feat(autoware_lanelet2_map_validator): introduce autoware_lanelet2_ma…

…p_validator (#118) * introduce autoware_lanelet2_map_validator to autoware_tools Signed-off-by: TaikiYamada4 <[email protected]> * wrote description a little to README.md Signed-off-by: TaikiYamada4 <[email protected]> * style(pre-commit): autofix * Restore commented out parts. Removed rclcpp which is unused. Signed-off-by: TaikiYamada4 <[email protected]> * style(pre-commit): autofix * Separate validation rules to samller pieces. Added validation template Signed-off-by: TaikiYamada4 <[email protected]> * Split the validation code into smaller pieces. Added yaml input/output for a set of validations Signed-off-by: TaikiYamada4 <[email protected]> * Fixed test codes to use the separated codes Signed-off-by: TaikiYamada4 <[email protected]> * Removed unused code which are already divided to smaller codes. Signed-off-by: TaikiYamada4 <[email protected]> * Rename new_main.cpp to main.cpp Signed-off-by: TaikiYamada4 <[email protected]> * style(pre-commit): autofix * Wrote detailed README.md Signed-off-by: TaikiYamada4 <[email protected]> * Fixed commit mistake Signed-off-by: TaikiYamada4 <[email protected]> * Renew input command option to `-i` from `-r`. Fixed mistakes in README.md Signed-off-by: TaikiYamada4 <[email protected]> * style(pre-commit): autofix * Fixed long to uint64_t Signed-off-by: TaikiYamada4 <[email protected]> * Fixed spelling Signed-off-by: TaikiYamada4 <[email protected]> * style(pre-commit): autofix * Fixed typo Signed-off-by: TaikiYamada4 <[email protected]> * Split long lines in the code Signed-off-by: TaikiYamada4 <[email protected]> * style(pre-commit): autofix * Changed the entire structure. Fixed pre-commit.ci related errors. Signed-off-by: TaikiYamada4 <[email protected]> * style(pre-commit): autofix * Fixed pre-commit.ci related stuff Signed-off-by: TaikiYamada4 <[email protected]> * Write more details about the relationship to lanelet2_validation. Rewrite misleading examples. Signed-off-by: TaikiYamada4 <[email protected]> * Added figure of the architecture Signed-off-by: TaikiYamada4 <[email protected]> * Change the input/output to JSON Signed-off-by: TaikiYamada4 <[email protected]> * Revised architecture image of autoware_lanelet2_map_validator Signed-off-by: TaikiYamada4 <[email protected]> * fixed typo Signed-off-by: TaikiYamada4 <[email protected]> * Renew year numbers Signed-off-by: TaikiYamada4 <[email protected]> * Fixed dependency Signed-off-by: TaikiYamada4 <[email protected]> * Fixed pointed out issues Signed-off-by: TaikiYamada4 <[email protected]> * Improve error handling Refactor code style Signed-off-by: TaikiYamada4 <[email protected]> * Avoid clang format Delete unused variables Signed-off-by: TaikiYamada4 <[email protected]> * Removed redundant process. Restrict input/output format. Signed-off-by: TaikiYamada4 <[email protected]> * Added approaches to the documents Signed-off-by: TaikiYamada4 <[email protected]> * Fixed typo Signed-off-by: TaikiYamada4 <[email protected]> * Removed catch and improve io error handling Signed-off-by: TaikiYamada4 <[email protected]> * Fixed grammatical error. Fixed explanation of issues Signed-off-by: TaikiYamada4 <[email protected]> * Added stop_line validator to the table in the main README.md Signed-off-by: TaikiYamada4 <[email protected]> * Renamed lib to common. Refined CMakeLists.txt Signed-off-by: TaikiYamada4 <[email protected]> * Removed redundant under score Signed-off-by: TaikiYamada4 <[email protected]> * Removed redundant underscore again Signed-off-by: TaikiYamada4 <[email protected]> * Changed years. Removed redundant else statement. Removed debug comments Signed-off-by: TaikiYamada4 <[email protected]> * Removed underscore from test_regulatory_element_details.cpp Signed-off-by: TaikiYamada4 <[email protected]> --------- Signed-off-by: TaikiYamada4 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
autowarefoundation · Oct 31, 2024 · dfc2a78 · dfc2a78
