Feature/enable specify entity type in autosink

[hakuturu583]

Description

Abstract

Enabled selection of Entity to be Sinked in TrafficSink.

Background

In TrafficSink, arbitrary Entity was despawned when it approached TrafficSink, so there were cases where EgoEntity was despawned and testing could not continue.

Details

To enable this feature, set auto_sink, a member of traffic_simulator::Configuration structure, to true, and set std::set<traffic_simulator::EntityType, traffic_ simulator::EntityTypeComparator> to specify the target EntityType of the entity to be despawned.

e.g

auto configuration = traffic_simulator::Configuration(map_path);
configuration.auto_sink = true;
configuration.sinkable_entity_type = {traffic_simulator::EntityType::VEHICLE}

References

N/A

Destructive Changes

N/A

Known Limitations

• In feat(traffic_controller, api): add rviz marker for TrafficSink #1335, we found that the TrafficSink constructor was not designed well enough to be merged into the PR, but we will not fix it in this PR.
• API to install TrafficSink without auto_sink function to automatically install TrafficSink at the end of the road is not implemented.

[github-actions]

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[yamacir-kit]

Instead of adding a less generic type like EntityTypeComparator, change it to add comparison operator overloads to EntityType.

[sonarcloud]

Quality Gate passed

Issues
1 New issue
1 Accepted issue

Measures
0 Security Hotspots
100.0% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarQube Cloud