feat(map_loader): visualize hatched road markings (autowarefoundation…

…#3639)

* feat(map_loader): visualize hatched road markings

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* update

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

---------

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp

@@ -121,12 +121,15 @@ void Lanelet2MapVisualizationNode::onMapBin(
   lanelet::ConstPolygons3d no_obstacle_segmentation_area_for_run_out =
     lanelet::utils::query::getAllPolygonsByType(
       viz_lanelet_map, "no_obstacle_segmentation_area_for_run_out");
+  lanelet::ConstPolygons3d hatched_road_markings_area =
+    lanelet::utils::query::getAllPolygonsByType(viz_lanelet_map, "hatched_road_markings");
 
   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_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_no_obstacle_segmentation_area_for_run_out, cl_hatched_road_markings_area,
+    cl_hatched_road_markings_line;
   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);
@@ -145,6 +148,8 @@ void Lanelet2MapVisualizationNode::onMapBin(
   setColor(&cl_lanelet_id, 0.5, 0.5, 0.5, 0.999);
   setColor(&cl_no_obstacle_segmentation_area, 0.37, 0.37, 0.27, 0.5);
   setColor(&cl_no_obstacle_segmentation_area_for_run_out, 0.37, 0.7, 0.27, 0.5);
+  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);
 
   visualization_msgs::msg::MarkerArray map_marker_array;
 
@@ -219,6 +224,11 @@ void Lanelet2MapVisualizationNode::onMapBin(
     lanelet::visualization::noObstacleSegmentationAreaForRunOutAsMarkerArray(
       no_obstacle_segmentation_area_for_run_out, cl_no_obstacle_segmentation_area_for_run_out));
 
+  insertMarkerArray(
+    &map_marker_array,
+    lanelet::visualization::hatchedRoadMarkingsAreaAsMarkerArray(
+      hatched_road_markings_area, cl_hatched_road_markings_area, cl_hatched_road_markings_line));
+
   pub_marker_->publish(map_marker_array);
 }