Launching planning_simulator without pointcloud map (only with vector map)

[shmpwk]

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

Currently, launching Autoware needs both pcd map and vector map.
Here, we'd like to propose launching Autoware without pcd map.

Purpose

Autoware new users will easily start their project.
No need to prepare pcd map will save time and new users casually try planning simulation for example.
Also, it will reduce dependency on pcd map from Auoware architecture.

Possible approaches

• Create node for calculating static tf from vector map to viewer frame like map_tf_generator. -> 506354a
• Change map_tf_generator from current pcd one to that vector map one. -> beed6b6
• Adapt ad_service_state_monitor when pcd map is loaded or not. -> b2f11c8
• Adapt map_hash_generator if no pcd map is loaded.
  • There is no change for this.
    • always publish ll2 hash as before.
    • publish pcd hash if pcd map is provided, and vice versa.
• Other modules which depend pcd map have to cope with it.
  • nothing

Definition of done

• planning_simulator.launch can properly work without pcd map.

In the future, other simulator like scenario simulator can do.

Related links

• Discussion: adding a different map to autoware universe autoware#2680
• PR: feat(map_tf_generator)!: launching planning_simulator without pointcloud map #1216