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diff --git a/map/autoware_lanelet2_map_validator/CMakeLists.txt b/map/autoware_lanelet2_map_validator/CMakeLists.txt
@@ -0,0 +1,46 @@
+cmake_minimum_required(VERSION 3.14)
+project(autoware_lanelet2_map_validator)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+ament_auto_find_build_dependencies()
+find_package(nlohmann_json REQUIRED)
+
+include_directories(
+  src
+)
+
+file(GLOB_RECURSE autoware_lanelet2_map_validator_lib_src
+  src/common/*.cpp
+  src/validators/*.cpp
+)
+ament_auto_add_library(autoware_lanelet2_map_validator_lib SHARED
+  ${autoware_lanelet2_map_validator_lib_src}
+)
+
+ament_auto_add_executable(autoware_lanelet2_map_validator src/main.cpp)
+add_dependencies(autoware_lanelet2_map_validator autoware_lanelet2_map_validator_lib)
+target_link_libraries(autoware_lanelet2_map_validator
+  autoware_lanelet2_map_validator_lib
+  nlohmann_json
+)
+
+if(BUILD_TESTING)
+  function(add_validation_test VALIDATION_NAME)
+    ament_add_ros_isolated_gtest(
+      ${VALIDATION_NAME}_test
+      test/src/test_${VALIDATION_NAME}.cpp
+    )
+    target_link_libraries(
+      ${VALIDATION_NAME}_test
+      autoware_lanelet2_map_validator_lib
+      nlohmann_json
+    )
+  endfunction()
+
+  add_validation_test(missing_regulatory_elements)
+  add_validation_test(regulatory_element_details)
+endif()
+
+ament_auto_package()
diff --git a/map/autoware_lanelet2_map_validator/README.md b/map/autoware_lanelet2_map_validator/README.md
diff --git a/map/autoware_lanelet2_map_validator/autoware_requirement_set.json b/map/autoware_lanelet2_map_validator/autoware_requirement_set.json
@@ -0,0 +1,26 @@
+{
+  "requirements": [
+    {
+      "id": "vm-04-01",
+      "validators": [
+        {
+          "name": "mapping.crosswalk.missing_regulatory_elements"
+        },
+        {
+          "name": "mapping.crosswalk.regulatory_element_details"
+        }
+      ]
+    },
+    {
+      "id": "vm-05-01",
+      "validators": [
+        {
+          "name": "mapping.traffic_light.missing_regulatory_elements"
+        },
+        {
+          "name": "mapping.traffic_light.regulatory_element_details"
+        }
+      ]
+    }
+  ]
+}
diff --git a/...elet2_map_validator/docs/crosswalk/missing_regulatory_elements_for_crosswalk.md b/...elet2_map_validator/docs/crosswalk/missing_regulatory_elements_for_crosswalk.md
@@ -0,0 +1,21 @@
+# missing_regulator_elements_for_crosswalk
+
+## Validator name
+
+mapping.crosswalk.missing_regulatory_elements
+
+## Feature
+
+This validator checks whether each `crosswalk` subtype lanelet has a relevant regulatory element.
+Required information for a crosswalk is written in the [Autoware documentation](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_crosswalk/#vm-05-01-crosswalks-across-the-road).
+
+The output issue marks "lanelet" as the **primitive**, and the lanelet ID is written together as **ID**.
+
+| Message                                           | Severity | Description                                                                                 | Approach                                                                            |
+| ------------------------------------------------- | -------- | ------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------- |
+| "No regulatory element refers to this crosswalk." | Error    | There is a `crosswalk` subtype lanelet that hasn't been referred to any regulatory element. | Create a `crosswalk` subtype regulatory element and refer to the crosswalk lanelet. |
+
+## Related source codes
+
+- missing_regulatory_elements_for_crosswalk.hpp
+- missing_regulatory_elements_for_crosswalk.cpp
diff --git a/...elet2_map_validator/docs/crosswalk/regulatory_element_details_for_crosswalks.md b/...elet2_map_validator/docs/crosswalk/regulatory_element_details_for_crosswalks.md
@@ -0,0 +1,29 @@
+# regulatory_element_details_for_crosswalks
+
+## Validator name
+
+mapping.crosswalk.regulatory_element_details
+
+## Feature
+
+This validator checks whether the details in the `crosswalk` subtype regulatory elements are valid.
