feat: add ground_segmentation_evaluator

[nanoshimarobot]

Types of PR

• [x] New Features
• [ ] Upgrade of existing features
• [ ] Bugfix

Description

Add ground segmentation evaluator scenario. This evaluator has two types of ground truth data.

• annotated pcd *.pcd.bin files located in t4_dataset/sample/data/LIDAR_CONCAT/ and the data has semantic label, provided by #107.
• annotated rosbag The rosbag data in the input_bag contains annotated pointcloud data, captured from sources such as AWSIM.

How to review this PR

~~Please download this driving_log_replayer_data for ground_segmentaion evaluation: TIERIV_INTERNAL_LINK~~ ~~That data has only annotated pcd data, so please also check this annotated rosbag data: TIERIV_INTERNAL_LINK~~

Please download this driving_log_replayer_data for ground_segmentaion evaluation : TIERIV_INTERNAL_LINK There are separate scenario.yaml and input_bag files for each mode, as shown in the image below: Therefore, for testing, please modify each name to 'scenario.yaml' and 'input_bag/' before running the tests.

Others

• When running ground_segmentation in 'annotated_rosbag' mode, it is necessary to modify the sensing module of autoware.universe as follows: https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/autoware_pointcloud_preprocessor/src/filter.cpp#L383-L390

       if (utils::is_data_layout_compatible_with_point_xyzi(*cloud)) {
        RCLCPP_ERROR(
          get_logger(),
          "The pointcloud layout is compatible with PointXYZI. You may be using legacy "
          "code/data");
      }
  
      // return; <- comment out!
  }
  

• When running ground_segmentation in 'annotated_pcd' mode, it is necessary to reduce the rosbag play rate because the evaluation process takes longer than the ground_segmentation process in this mode. dlr simulation run -p ground_segmentation --launch_args play_rate:=0.1