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Enable visualization of point cloud for NDTMap map_provider node

simon-t4 requested to merge simon-t4/AutowareAuto:viz-pointcloud-map-provider into master

Description

Implements a publisher for a visualizable point cloud on ndt map provider node. Adds parameters for

  • boolean flag whether to publish viz. point cloud
  • topic name for viz. point cloud
  • number of expected subscribers

Upon running with visualization flag true, point cloud should be viewable in rviz2.

  • For more details, see the issue which will be linked below.

Notes for Reviewer

First time merge request for Autoware.Auto - please check code style and unit tests. Pipeline tests are failing at ade stage - any suggestions to remedy?

Checklist

Edited by simon-t4

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