Implementing lane detection method for lane level localization purposes

[StepTurtle]

Checklist

• [X] I've read the contribution guidelines.
• [X] I've searched other issues and no duplicate issues were found.
• [X] I've agreed with the maintainers that I can plan this task.

Description

This task focuses on the development of a ROS2 node designed to identify lanes within 2D images utilizing state-of-the-art lane detection methods.

Purpose

The primary objective is to integrate this node into the lane level localization process, specifically addressing the 2D lane detection component.

Possible approaches

• Conduct manual evaluations of popular lane detection models to ascertain their suitability for our specific requirements.
• Based on evaluation outcomes, proceed with the development of a rudimentary ROS2 node capable of detecting lane markings within images.

Definition of done

• [ ] Existing lane detection methods were looked at and decided on one of them
• [ ] To use the model with ROS 2, a basic ROS 2 node was created.
• [ ] Ensured that the model performs well in different light and weather conditions
• [ ] Determined whether there is a need to train or fine-tune the model
• [ ] Documentation is created to guide users on how to use the tool.