From 929747076ace4ad1309055079f250f0e01b27345 Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Thu, 4 Jul 2024 18:43:43 +0900 Subject: [PATCH 1/4] delete PointCloudMapCellMetaDataWithID, add cell_id to PointCloudMapMetaData Signed-off-by: Yamato Ando --- autoware_map_msgs/CMakeLists.txt | 3 +-- autoware_map_msgs/README.md | 4 ++-- autoware_map_msgs/msg/PointCloudMapCellMetaData.msg | 1 + autoware_map_msgs/msg/PointCloudMapCellMetaDataWithID.msg | 4 ---- autoware_map_msgs/msg/PointCloudMapCellWithID.msg | 3 +-- autoware_map_msgs/msg/PointCloudMapMetaData.msg | 2 +- 6 files changed, 6 insertions(+), 11 deletions(-) delete mode 100644 autoware_map_msgs/msg/PointCloudMapCellMetaDataWithID.msg diff --git a/autoware_map_msgs/CMakeLists.txt b/autoware_map_msgs/CMakeLists.txt index fd6806e..0ed0696 100755 --- a/autoware_map_msgs/CMakeLists.txt +++ b/autoware_map_msgs/CMakeLists.txt @@ -7,9 +7,8 @@ ament_auto_find_build_dependencies() set(msg_files "msg/AreaInfo.msg" "msg/LaneletMapBin.msg" - "msg/PointCloudMapCellWithID.msg" "msg/PointCloudMapCellMetaData.msg" - "msg/PointCloudMapCellMetaDataWithID.msg" + "msg/PointCloudMapCellWithID.msg" "msg/PointCloudMapMetaData.msg" "srv/GetPartialPointCloudMap.srv" "srv/GetDifferentialPointCloudMap.srv" diff --git a/autoware_map_msgs/README.md b/autoware_map_msgs/README.md index 3e5c623..60151cc 100644 --- a/autoware_map_msgs/README.md +++ b/autoware_map_msgs/README.md @@ -8,7 +8,7 @@ The message represents an area information. This is intended to be used as a que The message contains a pointcloud data attached with an ID. -## PointCloudMapCellMetaDataWithID.msg +## PointCloudMapCellMetaData.msg 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). @@ -36,4 +36,4 @@ 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. +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 `PointCloudMapCellMetaData.msg` metadata to retrieve information about IDs. diff --git a/autoware_map_msgs/msg/PointCloudMapCellMetaData.msg b/autoware_map_msgs/msg/PointCloudMapCellMetaData.msg index e3aa55a..51abf61 100644 --- a/autoware_map_msgs/msg/PointCloudMapCellMetaData.msg +++ b/autoware_map_msgs/msg/PointCloudMapCellMetaData.msg @@ -1,5 +1,6 @@ # Metadata of pointcloud map cell +string cell_id float32 min_x float32 min_y float32 max_x diff --git a/autoware_map_msgs/msg/PointCloudMapCellMetaDataWithID.msg b/autoware_map_msgs/msg/PointCloudMapCellMetaDataWithID.msg deleted file mode 100644 index 7a6c0b3..0000000 --- a/autoware_map_msgs/msg/PointCloudMapCellMetaDataWithID.msg +++ /dev/null @@ -1,4 +0,0 @@ -# Pointcloud metadata with ID - -string cell_id -PointCloudMapCellMetaData metadata diff --git a/autoware_map_msgs/msg/PointCloudMapCellWithID.msg b/autoware_map_msgs/msg/PointCloudMapCellWithID.msg index 0ca496a..c15306b 100755 --- a/autoware_map_msgs/msg/PointCloudMapCellWithID.msg +++ b/autoware_map_msgs/msg/PointCloudMapCellWithID.msg @@ -1,5 +1,4 @@ -# Pointcloud data with ID +# Pointcloud with metadatas -string cell_id sensor_msgs/PointCloud2 pointcloud PointCloudMapCellMetaData metadata diff --git a/autoware_map_msgs/msg/PointCloudMapMetaData.msg