feat(autoware_lanelet2_map_visualizer): porting autoware_lanelet2_map_visualizer from autoware_universe (#428)

Signed-off-by: NorahXiong <[email protected]>
Co-authored-by: Ryohsuke Mitsudome <[email protected]>

Author: NorahXiong

map/autoware_lanelet2_map_visualizer/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.14)
+project(autoware_lanelet2_map_visualizer)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+ament_auto_add_library(lanelet2_map_visualization_node SHARED
+  src/lanelet2_map_visualization_node.cpp
+)
+
+rclcpp_components_register_node(lanelet2_map_visualization_node
+  PLUGIN "autoware::lanelet2_map_visualizer::Lanelet2MapVisualizationNode"
+  EXECUTABLE lanelet2_map_visualization
+)
+
+ament_auto_package(INSTALL_TO_SHARE
+  launch
+)

map/autoware_lanelet2_map_visualizer/README.md

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+# autoware_lanelet2_map_visualizer package
+
+This package provides the features of visualizing the lanelet2 maps.
+
+## lanelet2_map_visualization
+
+### Feature
+
+lanelet2_map_visualization visualizes autoware_map_msgs/LaneletMapBin messages into visualization_msgs/MarkerArray.
+
+### How to Run
+
+`ros2 run autoware_lanelet2_map_visualizer lanelet2_map_visualization`
+
+### Subscribed Topics
+
+- ~input/lanelet2_map (autoware_map_msgs/LaneletMapBin) : binary data of Lanelet2 Map
+
+### Published Topics
+
+- ~output/lanelet2_map_marker (visualization_msgs/MarkerArray) : visualization messages for RViz

map/autoware_lanelet2_map_visualizer/launch/lanelet2_map_visualizer.launch.xml

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+<launch>
+  <arg name="lanelet2_map_topic" default="vector_map"/>
+  <arg name="lanelet2_map_marker_topic" default="vector_map_marker"/>
+
+  <node pkg="autoware_lanelet2_map_visualizer" exec="lanelet2_map_visualization" name="lanelet2_map_visualization" output="both">
+    <remap from="input/lanelet2_map" to="$(var lanelet2_map_topic)"/>
+    <remap from="output/lanelet2_map_marker" to="$(var lanelet2_map_marker_topic)"/>
+  </node>
+</launch>

map/autoware_lanelet2_map_visualizer/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>autoware_lanelet2_map_visualizer</name>
+  <version>0.0.0</version>
+  <description>The autoware_lanelet2_map_visualizer package</description>
+  <maintainer email="[email protected]">Yamato Ando</maintainer>
+  <maintainer email="[email protected]">Ryu Yamamoto</maintainer>
+  <maintainer email="[email protected]">Masahiro Sakamoto</maintainer>
+  <maintainer email="[email protected]">Kento Yabuuchi</maintainer>
+  <maintainer email="[email protected]">NGUYEN Viet Anh</maintainer>
+  <maintainer email="[email protected]">Taiki Yamada</maintainer>
+  <maintainer email="[email protected]">Shintaro Sakoda</maintainer>
+  <maintainer email="[email protected]">Mamoru Sobue</maintainer>
+
+  <license>Apache License 2.0</license>
+  <author email="[email protected]">Ryohsuke Mitsudome</author>
+  <author email="[email protected]">Koji Minoda</author>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>autoware_cmake</buildtool_depend>
+
+  <depend>autoware_lanelet2_extension</depend>
+  <depend>autoware_map_msgs</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
+  <depend>visualization_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>