Add lanelet2 divider tool

StepTurtle commented 1 month ago

Checklist

[X] I've read the contribution guidelines.
[X] I've searched other issues and no duplicate issues were found.
[X] I've agreed with the maintainers that I can plan this task.

Description

We decide to port lanelet2-map-tile-generator autoware_tools with name autoware_lanelet2_divider.

cc. @ataparlar @YamatoAndo

Purpose

This tool aims to divide lanelet2 map into smaller parts to handle in Autoware.

Possible approaches

[X] Port tool: https://github.com/autowarefoundation/autoware_tools/pull/130

Definition of done

[ ] Merge the PR which add tool to autoware_tools.

Owen-Liuyuxuan commented 1 month ago

Does it mean that we could use this package to divide the output from bag2lanelet (which is a single lanelet) into multiple connected pieces and directly handled by Autoware?

StepTurtle commented 1 month ago

@Owen-Liuyuxuan, this tool splits a single Lanelet2 file into multiple Lanelet2 files.

I never use the bag2lanelet package but since the input of our tool is single lanelet2 file, it should work with output of bag2lanelet.

Additionally, we are currently working on implementing dynamic lanelet2 loading in Autoware, and it's under review. You can check the PR for more details on the dynamic lanelet2 loading task.

autowarefoundation / autoware_tools