feat(autoware_localized_position_validator): add localized position validator

[a-maumau]

Description

This PR will add a new package autoware_localized_position_validator which validate the localized position independently.

localized_position_validator is trained on a dataset consist from pointcloud of map, points_aligned topic from NDT scan matcher, and odometry topic. It will predict validity of the current ego's self-localized position.

Dependency

tier4/tier4_autoware_msgs#195

• this package needs the new message to run.

Compilation

See README.md in this PR for compilation.

Note

This package will not be compiled by default.
Use SKIP_THIS_PACKAGE=OFF argument for compilation. For example:

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DSKIP_THIS_PACKAGE=OFF --packages-up-> to autoware_localized_position_validator

This is because compilation for the LibTorch take a long time.

Input / Output

Inputs

Name	Type	Description
input/odometry	nav_msgs::msg::Odometry	Ego vehicle odometry topic.
input/pointcloud_map	sensor_msgs::msg::PointCloud2	Map (when partial map loading option is false)
input/partial_pointcloud_map	autoware_map_msgs::srv::GetPartialPointCloudMap	Map (when partial map loading option is true)
input/pointcloud	sensor_msgs::msg::PointCloud2	Topic from NDT (points_aligned)

Output

Name	Type	Description
validation_result	tier4_localization_msgs::msg::LocalizedPositionValidatorPrediction	Prediction result

Related links

Parent Issue:

• Link

How was this PR tested?

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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