feat(lanelet2_map_validator): add validator to check traffic light facing

[TaikiYamada4]

Description

The facing of the traffic lights are defined by its linestring direction.
This PR adds a validator mapping.traffic_light.correct_facing that checks whether the traffic light is facing correctly.

Besides, I also added a validator mapping.traffic_light.missing_referrers that checks the traffic_light type regulatory element is referred by lanelets because the traffic light facing validation requires them and it is also required in the Autoware vector map requirements.

In short, this PR adds the following implementation.

• New validator mapping.traffic_light.missing_referrers that detects traffic_light type regulatory elements that are NOT referred by lanelets.
• New validator mapping.traffic_light.correct_facing that detects wrong traffic light facing.
• Test codes for both mapping.traffic_light.missing_referrers and mapping.traffic_light.correct_facing.
• Documents for both mapping.traffic_light.missing_referrers and mapping.traffic_light.correct_facing.
• Added two validators to autoware_requirement_set.json
• Fixed the requirement-id of autoware_requirement_set.json. (The crosswalk and traffic light were on the opposite side)

Related links

None

Tests performed

1. Confirmed that colcon test --packages-select autoware_lanelet2_map_validator --event-handlers console_cohesion+ passes.
2. Confirmed that the following command shows no errors nor warnings.

ros2 run autoware_lanelet2_map_validator autoware_lanelet2_map_validator -p mgrs -m <PATH_TO_sample_map.osm> -i <PATH_TO_autoware_requirement_set.json> -o ./

Notes for reviewers

Please take a look at traffic_light_facing.md for further understandings to the algorithm of it.

Interface changes

None

Effects on system behavior

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.
• The PR has been properly tested.
• The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.
• The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.

[github-actions]

Documentation URL: https://autowarefoundation.github.io/autoware_tools/pr-165/
Modified URLs:

• https://autowarefoundation.github.io/autoware_tools/pr-165/map/autoware_lanelet2_map_validator/
• https://autowarefoundation.github.io/autoware_tools/pr-165/map/autoware_lanelet2_map_validator/traffic_light/missing_referrers_for_traffic_lights/
• https://autowarefoundation.github.io/autoware_tools/pr-165/map/autoware_lanelet2_map_validator/traffic_light/traffic_light_facing/