From cc5fdd1602258c37fc61aaf62fb73bfd5593a224 Mon Sep 17 00:00:00 2001 From: mitsudome-r Date: Thu, 31 Oct 2024 15:10:02 +0900 Subject: [PATCH 1/4] feat(autoware_map_msgs): add MapProjectorInfo message Signed-off-by: mitsudome-r --- autoware_map_msgs/CMakeLists.txt | 2 ++ autoware_map_msgs/README.md | 7 +++++++ autoware_map_msgs/msg/MapProjectorInfo.msg | 18 ++++++++++++++++++ autoware_map_msgs/package.xml | 1 + 4 files changed, 28 insertions(+) create mode 100644 autoware_map_msgs/msg/MapProjectorInfo.msg diff --git a/autoware_map_msgs/CMakeLists.txt b/autoware_map_msgs/CMakeLists.txt index 9948eae..19ac33f 100755 --- a/autoware_map_msgs/CMakeLists.txt +++ b/autoware_map_msgs/CMakeLists.txt @@ -9,6 +9,7 @@ set(msg_files "msg/LaneletMapBin.msg" "msg/LaneletMapMetaData.msg" "msg/LaneletMapCellMetaData.msg" + "msg/MapProjectorInfo.msg" "msg/PointCloudMapCellWithID.msg" "msg/PointCloudMapCellMetaData.msg" "msg/PointCloudMapCellMetaDataWithID.msg" @@ -21,6 +22,7 @@ set(msg_files set(msg_dependencies std_msgs geometry_msgs + geographic_msgs sensor_msgs) rosidl_generate_interfaces(${PROJECT_NAME} diff --git a/autoware_map_msgs/README.md b/autoware_map_msgs/README.md index 3e5c623..c213a29 100644 --- a/autoware_map_msgs/README.md +++ b/autoware_map_msgs/README.md @@ -12,6 +12,12 @@ The message contains a pointcloud data attached with an ID. The message contains a pointcloud meta data attached with an ID. These IDs are intended to be used as a query for selected PCD map loading (see `GetSelectedPointCloudMap.srv` section). +## MapProjectorInfo.msg + +The message contains the information required to project global coordinates to local coodraintes used by Autoware, which includes the name of the projection method and the parameters for the projection. +For further information, please refer to the readme of [map_projection_loader](https://github.com/autowarefoundation/autoware.universe/blob/main/map/autoware_map_projection_loader/README.md) in Autoware Universe. + + ## GetPartialPointCloudMap.srv Given an area query (`AreaInfo`), the response is expected to contain the PCD maps (each of which attached with unique ID) whose area overlaps with the query. @@ -37,3 +43,4 @@ Let $X_0$ be a set of PCD map ID that the client node has, $X_1$ be a set of PCD ## GetSelectedPointCloudMap.srv Given IDs query, the response is expected to contain the PCD maps (each of which attached with unique ID) specified by query. Before using this interface, the client is expected to receive the `PointCloudMapCellMetaDataWithID.msg` metadata to retrieve information about IDs. + diff --git a/autoware_map_msgs/msg/MapProjectorInfo.msg b/autoware_map_msgs/msg/MapProjectorInfo.msg new file mode 100644 index 0000000..07d6301 --- /dev/null +++ b/autoware_map_msgs/msg/MapProjectorInfo.msg @@ -0,0 +1,18 @@ +# Projector type +string LOCAL = "local" +string LOCAL_CARTESIAN_UTM = "LocalCartesianUTM" +string MGRS = "MGRS" +string TRANSVERSE_MERCATOR = "TransverseMercator" +string projector_type + +# Vertical datum +string WGS84 = "WGS84" +string EGM2008 = "EGM2008" +string vertical_datum + +# Used for MGRS map +string mgrs_grid + +# Used for some map projection types +# altitude may not be in ellipsoid height +geographic_msgs/GeoPoint map_origin diff --git a/autoware_map_msgs/package.xml b/autoware_map_msgs/package.xml index 22d82bc..3ed9108 100755 --- a/autoware_map_msgs/package.xml +++ b/autoware_map_msgs/package.xml @@ -15,6 +15,7 @@ rosidl_default_generators geometry_msgs + geographic_msgs sensor_msgs std_msgs From 6977d79db0a9f30fa13ed582f44d31019a007dc4 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Thu, 31 Oct 2024 06:15:44 +0000 Subject: [PATCH 2/4] style(pre-commit): autofix --- autoware_map_msgs/README.md | 2 -- autoware_map_msgs/package.xml | 2 +- 2 files changed, 1 insertion(+), 3 deletions(-) diff --git a/autoware_map_msgs/README.md b/autoware_map_msgs/README.md index c213a29..9ae1fd8 100644 --- a/autoware_map_msgs/README.md +++ b/autoware_map_msgs/README.md @@ -17,7 +17,6 @@ The message contains a pointcloud meta data attached with an ID. These IDs are i The message contains the information required to project global coordinates to local coodraintes used by Autoware, which includes the name of the projection method and the parameters for the projection. For further information, please refer to the readme of [map_projection_loader](https://github.com/autowarefoundation/autoware.universe/blob/main/map/autoware_map_projection_loader/README.md) in Autoware Universe. - ## GetPartialPointCloudMap.srv Given an area query (`AreaInfo`), the response is expected to contain the PCD maps (each of which attached with unique ID) whose area overlaps with the query. @@ -43,4 +42,3 @@ Let $X_0$ be a set of PCD map ID that the client node has, $X_1$ be a set of PCD ## GetSelectedPointCloudMap.srv Given IDs query, the response is expected to contain the PCD maps (each of which attached with unique ID) specified by query. Before using this interface, the client is expected to receive the `PointCloudMapCellMetaDataWithID.msg` metadata to retrieve information about IDs. - diff --git a/autoware_map_msgs/package.xml b/autoware_map_msgs/package.xml index 3ed9108..9db7950 100755 --- a/autoware_map_msgs/package.xml +++ b/autoware_map_msgs/package.xml @@ -14,8 +14,8 @@ ament_cmake_auto rosidl_default_generators - geometry_msgs geographic_msgs + geometry_msgs sensor_msgs std_msgs From 45bf1eafa0b48e87e7c5f2dc08692e9820eb8913 Mon Sep 17 00:00:00 2001 From: mitsudome-r Date: Thu, 31 Oct 2024 17:18:41 +0900 Subject: [PATCH 3/4] fix: fix typo Signed-off-by: mitsudome-r --- autoware_map_msgs/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_map_msgs/README.md b/autoware_map_msgs/README.md index 9ae1fd8..1eefc85 100644 --- a/autoware_map_msgs/README.md +++ b/autoware_map_msgs/README.md @@ -14,7 +14,7 @@ The message contains a pointcloud meta data attached with an ID. These IDs are i ## MapProjectorInfo.msg -The message contains the information required to project global coordinates to local coodraintes used by Autoware, which includes the name of the projection method and the parameters for the projection. +The message contains the information required to project global coordinates to local coordinates used by Autoware, which includes the name of the projection method and the parameters for the projection. For further information, please refer to the readme of [map_projection_loader](https://github.com/autowarefoundation/autoware.universe/blob/main/map/autoware_map_projection_loader/README.md) in Autoware Universe. ## GetPartialPointCloudMap.srv From a69bcb6e147a63899ba9e76bb17a48047d33514d Mon Sep 17 00:00:00 2001 From: mitsudome-r Date: Thu, 31 Oct 2024 17:32:30 +0900 Subject: [PATCH 4/4] fix: use Camel case for projector type Signed-off-by: mitsudome-r --- autoware_map_msgs/msg/MapProjectorInfo.msg | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_map_msgs/msg/MapProjectorInfo.msg b/autoware_map_msgs/msg/MapProjectorInfo.msg index 07d6301..8a0184c 100644 --- a/autoware_map_msgs/msg/MapProjectorInfo.msg +++ b/autoware_map_msgs/msg/MapProjectorInfo.msg @@ -1,5 +1,5 @@ # Projector type -string LOCAL = "local" +string LOCAL = "Local" string LOCAL_CARTESIAN_UTM = "LocalCartesianUTM" string MGRS = "MGRS" string TRANSVERSE_MERCATOR = "TransverseMercator"