refactor(landmark_parser): refactored landmark manager

[SakodaShintaro]

Description

Refactored landmark_parser.

• Added function convert_landmark_pose_to_ego_pose
  • https://github.com/autowarefoundation/autoware.universe/pull/5511/files#diff-60f6e4229981714b879a62a22e2d2ee2f2ccae53ee7d68ec67614ba1ddd7b2deR154-R181
  • Given the pose of a landmark on the base_link and the ID of the landmark, it returns the Pose of the base_link in the map_frame.
• The role was expanded and a class called LandmarkManager was created.

I have made the following changes instead of the above changes.

• Changed the package name to landmark_manager
• Added namespace landmark_manager
• Change the return type of parse_landmark from map to vector

Tests performed

It has been confirmed that ar_tag_based_localizer works with the same performance as before.

Effects on system behavior

There is no effect on system behavior.

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[KYabuuchi]

LGTM 😃

[codecov]

Codecov Report

Attention: 9 lines in your changes are missing coverage. Please review.

Comparison is base (2a697c2) 15.26% compared to head (f0a49c5) 15.25%.
Report is 1 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5511      +/-   ##
==========================================
- Coverage   15.26%   15.25%   -0.02%     
==========================================
  Files        1715     1717       +2     
  Lines      118232   118298      +66     
  Branches    37797    37827      +30     
==========================================
- Hits        18045    18043       -2     
- Misses      79636    79710      +74     
+ Partials    20551    20545       -6     

Flag	Coverage Δ		*Carryforward flag
differential	6.52% <0.00%> (?)
total	15.26% <ø> (-0.01%)	⬇️	Carriedforward from 9110793

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

Files	Coverage Δ
...ulator/vehicle_model/sim_model_delay_steer_acc.hpp	100.00% <ø> (ø)
...vehicle_model/sim_model_delay_steer_acc_geared.hpp	100.00% <ø> (ø)
...nning_simulator/simple_planning_simulator_core.cpp	35.76% <ø> (ø)
...ulator/vehicle_model/sim_model_delay_steer_acc.cpp	83.82% <ø> (+3.26%)	⬆️
...vehicle_model/sim_model_delay_steer_acc_geared.cpp	83.14% <ø> (+2.50%)	⬆️
...ager/include/landmark_manager/landmark_manager.hpp	0.00% <0.00%> (ø)
...tag_based_localizer/src/ar_tag_based_localizer.cpp	3.93% <0.00%> (-0.05%)	⬇️
...ocalizer/landmark_manager/src/landmark_manager.cpp	0.00% <0.00%> (ø)

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[SakodaShintaro]

Yamato Ando and I have identified a problem. (It is not new and was not introduced by this pull request.)

There is a need for better management of multiple tags, especially when multiple tags share the same ID.

std::map<std::string, geometry_msgs::msg::Pose> landmarks_;

should be changed as follows

std::map<std::string, std::vector<geometry_msgs::msg::Pose>> landmarks_;

The convert_landmark_pose_to_ego_pose function should return the ego pose that is closest to the EKF Pose when there are multiple landmarks with the same ID. Consequently, the EKF Pose must be passed as an additional input to this function.

For instance, in the case of the LiDAR Intensity Detector, there is currently only one type of board that it can detect.

I think, even with this modification, problems may persist if multiple landmarks with the same ID are detected in a single scan or single image. I believe the current solution is to be careful in operation to prevent this from happening.

For now, I will implement the aforementioned changes.

dismiss my review because PR turns to draft

[SakodaShintaro]

Changes have been completed. Please review again.

[KYabuuchi]

👍