add lane_rule_lanelet2 node to lane_planner package

Related Issues

This is a part of transition from Aisan vector map format to Lanelet2 format.
autoware#17 (closed)

Description

This feature adds lane_rule_lanelet2 node to lane_planner package. Its function is similar to lane_rule node, but uses Lanelet2 map instead of Aisan Vector Map.

Implementation considerations

The feature is implemented by adding new node to the package, rather than adding option to lane_rule. The reason is explained in autoware#17 (closed).

Test Procedure

Setup

1. Download this lanelet2 map sample: moriyama_lanelet2.osm
2. Download pointcloud map, wyapoint, and tf from autoware demo data
3. Run roslaunch runtime_manager runtime_manager.launch
4. Go to "Map" tab and load following:
   
   • Point Cloud: data/map/pointcloudmap/*.pcd
   • Lanelet Map: downloaded moriyama_lanelet2.osm
   • TF: data/tf/tf.launch
     
     
5. Go to Computing Tab and start following nodes:
   1. lane_stop
   2. waypoint_loader (waypoint would be data/path/moriyama_path.txt)
      
      
6. Click "RViz" button and start rviz
7. Make sure that Fixed Frame is set to "world", "Target Frame" of View is base_link and add lanelet2_map_viz and global_waypoints_mark (see attached image)
   
   

Start lane_rule_lanelet2

1. In terminal, rosrun lane_planner lane_rule_lanelet2
2. In runtime_manager, start [app] in lane_stop and switch between Red Light and Green Light.
   
   
3. You should see velocity of waypoint at stopline will change according to the button you pressed above.
   red waypoints
   
   green waypoints