+Required information for a crosswalk is written in the [Autoware documentation](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_crosswalk/#vm-05-01-crosswalks-across-the-road).
+This validator checks eight types of issues.
+
+The output issue marks "lanelet", "linestring" or "regulatory_element" as the **primitive**, and the regulatory element ID is written together as **ID**.
+
+| Message                                                                                  | Severity | Primitive          | Description                                                                                                            | Approach                                                                                                                                                                  |
+| ---------------------------------------------------------------------------------------- | -------- | ------------------ | ---------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| "Refers of crosswalk regulatory element must have type of crosswalk."                    | Error    | lanelet            | There is a `crosswalk` subtype regulatory element whose `refers` is not a `crosswalk` subtype lanelet.                 | Check that the `refers` is a `crosswalk` subtype lanelet                                                                                                                  |
+| "ref_line of crosswalk regulatory element must have type of stopline."                   | Error    | linestring         | There is a `crosswalk` subtype regulatory element whose `ref_line` is not a `stop_line` type linestring.               | Check that the `ref_line` is a `stop_line` type linestring                                                                                                                |
+| "Crosswalk polygon of crosswalk regulatory element must have type of Crosswalk_polygon." | Error    | polygon            | There is a `crosswalk` subtype regulatory element whose `crosswalk_polygon` is not a `crosswalk_polygon` type polygon. | Check that the `crosswalk_polygon` mentioned in the regulatory element refers to a `crosswalk_polygon` type area.                                                         |
+| "Regulatory element of crosswalk must have lanelet of crosswalk(refers)."                | Error    | regulatory element | There is a `crosswalk` subtype regulatory element that has no `refers`es.                                              | Write `refers` referring to a `crosswalk` subtype lanelet in the regulatory element                                                                                       |
+| "Regulatory element of crosswalk must have only one lanelet of crosswalk(refers)."       | Error    | regulatory element | There is a `crosswalk` subtype regulatory element that has multiple `refers`es.                                        | A `crosswalk` subtype regulatory element can have only one `refers`. Remove the `refers` that is not a crosswalk lanelet.                                                 |
+| "Regulatory element of crosswalk does not have stop line(ref_line)."                     | Info     | regulatory element | There is a `crosswalk` subtype regulatory element that has no `ref_line`s                                              | Generally, there should be a stop line for the crosswalk. Be sure that the stop line exists or doesn't.                                                                   |
+| "Regulatory element of crosswalk is nice to have crosswalk_polygon."                     | Warning  | regulatory element | There is a `crosswalk` subtype regulatory element that has no `crosswalk_polygon`s.                                    | It is recommended to surround a crosswalk with a `crosswalk_polygon`. Create one and add a `crosswalk_polygon` role member to the regulatory element with the polygon ID. |
+| "Regulatory element of crosswalk must have only one crosswalk_polygon."                  | Error    | regulatory element | There is a `crosswalk` subtype regulatory element that has multiple `crosswalk_polygon`s.                              | Only one `crosswalk_polygon` is allowed per polygon. Remove the unnecessary ones.                                                                                         |
+
+## Related source codes
+
+- regulatory_element_details_for_crosswalks.hpp
+- regulatory_element_details_for_crosswalks.cpp
diff --git a/...let2_map_validator/docs/stop_line/missing_regulatory_elements_for_stop_lines.md b/...let2_map_validator/docs/stop_line/missing_regulatory_elements_for_stop_lines.md
@@ -0,0 +1,21 @@
+# missing_regulator_elements_for_stop_lines
+
+## Validator name
+
+mapping.stop_line.missing_regulatory_elements
+
+## Feature
+
+This validator checks whether each `stop_line` type linestring has a relevant regulatory element.
+Required information for a stop line is written in the [Autoware documentation](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_stop_line/#vm-02-02-stop-sign).
+
+The output issue marks "linestring" as the **primitive**, and the linestring ID is written together as **ID**.
