feat(yabloc_pose_initializer): make yabloc independent of dnn model by default

[KYabuuchi]

Description

This is PR to solve the problems discussed in this discussion https://github.com/orgs/autowarefoundation/discussions/3645.

• Added instructions on how to download the DNN model at build time.
• Changed the pose_initializer so that initialization completes even if there is no DNN model.
• Removed obsolete codes.
  • semantic_segmentation.launch.xml
  • semantic_segmentation_node.py

Tests performed

I used this dataset to validate with logging_simulator.launch.

ros2 launch autoware_launch logging_simulator.launch.xml \
    map_path:=$HOME/Maps/nishishinjuku \
    vehicle_model:=sample_vehicle \
    sensor_model:=awsim_sensor_kit \
    planning:=false control:=false \
    pose_source:=yabloc   # https://github.com/autowarefoundation/autoware.universe/pull/4257

(1) With DNN model.

Build yabloc_pose_initializer with the following options and verify that saved_model is in autoware/install/yabloc_pose_initializer/share/yabloc_pose_initializer/data.

colcon build --symlink-install \
    --cmake-args -DCMAKE_BUILD_TYPE=Release  \
    -DDOWNLOAD_ARTIFACTS=ON \
    --packages-select yabloc_pose_initializer

Then run logging_simulator.launch to verify that the initialization completes properly.

(2) Without DNN model.

Delete saved_model in autoware/install/yabloc_pose_initializer/share/yabloc_pose_initializer/data.
Then launch logging_simulator.launch to verify that the initialization completes. This may result in incorrect orientation.
If you specify the initial position with rviz, it should be set correctly.

yabloc_init_without_dnn.mp4

Effects on system behavior

The behavior does not change outside of YabLoc.

Previously, if the model was not downloaded, it could not be initialized.
Now rough initialization can be done without a model.

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[codecov]

Codecov Report

Patch coverage has no change and project coverage change: -0.99 ⚠️

Comparison is base (8723190) 15.17% compared to head (1701912) 14.18%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4296      +/-   ##
==========================================
- Coverage   15.17%   14.18%   -0.99%     
==========================================
  Files        1493     1601     +108     
  Lines      102950   110095    +7145     
  Branches    31606    31542      -64     
==========================================
- Hits        15623    15619       -4     
- Misses      70339    77494    +7155     
+ Partials    16988    16982       -6     

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	14.19% <ø> (-0.99%)	⬇️	Carriedforward from c809a20

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...alizer/src/camera/camera_pose_initializer_core.cpp	0.00% <0.00%> (ø)
...bloc_pose_initializer/src/camera/marker_module.cpp	0.00% <0.00%> (ø)

... and 123 files with indirect coverage changes

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[kminoda]

Thanks! I left some comments

[kminoda]

LGTM
Confirmed that both cases works as expected in logging simulator