feat(map_loader): display curbstone as marker array (autowarefoundati…

…on#4958)

display curbstone as marker array

Signed-off-by: Shohei Sakai <saka1s.jp@gmail.com>
Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com>

map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp

@@ -127,13 +127,14 @@ void Lanelet2MapVisualizationNode::onMapBin(
     lanelet::utils::query::getAllPolygonsByType(viz_lanelet_map, "hatched_road_markings");
   std::vector<lanelet::NoParkingAreaConstPtr> no_parking_reg_elems =
     lanelet::utils::query::noParkingAreas(all_lanelets);
+  lanelet::ConstLineStrings3d curbstones = lanelet::utils::query::curbstones(viz_lanelet_map);
 
   std_msgs::msg::ColorRGBA cl_road, cl_shoulder, cl_cross, cl_partitions, cl_pedestrian_markings,
     cl_ll_borders, cl_shoulder_borders, cl_stoplines, cl_trafficlights, cl_detection_areas,
     cl_speed_bumps, cl_crosswalks, cl_parking_lots, cl_parking_spaces, cl_lanelet_id,
     cl_obstacle_polygons, cl_no_stopping_areas, cl_no_obstacle_segmentation_area,
     cl_no_obstacle_segmentation_area_for_run_out, cl_hatched_road_markings_area,
-    cl_hatched_road_markings_line, cl_no_parking_areas;
+    cl_hatched_road_markings_line, cl_no_parking_areas, cl_curbstones;
   setColor(&cl_road, 0.27, 0.27, 0.27, 0.999);
   setColor(&cl_shoulder, 0.15, 0.15, 0.15, 0.999);
   setColor(&cl_cross, 0.27, 0.3, 0.27, 0.5);
@@ -156,6 +157,7 @@ void Lanelet2MapVisualizationNode::onMapBin(
   setColor(&cl_hatched_road_markings_area, 0.3, 0.3, 0.3, 0.5);
   setColor(&cl_hatched_road_markings_line, 0.5, 0.5, 0.5, 0.999);
   setColor(&cl_no_parking_areas, 0.42, 0.42, 0.42, 0.5);
+  setColor(&cl_curbstones, 0.1, 0.1, 0.2, 0.999);
 
   visualization_msgs::msg::MarkerArray map_marker_array;
 
@@ -242,6 +244,10 @@ void Lanelet2MapVisualizationNode::onMapBin(
     &map_marker_array,
     lanelet::visualization::noParkingAreasAsMarkerArray(no_parking_reg_elems, cl_no_parking_areas));
 
+  insertMarkerArray(
+    &map_marker_array,
+    lanelet::visualization::lineStringsAsMarkerArray(curbstones, "curbstone", cl_curbstones, 0.2));
+
   pub_marker_->publish(map_marker_array);
 }