Support for Autoware Lanelet2 (.osm) maps

[SakodaShintaro]

Hi community,

First, I would like to express my respect for the wonderful work, PufferDrive. I have been following it since it was called GPUDrive, and it is great to see how steadily it has evolved. I find the features in 3.0 especially exciting.

I am an engineer at TIER IV, a company developing autonomous driving software, and I am also a PhD student working in reinforcement learning.

TIER IV develops Autoware, an open-source autonomous driving software stack, and I would love to try using PufferDrive with it.

As a first step, I am thinking about whether I could run PufferDrive using the lanelet2.osm map files that Autoware uses.

Here is an example of Autoware's sample data:
https://autowarefoundation.github.io/autoware-documentation/main/demos/planning-sim/lane-change/#lane-change-scenario

Lanelet2 maps already provide lane-level geometry, lane connectivity (derivable from shared boundary linestrings), speed limits, and regulatory elements (traffic lights / stop lines), so they seem to map quite naturally onto the existing RoadMapElement / lane-graph structures.

My idea is to generate the common .bin file from a lanelet2.osm map.

I have a few questions:

• Do you have any advice on the implementation approach?
  • Where would be the appropriate place to put the new files?
• If we implement this properly, is there a chance the pull request could be merged?

Thank you!