Ryohsuke Mitsudome

@miursh @aohsato Could you assign someone to do the review of this PR?

related issue https://github.com/autowarefoundation/autoware.universe/issues/908

Thank you. That helps a lot!

Closing this as we are archiving the repository: https://github.com/tier4/AutowareArchitectureProposal.proj#update-20220916

I have talked with ADASTEC today, and they might be able to provide us the data (lidar+camera+tf). (cc. @yucedagonurcan)

LeoDrive has already started testing image perception with real hardware. https://github.com/autowarefoundation/autoware.universe/issues/1228

@mehmetdogru Currently, it is already rejecting the pose with an angle larger than 45 degrees against the direction of the goal lane. ([link](https://github.com/autowarefoundation/autoware.universe/blob/37e8c99425bffff076d0ec2bf302a8a63a3392a6/planning/mission_planner/src/mission_planner_lanelet2/mission_planner_lanelet2.cpp#L195) to the code) I could think of...

@takayuki5168 Do you have any concerns with @mehmetdogru 's idea? At least, they look reasonable to me.

@mehmetdogru Are you planning to create a PR for the fix, or would you like someone else to do it?

We should also use point_cloud_msg_wrapper like in Autoware.Auto to have more efficient pointcloud manipulation.