feat(lanelet2_map_validator): check whether intersection_area satisfies vm-03-08

[TaikiYamada4]

Description

This PR adds validators to autoware_lanelet2_map_validator whether the lanelet2 map satisfies the map requirement vm-03-08 written in Autoware Documentation.

Two validators are added to achieve this goal.

• mapping.intersection.intersection_area_validity
  • This validator checks whether the intersection_area polygon satisfies boost::geometry::is_valid.
• mapping.intersection.intersection_area_segment_type
  • This validator checks whether the intersection_area polygon consists of only road_border type linestrings and starting/ending edges of lanelets.

In short, this PR adds the following implementation

• New validator mapping.intersection.intersection_area_validity
• New validator mapping.intersection.intersection_area_segment_type
• Test codes and maps for both mapping.intersection.intersection_area_validity and mapping.intersection.intersection_area_segment_type
• Documents for both mapping.intersection.intersection_area_validity and mapping.intersection.intersection_area_segment_type
• Added two validators to autoware_requirement_set.json

Related links

Map requirement vm-03-08

Tests performed

1. Confirmed that colcon test --packages-select autoware_lanelet2_map_validator --event-handlers console_cohesion+ passes.
2. Confirmed that the following command shows no errors nor warnings.

ros2 run autoware_lanelet2_map_validator autoware_lanelet2_map_validator -p mgrs -m <PATH_TO_sample_map.osm> -i <PATH_TO_autoware_requirement_set.json> -o ./

Notes for reviewers

In the test code I've only made a test map to detect self-intersections and wrong orientations. Please let me know if there are other error modes to be tested.

Interface changes

None

Effects on system behavior

None

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[github-actions]

Documentation URL: https://autowarefoundation.github.io/autoware_tools/pr-171/
Modified URLs:

• https://autowarefoundation.github.io/autoware_tools/pr-171/map/autoware_lanelet2_map_validator/
• https://autowarefoundation.github.io/autoware_tools/pr-171/map/autoware_lanelet2_map_validator/intersection/intersection_area_segment_type/
• https://autowarefoundation.github.io/autoware_tools/pr-171/map/autoware_lanelet2_map_validator/intersection/intersection_area_validity/

[satoshi-ota]

looks good.