feat(feature_environment_recognizer)!: integrate feature_environment_recognizer into localization component#1717
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…onent Add feature_environment_recognizer to the localization component launch file and provide default parameter configuration. Changes: - Add feature_environment_recognizer_param_path argument to tier4_localization_component.launch.xml - Add default parameter file at config/localization/feature_environment_recognizer.param.yaml The feature_environment_recognizer node will be automatically launched when starting the localization component, recognizing feature-rich/poor environments based on lanelet ID matching. Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com>
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Replace lanelet ID matching with area (polygon) based environment recognition using boost::geometry point-in-polygon checks. This allows embedding environment information directly in the map and avoids maintenance issues when lanelet IDs change during map regeneration. - Change parameter format to area_subtype_<name>.environment_id - Remove lanelet search parameters - Move header file from include/ to src/ - Fix CMakeLists.txt for Python detection and library name conflicts - Update README documentation Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com>
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Description
autowarefoundation/autoware_universe#11768
Add feature_environment_recognizer to the localization component launch file and provide default parameter configuration.
Changes:
The feature_environment_recognizer node will be automatically launched when starting the localization component, recognizing feature-rich/poor environments based on polygon area of LL2 map
How was this PR tested?
Please see the parent PR
Notes for reviewers
None.
Effects on system behavior
None.