145 distance of objects

[okrusch]

Description

This PR introduces reconstruction of Depth-Images using LIDAR-Data and calculation of distances of bounding boxes.

Fixes # (145)

Type of change

Please delete options that are not relevant.

• New feature (non-breaking change which adds functionality)

Does this PR introduce a breaking change?

There is now a distance-of-object Publisher, that publishes a list of classes and distances.

Most important changes

vision_node
lidar_distance_node

Checklist:

• My code follows the style guidelines of this project
• I have performed a self-review of my own code
• I have commented my code, particularly in hard-to-understand areas
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works (might be obsolete with CI later on)
• New and existing unit tests pass locally with my changes (might be obsolete with CI later on)

[MaxJa4]

@okrusch According to the linter, there seems to be a syntax error:

code/perception/src/vision_node.py:145:54: E999 SyntaxError: '(' was never closed

[github-actions]

Simulation results

Metric	Value
Avg. driving score	9.9e-05
Avg. route completion	6.425
Avg. infraction penalty	0.350007
Collisions with pedestrians	0.0
Collisions with vehicles	20.866
Collisions with layout	2.318
Red lights infractions	0.0
Stop sign infractions	3.478
Off-road infractions	0
Route deviations	1.159
Route timeouts	1.159
Agent blocked	0.0
Yield emergency vehicles infractions	0.0
Scenario timeouts	2.318
Min speed infractions	0.0