feat: new minimap overlay

[KhalilSelyan]

Description

This PR introduces a minimap plugin for RViz, designed to provide a 2D overlay of the map within the RViz interface. The plugin leverages Qt and 2D overlay utilities to display map tiles based on GPS coordinates, enhancing situational awareness for users.

Related links

• Issue #6815 - Minimap RViz Plugin

Tests performed

• Manual testing of the plugin in the RViz environment to ensure the map tiles load correctly based on varying GPS coordinates.
• Validation of the overlay alignment and responsiveness within RViz.
• Code review and static analysis for Qt and 2D overlay integration.

Notes for reviewers

• This PR is dependent on updates to the 2D overlay utilities, which are being handled in a separate PR. Please ensure this dependency is resolved before merging.
• The map tiles are currently fetched from a predefined tile server. Future enhancements may include configurable tile servers or offline tile support.

Effects on system behavior

• The introduction of the minimap plugin will provide users with a visual representation of their surroundings based on GPS coordinates, aiding in navigation and spatial awareness.
• The plugin is designed to be non-intrusive and will not interfere with other RViz functionalities.

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[KhalilSelyan]

Current Progress, able to visualize both vehicle position and goal pose (mostly correctly) still unsure of why sometimes the calculations get wrong and with the zoom as well it gets very wrong needs improving
https://youtu.be/Eu0zbz_w2Js

[KhalilSelyan]

@xmfcx @mitsudome-r
I think this should be tested, before merging.
Also, for some reason i was not able to include
autoware_adapi_v1_msgs::msg::VehicleKinematics
tier4_planning_msgs::msg::route_state

It would error out like this, any ideas how to fix this ? there are a few things i need to add and they need both these messages

also copyright messages are missing there are a few small details to be fixed

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 448 lines in your changes missing coverage. Please review.

Project coverage is 28.65%. Comparing base (9b20ced) to head (758e202).
Report is 25 commits behind head on main.

Files	Patch %	Lines
...toware_minimap_overlay_rviz_plugin/src/minimap.cpp	0.00%	185 Missing ⚠️
..._minimap_overlay_rviz_plugin/src/overlay_utils.cpp	0.00%	103 Missing ⚠️
...are_minimap_overlay_rviz_plugin/src/tile_field.cpp	0.00%	88 Missing ⚠️
...ware_minimap_overlay_rviz_plugin/src/goal_pose.cpp	0.00%	39 Missing ⚠️
.../autoware_minimap_overlay_rviz_plugin/src/tile.cpp	0.00%	32 Missing ⚠️
...imap_overlay_rviz_plugin/src/include/goal_pose.hpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #7151      +/-   ##
==========================================
- Coverage   28.76%   28.65%   -0.12%     
==========================================
  Files        1592     1598       +6     
  Lines      116667   117115     +448     
  Branches    49937    49974      +37     
==========================================
  Hits        33554    33554              
- Misses      74008    74456     +448     
  Partials     9105     9105              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	28.76% <ø> (ø)		Carriedforward from 9b20ced

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[KhalilSelyan]

https://youtu.be/mKtN2YPag9w Latest updates including : vehicle position with orientation, trajectory drawn

[KhalilSelyan]

I think it is up for testing for whoever wants to try it.
Things that can be improved but haven't been figured out yet :

• Smooth movement instead of staggered movement in minimap (tried a smoothUpdate function but hasn't shown any upgrades)
• Edge Cases where goal point disappears out of the minimap while it should be drawn in specific pixel position (rare but still happens, not able to detect the error in drawing logic yet)

[mitsudome-r]

This projection depends on how the map is loaded in Autoware.
You should be able to retrieve the information from /map/map_projector_info topic and switch the projection to support different projection methods.

[KhalilSelyan]

Multiple Providers Demo :

Is not committed as of now until confirmation of ToS if it allows the use of these providers being: OpenstreetMaps, ArcGIS satellite tiles and google maps hybrid tiles

• https://tile.openstreetmap.org/{z}/{x}/{y}.png
• https://server.arcgisonline.com/ArcGIS/rest/services/World_Imagery/MapServer/tile/{z}/{y}/{x}
• https://mt1.google.com/vt/lyrs=y&x={x}&y={y}&z={z}

[xmfcx]

By default, can you set the radius to half of the height of the other overlays? So they all will have the same radius.

Also could you put it to the bottom left, it won't fit to the top the way things are sized.

Forza Horizon 5:

[KhalilSelyan]

@xmfcx none of this is commited for now so it still is circular in the bottom left corner, there was a small conversation happening in the discord here : link

By default, can you set the radius to half of the height of the other overlays? So they all will have the same radius.

It was circular, this screenrecord here was to show armağan his suggestion of having it as a rounded square

Also could you put it to the bottom left, it won't fit to the top the way things are sized.

It was in the bottom left, this screenrecord here was to show armağan his suggestion of having it on top right.

[xmfcx]

I'm alright with users being able to select it by tuning radius to their liking.

I was proposing to make it rounded rectangle with radius of height of the other overlays. All will have the same form.

About the position, "Anchors" could be parameterized:

AnchorHorizontal

• Center
• Left
• Right

AnchorVertical

• Center
• Top
• Bottom

Margins

• Horizontal (in x)
• Vertical (in y)

---

I'm also aware of the conversation with @armaganarsln , regardless, it should not be adjacent to any corners, it should have the same margin as the other overlays.

Looking at his suggestion, he also put it with margin from the edges too.

[KhalilSelyan]

@xmfcx

I'm alright with users being able to select it by tuning radius to their liking.
About the position, "Anchor" could be a parameter with 4 options:

• TopLeft
• TopRight
• BottomLeft
• BottomRight

And Margins:

• Horizontal
• Vertical

Yeah, me too i think this would a good addition as well. I can either open a new PR for it separately for the other 2 already existing overlays or wait until this PR is approved and add it at the end of it and merge only 1 PR with all the changes for extracting the Margins and Anchor positions

Looking at his suggestion, he also put it with margin from the edges too.

Yeah looks like it, on the meeting call he said something about having it stick to the edges that's why i had made it that way when sharing the demo of what it would look like.

[xmfcx]

I can either open a new PR for it separately for the other 2 already existing overlays or wait until this PR is approved and add it at the end of it and merge only 1 PR with all the changes for extracting the Margins and Anchor positions

We can start working on the others once this one is finished and merged.

[KhalilSelyan]

I added the new properties for the anchor positions and margins, as well as the tile provider although currently only committed the link for the openstreetmap tiles

[mitsudome-r]

@mitsudome-r Will finish the review.