+
+| Message                                           | Severity | Description                                                                                 | Approach                                                   |
+| ------------------------------------------------- | -------- | ------------------------------------------------------------------------------------------- | ---------------------------------------------------------- |
+| "No regulatory element refers to this stop line." | Error    | There is a `stop_line` type linestring that hasn't been referred to any regulatory element. | Create a regulatory element that refers to this stop line. |
+
+## Related source codes
+
+- missing_regulatory_elements_for_stop_line.cpp
+- missing_regulatory_elements_for_stop_line.hpp
diff --git a/..._validator/docs/traffic_light/missing_regulatory_elements_for_traffic_lights.md b/..._validator/docs/traffic_light/missing_regulatory_elements_for_traffic_lights.md
@@ -0,0 +1,21 @@
+# missing_regulator_elements_for_traffic_lights
+
+## Validator name
+
+mapping.traffic_light.missing_regulatory_elements
+
+## Feature
+
+This validator checks whether each `traffic_light` type linestring has a relevant regulatory element.
+Required information for traffic lights is written in the [Autoware documentation](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_traffic_light/#vm-04-01-traffic-light-basics).
+
+The output issue marks "linestring" as the **primitive**, and the linestring ID is written together as **ID**.
+
+| Message                                               | Severity | Description                                                                                     | Approach                                                                           |
+| ----------------------------------------------------- | -------- | ----------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------- |
+| "No regulatory element refers to this traffic light." | Error    | There is a `traffic_light` type linestring that hasn't been referred to any regulatory element. | Create a `traffic_light` subtype regulatory element that refers to this linestring |
+
+## Related source codes
+
+- missing_regulatory_elements_for_traffic_light.hpp
+- missing_regulatory_elements_for_traffic_light.cpp
diff --git a/...p_validator/docs/traffic_light/regulatory_element_details_for_traffic_lights.md b/...p_validator/docs/traffic_light/regulatory_element_details_for_traffic_lights.md
@@ -0,0 +1,25 @@
+# regulatory_element_details_for_traffic_lights
+
+## Validator name
+
+mapping.traffic_light.regulatory_element_details
+
+## Feature
+
+This validator checks whether the details in the `traffic_light` subtype regulatory elements are valid.
+Required information for traffic lights is written in the [Autoware documentation](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_traffic_light/#vm-04-01-traffic-light-basics).
+This validator checks four types of issues.
+
+The output issue marks "linestring" or "regulatory element" as the **primitive**, and the lanelet ID is written together as **ID**.
+
+| Message                                                                       | Severity | Primitive          | Description                                                                                                    | Approach                                                                                      |
+| ----------------------------------------------------------------------------- | -------- | ------------------ | -------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------- |
+| "Refers of traffic light regulatory element must have type of traffic_light." | Error    | linestring         | There is a `traffic_light` subtype regulatory element whose `refers` is not a `traffic_light` type linestring. | Check that the `refers` in the regulatory element is a `traffic_light` type linestring.       |
+| "ref_line of traffic light regulatory element must have type of stop_line."   | Error    | linestring         | There is a `traffic_light` subtype regulatory element whose `ref_line` is not a `stop_line` type linestring.   | Check that the `ref_line` in the regulatory element is a `stop_line` type linestring          |
+| "Regulatory element of traffic light must have a traffic light(refers)."      | Error    | regulatory element | There is a `traffic_light` subtype regulatory element that has no `refers`es.                                  | Add `refers` to the regulatory element that refers to the id of the traffic light linestring. |
+| "Regulatory element of traffic light must have a stop line(ref_line)."        | Error    | regulatory element | There is a `traffic_light` subtype regulatory element that has no `ref_line`s                                  | Add `ref_line` to the regulatory element that refers to the id of the stop line linestring.   |
+
+## Related source codes
+
+- regulatory_element_details_for_traffic_lights.hpp
