[Proposal] Lanelet2 Validation

[sgk-000]

I propose the validation feature to Lanelet2. Sometimes, lanelet2 map cannot be used in Autoware if it contains defects or errors. Therefore, it is necessary to validate lanelet2 maps to ensure their compatibility in Autoware. For example, validation items are

• Ensuring that all traffic lights in lanelet2 map have a regulatory element associated with them
• Ensuring that adjacent Lanelets share linestrings
• Ensuring that the necessary tags(e.g., turn direction) are included in the Lanelets and regulatory elements within the intersection

Manually performing all validation items would require a significant amount of time and effort because there are many validation items. I propose autoware_lanelet2_validation module to automate the validation of Lanelet2 maps. This module would be an extension to lanelet2_validation, designed to support Autoware specific map elements implemented in lanelet2_extension.

I am currently considering including this in the lanelet2_extension/src/ directory. Please let me know if you have any comments or suggestions.