Add Lanelet2 Map Conversion

[lee-scieninc]

Hello, I'm Joonho Lee, an engineer at SCIEN, a TIER IV partner company.
Thank you for reviewing this contribution.

What

• Add an optional Lanelet2 OSM to PufferDrive 3.0 binary converter.
• Add binary validation and a PNG map preview command.
• Add a small straight-road fixture and focused tests.

Why

Lanelet2 maps need projection, topology conversion, and binary validation before
they can be loaded by PufferDrive. This adds a reproducible command-line path for
that workflow.

Notes

• The converter detects the local UTM projection and metre origin.
• Lanelet2 road and highway relations become drivable lanes.
• Shared boundary endpoints create directed lane links.
• Crop coordinates use metres from the detected local origin.
• Emitted road IDs are validated against their binary indices.
• The source Lanelet2 map is not included because it may contain
  security-sensitive or copyrighted data.

Testing

• python -m pytest -q tests/unit_tests/test_lanelet2_tools.py — 19 passed
• python -m compileall -q data_utils/lanelet2_*.py data_utils/visualize_map_bin.py — passed
• Standard and cropped conversion, validation, and PNG rendering — passed
• PufferDrive Drive load, reset, and one step — passed with finite rewards

Usage

python -m pip install -e ".[lanelet2]"

python data_utils/lanelet2_to_bin.py INPUT.osm OUTPUT.bin \
  --validation-report validation.json

python data_utils/visualize_map_bin.py OUTPUT.bin \
  --png preview.png

Optional crop:

python data_utils/lanelet2_to_bin.py INPUT.osm OUTPUT.bin \
  --crop XMIN YMIN XMAX YMAX