature environment recognizer based on polygon area of LL2#11768
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…et ID matching Add a new package `autoware_feature_environment_recognizer` that recognizes feature-rich/poor environments for map matching by identifying which lanelet the current position belongs to and matching it against configured lanelet ID lists. Features: - Extract current lanelet from pose using autoware_lanelet2_utils - Classify environment based on lanelet ID matching with configurable lists - Publish environment recognition result with custom message including: * Input pose timestamp * Environment ID (-1: invalid, 0: normal, 1: uniform road, 2: feature-poor) * Confidence (reserved for future use) The package helps identify environments where map matching may be challenging due to lack of features (e.g., tunnel straight sections, uniform roads). Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com>
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- Replace lanelet ID-based matching with area (polygon) based determination - Use boost::geometry for point-in-polygon checks similar to PoseEstimatorArea - Change parameter format from environment_id_<number>.lanelet_ids to area_subtype_<name>.environment_id - Move header file from include/ to src/ directory - Update README to English and document area-based approach - Remove lanelet search logic (search_distance_threshold, search_yaw_threshold) This change allows embedding environment information directly in the map, avoiding maintenance issues when lanelet IDs change during map regeneration. Areas are defined in the Lanelet2 map with type="feature_environment_specify" and subtype matching the parameter configuration. Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com>
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Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com>
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@Motsu-san cc @TaikiYamada4 @YamatoAndo As we decided to migrate tier4 launchers into autoware_launch repository, |
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This pull request has been automatically marked as stale because it has not had recent activity. |
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This package determines which area (polygon) in a Lanelet2 map the current position belongs to and identifies the environment ID based on the area's subtype. It can be used to identify environments with rich/poor features for map matching.
By using area-based determination instead of lanelet IDs, information can be directly embedded in the map, avoiding issues where lanelet IDs change when the map is regenerated.
Features:
The package helps identify environments where map matching may be challenging due to lack of features (e.g., tunnel straight sections, uniform roads).
Description
Related links
autowarefoundation/autoware_launch#1717
Parent Issue:
How was this PR tested?
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.