feat(map_loader): show intersection areas (#5401)

Signed-off-by: satoshi-ota <[email protected]>

map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp

@@ -125,6 +125,8 @@ void Lanelet2MapVisualizationNode::onMapBin(
       viz_lanelet_map, "no_obstacle_segmentation_area_for_run_out");
   lanelet::ConstPolygons3d hatched_road_markings_area =
     lanelet::utils::query::getAllPolygonsByType(viz_lanelet_map, "hatched_road_markings");
+  lanelet::ConstPolygons3d intersection_areas =
+    lanelet::utils::query::getAllPolygonsByType(viz_lanelet_map, "intersection_area");
   std::vector<lanelet::NoParkingAreaConstPtr> no_parking_reg_elems =
     lanelet::utils::query::noParkingAreas(all_lanelets);
   lanelet::ConstLineStrings3d curbstones = lanelet::utils::query::curbstones(viz_lanelet_map);
@@ -134,7 +136,7 @@ void Lanelet2MapVisualizationNode::onMapBin(
     cl_speed_bumps, cl_crosswalks, cl_parking_lots, cl_parking_spaces, cl_lanelet_id,
     cl_obstacle_polygons, cl_no_stopping_areas, cl_no_obstacle_segmentation_area,
     cl_no_obstacle_segmentation_area_for_run_out, cl_hatched_road_markings_area,
-    cl_hatched_road_markings_line, cl_no_parking_areas, cl_curbstones;
+    cl_hatched_road_markings_line, cl_no_parking_areas, cl_curbstones, cl_intersection_area;
   setColor(&cl_road, 0.27, 0.27, 0.27, 0.999);
   setColor(&cl_shoulder, 0.15, 0.15, 0.15, 0.999);
   setColor(&cl_cross, 0.27, 0.3, 0.27, 0.5);
@@ -158,6 +160,7 @@ void Lanelet2MapVisualizationNode::onMapBin(
   setColor(&cl_hatched_road_markings_line, 0.5, 0.5, 0.5, 0.999);
   setColor(&cl_no_parking_areas, 0.42, 0.42, 0.42, 0.5);
   setColor(&cl_curbstones, 0.1, 0.1, 0.2, 0.999);
+  setColor(&cl_intersection_area, 0.16, 1.0, 0.69, 0.5);
 
   visualization_msgs::msg::MarkerArray map_marker_array;
 
@@ -248,6 +251,10 @@ void Lanelet2MapVisualizationNode::onMapBin(
     &map_marker_array,
     lanelet::visualization::lineStringsAsMarkerArray(curbstones, "curbstone", cl_curbstones, 0.2));
 
+  insertMarkerArray(
+    &map_marker_array, lanelet::visualization::intersectionAreaAsMarkerArray(
+                         intersection_areas, cl_intersection_area));
+
   pub_marker_->publish(map_marker_array);
 }