OAP9 Release

This is the "master" MR that resolves issue #25 (closed). Release testing will be tracked in this issue.

OAP Release Testing Checklist
Perform testing by checking out the oap*_release branches of the various autoware.ai repos. Anything with marked with [SIM] means the test can be performed in simulation or in vehicle.

• Collect some rosbags and waypoints paths for future reference
• Verify Calibration Process: Calibration procedure up-to-date
• Verify Calibration Process: Perform intrinsic calibration
• Verify Calibration Process: Perform extrinsic calibration
• Create Map 1/2: Use NDT Matching by Recording PCD Map
• Create Map 2/2: Process PCD Map, make sure result is reasonable
• [SIM] Record Waypoints Using PCD Map
• [SIM] Record Waypoints Using GPSINS Localizer
• Ensure Recorded Route has Left and Right Turns
• [SIM] Ensure Recorded Route has Figure-Eight (and thus confirm overlapping paths work)
• Check Playback of Waypoint Following Drive with NDT Matching
• Check Playback of Waypoint Following Drive with GPSINS Localizer
• Start Playback from Beginning of Route
• Start Playback from Later in Route, where Waypoint Velocity > 20km/h (5.5m/s)
• Manual Override during waypoint following and then continue without having to re-launch anything
• Check Playback using Waypoint Replanner at Multiple Speeds at 20km/h, 30km/h, 40km/h, 50km/h
• Check Steering Controllers 1/2: Pure Pursuit
• Check Steering Controllers 2/2: Stanley
• Check Deceleration Comfort Level at Last Waypoint
• All autonomy.launch & autonomy_localization.launch roslaunch args work
• All platform.launch roslaunch args work (use_fake_perception for example)
• [SIM] Verify Autoware Simulation Platform: Install LG Sim by following provided instructions
• [SIM] Verify Autoware Simulation Platform: Run LG Sim to do waypoint following
• [SIM] Verify wf_simulator: Run wf_sim launch files to ensure they work as expected
• [SIM] Lanelet2 Map Loader and Visualization
• [SIM] Vector (Aisan) Map Loader and Visualization
• [SIM] Verify turn signals are Activated at Intersection Turns
• [SIM] Verify turn signals are activated during lane changes
• [SIM] Stop Signs / Lines 1/3: Functionality Check (Does the Car Stop)
• Stop Signs / Lines 2/3: Check Deceleration Comfort Level
• Stop Signs / Lines 3/3: Make sure vehicle waits until other objects are clear
• [SIM] Stop Lights 1/2: Functionality Check (Does the Car Stop, and Start Again on Green)
• Stop Lights 2/2: Check Deceleration Comfort Level
• [SIM] Check LiDAR-based Velocity Set Object Detection for Stopping
• Check Restart of Motion When Obstacle Moves 1/2: Acceleration Comfort Level
• Check Restart of Motion When Obstacle Moves 2/2: Check for Correct Follow Distance
• [SIM] Check loop mode functionality
• Lanelet2 Global Planner: Plan path to one destination, make sure it comes to full stop, changes to park, and allows you to plan another route
• Read every README to ensure the information is still up-to-date
• Verify ChangeLogs are updated, including any fix found during release testing