Convert OpenDRIVE lane references to Lanelet2 lanelet IDs

[diegoyabuki]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

SafetyPool scenarios are written using OpenDRIVE maps. In contrast, SSv2 operates based on LL2 maps. A map conversion tool is under development in a separate task, however the scenario files must also be updated so that their lane references (in OpenDRIVE road ID, lane ID and s-coordinates) are converted to the appropriate lanelet reference (lanelet ID).

Purpose

To ensure that the lane references in the scenario file correspond to the LL2 map, and not the OpenDRIVE one.

Possible approaches

• Fix the output format of the lane mapping file exported by the map conversion tool
• Implement the logic that parses the mapping file into memory, and replaces all instances of OpenDRIVE lane references with the post-conversion lanelet ID
• Check that a set of SafetyPool scenarios are properly updated by the implemented converter

Definition of done

The logic to automatically convert OpenDRIVE lane references to the LL2 lanelet ID is implemented and verified against a set of SafetyPool scenarios

[diegoyabuki]

Created a sample set of xodr, osm, and xosc files to test out the conversion tool.
The data is available here.

[diegoyabuki]

Initially we planned to execute the scenarios in the "Autoware Safety Assurance" library of the SafetyPool database to ensure that at least those are correctly converted. Upon checking, it seems the target scenarios have restricted access limits, which prevents download. While we get confirmation that the files can be downloaded, this task will proceed with a limited check on a few hand-tailored sample scenarios.