+- regulatory_element_details_for_traffic_lights.cpp
diff --git a/...et2_map_validator/media/autoware_lanelet2_map_validator_architecture.drawio.svg b/...et2_map_validator/media/autoware_lanelet2_map_validator_architecture.drawio.svg
diff --git a/map/autoware_lanelet2_map_validator/package.xml b/map/autoware_lanelet2_map_validator/package.xml
@@ -0,0 +1,28 @@
+<?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_validator</name>
+  <version>0.1.0</version>
+  <description>Validation tool for lanelet2 maps especially for Autoware usage</description>
+  <maintainer email="[email protected]">Taiki Yamada</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>autoware_cmake</buildtool_depend>
+
+  <depend>autoware_lanelet2_extension</depend>
+  <depend>lanelet2_core</depend>
+  <depend>lanelet2_io</depend>
+  <depend>lanelet2_maps</depend>
+  <depend>lanelet2_projection</depend>
+  <depend>lanelet2_routing</depend>
+  <depend>lanelet2_traffic_rules</depend>
+  <depend>lanelet2_validation</depend>
+  <depend>nlohmann-json-dev</depend>
+
+  <test_depend>ament_cmake_ros</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/map/autoware_lanelet2_map_validator/src/common/cli.cpp b/map/autoware_lanelet2_map_validator/src/common/cli.cpp
@@ -0,0 +1,107 @@
+// Copyright 2024 Autoware Foundation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "common/cli.hpp"
+
+namespace po = boost::program_options;
+
+namespace lanelet
+{
+namespace autoware
+{
+namespace validation
+{
+
+MetaConfig parseCommandLine(int argc, const char * argv[])
+{
+  MetaConfig config;
+  auto & validation_config = config.command_line_config.validationConfig;
+  po::options_description desc(
+    "Runs a set of validators on a map. Think of it like a linter. The following checks are "
+    "available");
+
+  // clang-format off
+  desc.add_options()
+  (
+    "help,h", "This help message"
+  )(
+    "map_file,m", po::value<std::string>(), "Path to the map to be validated"
+  )(
+    "input_requirements,i", po::value<std::string>(),
+    "Path to the yaml file where the list of requirements and validators is written"
+  )(
+    "output_directory,o", po::value<std::string>(),
+    "Directory to save the list of validation results in a yaml format"
+  )(
+    "validator,v", po::value(&validation_config.checksFilter),
+    "Comma separated list of regexes to filter the applicable validators. Will run all "
+    "validators by default. Example: routing_graph.* to run all checks for the routing graph"
+  )(
+    "projector,p", po::value(&config.projector_type)->composing(),
+    "Projector used for loading lanelet map. Available projectors are: mgrs, utm, "
+    "transverse_mercator. (default: mgrs)"
+  )(
+    "location,l", po::value(&validation_config.location)->default_value(validation_config.location),
+    "Location of the map (for instantiating the traffic rules), e.g. de for Germany"
+  )(
+    "participants", po::value(&validation_config.participants)->composing(),
+    "Participants for which the routing graph will be instantiated (default: vehicle)"
+  )(
+    "lat", po::value(&validation_config.origin.lat)->default_value(validation_config.origin.lat),
+    "Latitude coordinate of map origin. This is required for the transverse mercator "
+    "and utm projector."
+  )(
+    "lon", po::value(&validation_config.origin.lon)->default_value(validation_config.origin.lon),
+    "Longitude coordinate of map origin. This is required for the transverse mercator "
+    "and utm projector."
+  )(
+    "print", "Print all available checker without running them"
+  );
+  // clang-format on
+
+  po::variables_map vm;
+  po::positional_options_description pos;
+  pos.add("map_file", 1);
+  po::store(po::command_line_parser(argc, argv).options(desc).positional(pos).run(), vm);
+  po::notify(vm);
+  config.command_line_config.help = vm.count("help") != 0;
+  config.command_line_config.print = vm.count("print") != 0;
+  if (vm.count("map_file") != 0) {
+    config.command_line_config.mapFile =
+      vm["map_file"].as<decltype(config.command_line_config.mapFile)>();
+  }
+  if (vm.count("input_requirements") != 0) {
+    config.requirements_file = vm["input_requirements"].as<std::string>();
+  }
+  if (vm.count("output_directory") != 0) {
+    config.output_file_path = vm["output_directory"].as<std::string>();
+  }
+  if (
+    (vm.count("lat") != 0 && vm.count("lon") != 0) &&
+    (config.projector_type == "tm" || config.projector_type == "utm")) {
+    throw std::runtime_error(
+      "Please set latitude and longitude. These are required for " + config.projector_type +
+      " projector. Please refer to the help message.");
+  }
+  if (config.command_line_config.help) {
+    std::cout << '\n' << desc;
+  } else if (config.command_line_config.mapFile.empty() && !config.command_line_config.print) {
+    std::cout << "Please pass either a valid file or '--print' or '--help'!\n";
+  }
+  return config;
+}
+
+}  // namespace validation
+}  // namespace autoware
+}  // namespace lanelet