New function to detect if the GNSS value is outside of the map?

[IshitaTakeshi]

When working with the logging simulator I suffered from the case that the vehicle is outside of the point cloud map and NDT cannot converge, so I'd like to implement a new function to detect such case and report to the user that the vehicle is not on the map.

background

When I ran the logging simulator with the "correct" dataset (I could get the map and I heard that the given rosbag is recorded in the same location as the map), NDT didn't converge.
I saw the topic /sensing/gnss/ublox/nav_sat_fix in a rosbag data file, googled the latitude and longitude, and found that the rosbag dataset was actually recorded outside of the map.
I heard from @YamatoAndo that it will be possible to detect whether the GNSS value is on the map or not, since the point cloud map has the same coordinate as GNSS, so I'd like to add a node that detects if the vehicle is on the map using the GNSS value.

[YamatoAndo]

It would be good to have such a feature!
But, I think it would be a low priority for development.

[ghost]

@kenji-miyake @mitsudome-r If a feature request is considered to be a good addition like this one, what are the next steps? Should an issue be created from this discussion to track the request?

[kenji-miyake]

@LalithVipulananthan I think, if we need to discuss the design (approach), it's better to create an issue and discuss it there. If it's relatively small, we can directly submit a PR.
However, as Ando-san says, we should consider the priority.