Operation area expansion

We'd like to use our stack anywhere along the Grand Tour route (a large loop around campus). To accomplish this, we must tackle the following challenges.

• Create multiple 3D scans along our route, saved as pointclouds
  • We've been using Autoware's built-in ndt_mapper launch file to generate PCD files from ROS bags using the Quad. This seems to work pretty well, but many alternatives are available.
• Stitch these pointclouds together into a single "supercloud" using ICP or a similar algorithm
  • Libpointmatcher is a popular library that can do just this. It even has ROS integrations, although compatibility with ROS2 Foxy is questionable.
  • Pointclouds can be visualized in Paraview, a powerful data viz tool.
  • The Point Cloud Library is the bread-and-butter of pointcloud processing. It includes everything from simple transforms to advanced filters.
• Rewrite our pointcloud publisher to split our "supercloud" into smaller chunks, and only publish chunks near the vehicle (save memory and processing resources)
• Create a single Lanelet map of our loop area that includes stop signs/lines, yield signs/lines, pedestrian zones, speed limits, and other necessary metadata (extraneous metadata not included).