fix(lanelet2_extension): improve traffic regulatory element id visualization

[satoshi-ota]

Description

It was difficult to understand relationship between regulatry element id and road lanelet. In this PR, I fixed id visualization to show the id on stop line which is reffered by traffic regulatory element in order to make it easier to know related regulatory elements.

Tests performed

Psim

Effects on system behavior

Nothing.

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[codecov]

Codecov Report

Attention: 47 lines in your changes are missing coverage. Please review.

Comparison is base (6bbda65) 11.26% compared to head (15782bd) 11.11%.

Files	Patch %	Lines
tmp/lanelet2_extension/lib/visualization.cpp	0.00%	47 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #225      +/-   ##
==========================================
- Coverage   11.26%   11.11%   -0.16%     
==========================================
  Files          37       37              
  Lines        2671     2709      +38     
  Branches     1370     1387      +17     
==========================================
  Hits          301      301              
- Misses       1950     1987      +37     
- Partials      420      421       +1     

Flag	Coverage Δ		*Carryforward flag
differential	9.46% <0.00%> (?)
total	11.36% <ø> (+0.09%)	⬆️	Carriedforward from ccc3293

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

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[shmpwk]

LGTM

[mitsudome-r]

Could you explain a bit more detail on why you want to move the text to stopline? In general, if you want to know the link between lanelet, stopline, and the traffic light, then using vector map builder would be a better option. Are there any particular reasons why you want to see it on RVIZ? Also, even if you can get the id of the traffic light regulatory element at the stopline, you can't really know which traffic light is linked to the road anyways.

Here are some alternative ideas that I can think of depending on your use case.

• If you want to know the regulatory element id that causing the vehicle to stop, maybe we can add regulatory element id with the debug marker published by behavior_velocity_planner.
• If you just want to visualize the connection between the road and traffic light in general, adding some linestrip that connects the stopline and the traffic light marker might be better.

[satoshi-ota]

@mitsudome-r Thanks for your comment.

In general, if you want to know the link between lanelet, stopline, and the traffic light, then using vector map builder would be a better option. Are there any particular reasons why you want to see it on RVIZ?

Yes. Sometimes we developper use this rviz plugin in order to check the behavior for traffic signals, and I think it is convenient for us to show the related traffic light regualtory element ID on rviz.

Also, even if you can get the id of the traffic light regulatory element at the stopline, you can't really know which traffic light is linked to the road anyways.

I see. Then, I'll fix the logic so that it can show exact relation between road lanelet and traffic light regulatory elements.

[satoshi-ota]

@mitsudome-r Thanks for your comment.

In general, if you want to know the link between lanelet, stopline, and the traffic light, then using vector map builder would be a better option. Are there any particular reasons why you want to see it on RVIZ?

Yes. Sometimes we developper use this rviz plugin in order to check the behavior for traffic signals, and I think it is convenient for us to show the related traffic light regualtory element ID on rviz.

Also, even if you can get the id of the traffic light regulatory element at the stopline, you can't really know which traffic light is linked to the road anyways.

I see. Then, I'll fix the logic so that it can show exact relation between road lanelet and traffic light regulatory elements.

@mitsudome-r I fixed implementation to show exact related traffic reg elem ID in cebfe7b.

And, please check autowarefoundation/autoware.universe#6028.

[mitsudome-r]

@satoshi-ota Thanks for the reply. I am okay with the change then.

[satoshi-ota]

@mitsudome-r Thank you. I'll merge this PR with autowarefoundation/autoware.universe#6028.