feat(map_loader, route_handler)!: add format_version validation

[soblin]

Description

https://github.com/orgs/autowarefoundation/discussions/4740

Related links

autowarefoundation/autoware_common#245

autowarefoundation/autoware_launch#993

Tests performed

https://evaluation.tier4.jp/evaluation/reports?project_id=prd_jt

tested with autowarefoundation/autoware_common#245

If format_version == 2.1, allow_unsupported_version = true

[component_container_mt-22] [WARN 1716197945.485872919] [map.lanelet2_map_loader]: format_version(2) of the provided map(/home/<>/workspace/maps/kashiwanoha_stable/lanelet2_map.osm) is larger than the supported version(1)
[component_container_mt-22] [INFO 1716197945.486288163] [map.lanelet2_map_loader]: Loaded map format_version: 2.1

autoware launches

if format_version == "temp", allow_unsupported_version = true

[component_container_mt-22] [WARN 1716198351.199131584] [map.lanelet2_map_loader]: /home/<>/workspace/maps/kashiwanoha_stable/lanelet2_map.osm has no format_version(null) or non semver-style format_version(temp) information
[component_container_mt-22] [INFO 1716198351.199345713] [map.lanelet2_map_loader]: Loaded map format_version: temp

autoware launches

if format_version == "" or not provided, allow_unsupported_version = true

[component_container_mt-22] [WARN 1716198658.592172992] [map.lanelet2_map_loader]: /home/<>/workspace/maps/kashiwanoha_stable/lanelet2_map.osm has no format_version(null) or non semver-style format_version() information
[component_container_mt-22] [INFO 1716198658.593344519] [map.lanelet2_map_loader]: Loaded map format_version:

[component_container_mt-22] [WARN 1716198895.854275254] [map.lanelet2_map_loader]: /home/<>/workspace/maps/kashiwanoha_stable/lanelet2_map.osm has no format_version(null) or non semver-style format_version(null) information
[component_container_mt-22] [INFO 1716198895.854322873] [map.lanelet2_map_loader]: Loaded map format_version: null

autoware launches

if format_version == "1.1", allow_unsupported_version = false

autoware launches

if format_version == "2.1", allow_unsupported_version = false

[component_container_mt-22] [WARN 1716199205.647257720] [map.lanelet2_map_loader]: format_version(2) of the provided map(/home/<>/workspace/maps/kashiwanoha_stable/lanelet2_map.osm) is larger than the supported version(1)
[component_container_mt-22] terminate called after throwing an instance of 'std::invalid_argument'
[component_container_mt-22]   what():  allow_unsupported_version is false, so stop loading lanelet map

autoware fails

Notes for reviewers

Interface changes

It is preferable for the user to define format_version for their map

ROS Topic Changes

ROS Parameter Changes

Effects on system behavior

none

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[YamatoAndo]

@soblin We should add tag:run-build-and-test-differential after merging autowarefoundation/autoware_common#245

[YamatoAndo]

The header of the sample map is written as follows

<?xml version="1.0"?>
<osm version="0.6" generator="lanelet2">

Wouldn't it be better to rewrite the header as follows?

<?xml version="1.0"?>
<osm generator="lanelet2">
  <MetaInfo format_version="1"/>

[soblin]

I noticed the sample map does not have "MetaInfo" although our internal map has. I will update the sample map before merging this PR

[YamatoAndo]

@soblin
The comment in the parse function stated as follows.
So I tried the case with format_version="1", but it resulted in a runtime error. If this is intended behavior, then there is no issue, but it seems ambiguous, so I would like the comment to be removed.

  // NOTE(Mamoru Sobue): matches `1`, `1.10`, `1.10.100`
  // `1` ==> [`1`, ``, ``]
  // `1.10` ==> [`1.`, ``, `10`]
  // `1.10.100` ==> [`1.`, `10.`, `100`]

[YamatoAndo]

By the way, most of the maps owned by TIER IV are format_version="1", so it seems better to fix the runtime error

[soblin]

@YamatoAndo Thank you, I fixed the regex error. With this implementation we can parse all patterns while rejecting invalid patterns.

https://wandbox.org/permlink/CU7xaHPc50ddoiDL