b/autoware_map_msgs/msg/PointCloudMapMetaData.msg index d43e21d..f10bbb9 100644 --- a/autoware_map_msgs/msg/PointCloudMapMetaData.msg +++ b/autoware_map_msgs/msg/PointCloudMapMetaData.msg @@ -1,4 +1,4 @@ # Header std_msgs/Header header -PointCloudMapCellMetaDataWithID[] metadata_list +PointCloudMapCellMetaData[] metadata_list From dcfa9df727979072b2a63d95b4bece0a09ce430d Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Thu, 4 Jul 2024 19:39:24 +0900 Subject: [PATCH 2/4] rename msg Signed-off-by: Yamato Ando --- autoware_map_msgs/CMakeLists.txt | 2 +- autoware_map_msgs/README.md | 8 ++++---- ...apCellWithID.msg => PointCloudMapCellWithMetaData.msg} | 0 autoware_map_msgs/srv/GetDifferentialPointCloudMap.srv | 2 +- autoware_map_msgs/srv/GetPartialPointCloudMap.srv | 2 +- autoware_map_msgs/srv/GetSelectedPointCloudMap.srv | 2 +- 6 files changed, 8 insertions(+), 8 deletions(-) rename autoware_map_msgs/msg/{PointCloudMapCellWithID.msg => PointCloudMapCellWithMetaData.msg} (100%) diff --git a/autoware_map_msgs/CMakeLists.txt b/autoware_map_msgs/CMakeLists.txt index 0ed0696..8000c3e 100755 --- a/autoware_map_msgs/CMakeLists.txt +++ b/autoware_map_msgs/CMakeLists.txt @@ -8,7 +8,7 @@ set(msg_files "msg/AreaInfo.msg" "msg/LaneletMapBin.msg" "msg/PointCloudMapCellMetaData.msg" - "msg/PointCloudMapCellWithID.msg" + "msg/PointCloudMapCellWithMetaData.msg" "msg/PointCloudMapMetaData.msg" "srv/GetPartialPointCloudMap.srv" "srv/GetDifferentialPointCloudMap.srv" diff --git a/autoware_map_msgs/README.md b/autoware_map_msgs/README.md index 60151cc..6aa60ef 100644 --- a/autoware_map_msgs/README.md +++ b/autoware_map_msgs/README.md @@ -4,13 +4,13 @@ The message represents an area information. This is intended to be used as a query for partial / differential map loading (see `GetPartialPointCloudMap.srv` and `GetDifferentialPointCloudMap.srv` section). -## PointCloudMapCellWithID.msg +## PointCloudMapCellMetaData.msg -The message contains a pointcloud data attached with an ID. +The message contains a pointcloud meta data. These IDs are intended to be used as a query for selected PCD map loading (see `GetSelectedPointCloudMap.srv` section). -## PointCloudMapCellMetaData.msg +## PointCloudMapCellWithMetaData.msg -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). +The message contains a pointcloud data attached with a metadata. ## GetPartialPointCloudMap.srv diff --git a/autoware_map_msgs/msg/PointCloudMapCellWithID.msg b/autoware_map_msgs/msg/PointCloudMapCellWithMetaData.msg similarity index 100% rename from autoware_map_msgs/msg/PointCloudMapCellWithID.msg rename to autoware_map_msgs/msg/PointCloudMapCellWithMetaData.msg diff --git a/autoware_map_msgs/srv/GetDifferentialPointCloudMap.srv b/autoware_map_msgs/srv/GetDifferentialPointCloudMap.srv index b2197a3..46cf211 100755 --- a/autoware_map_msgs/srv/GetDifferentialPointCloudMap.srv +++ b/autoware_map_msgs/srv/GetDifferentialPointCloudMap.srv @@ -10,7 +10,7 @@ string[] cached_ids std_msgs/Header header # Newly loaded PCD maps with ID -PointCloudMapCellWithID[] new_pointcloud_with_ids +PointCloudMapCellWithMetaData[] new_pointcloud_cells_with_metadata # Map IDs that the client side should remove string[] ids_to_remove diff --git a/autoware_map_msgs/srv/GetPartialPointCloudMap.srv b/autoware_map_msgs/srv/GetPartialPointCloudMap.srv index 96b76a0..822a2da 100755 --- a/autoware_map_msgs/srv/GetPartialPointCloudMap.srv +++ b/autoware_map_msgs/srv/GetPartialPointCloudMap.srv @@ -7,4 +7,4 @@ AreaInfo area std_msgs/Header header # Newly loaded PCD maps with ID -PointCloudMapCellWithID[] new_pointcloud_with_ids +PointCloudMapCellWithMetaData[] new_pointcloud_cells_with_metadata diff --git a/autoware_map_msgs/srv/GetSelectedPointCloudMap.srv b/autoware_map_msgs/srv/GetSelectedPointCloudMap.srv index 5b366c3..84344be 100644 --- a/autoware_map_msgs/srv/GetSelectedPointCloudMap.srv +++ b/autoware_map_msgs/srv/GetSelectedPointCloudMap.srv @@ -6,4 +6,4 @@ string[] cell_ids std_msgs/Header header # Newly loaded PCD maps with ID -PointCloudMapCellWithID[] new_pointcloud_with_ids +PointCloudMapCellWithMetaData[] new_pointcloud_cells_with_metadata From 54e077bbc51af5ea4efcfc8b6183c85968d3fbb0 Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Thu, 4 Jul 2024 19:48:31 +0900 Subject: [PATCH 3/4] fix typo Signed-off-by: Yamato Ando --- autoware_map_msgs/msg/PointCloudMapCellWithMetaData.msg | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_map_msgs/msg/PointCloudMapCellWithMetaData.msg b/autoware_map_msgs/msg/PointCloudMapCellWithMetaData.msg index c15306b..d0bb424 100755 --- a/autoware_map_msgs/msg/PointCloudMapCellWithMetaData.msg +++ b/autoware_map_msgs/msg/PointCloudMapCellWithMetaData.msg @@ -1,4 +1,4 @@ -# Pointcloud with metadatas +# Pointcloud with metadata sensor_msgs/PointCloud2 pointcloud PointCloudMapCellMetaData metadata From b5d4b7a38b4886705adce0ed79153aeadcd8d892 Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Fri, 5 Jul 2024 17:50:05 +0900 Subject: [PATCH 4/4] rename Signed-off-by: Yamato Ando --- autoware_map_msgs/srv/GetDifferentialPointCloudMap.srv | 2 +- autoware_map_msgs/srv/GetPartialPointCloudMap.srv | 2 +- autoware_map_msgs/srv/GetSelectedPointCloudMap.srv | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_map_msgs/srv/GetDifferentialPointCloudMap.srv b/autoware_map_msgs/srv/GetDifferentialPointCloudMap.srv index 46cf211..e3269a1 100755 --- a/autoware_map_msgs/srv/GetDifferentialPointCloudMap.srv +++ b/autoware_map_msgs/srv/GetDifferentialPointCloudMap.srv @@ -10,7 +10,7 @@ string[] cached_ids std_msgs/Header header # Newly loaded PCD maps with ID -PointCloudMapCellWithMetaData[] new_pointcloud_cells_with_metadata +PointCloudMapCellWithMetaData[] new_pointcloud_cells # Map IDs that the client side should remove string[] ids_to_remove diff --git a/autoware_map_msgs/srv/GetPartialPointCloudMap.srv b/autoware_map_msgs/srv/GetPartialPointCloudMap.srv index 822a2da..f66b823 100755 --- a/autoware_map_msgs/srv/GetPartialPointCloudMap.srv +++ b/autoware_map_msgs/srv/GetPartialPointCloudMap.srv @@ -7,4 +7,4 @@ AreaInfo area std_msgs/Header header # Newly loaded PCD maps with ID -PointCloudMapCellWithMetaData[] new_pointcloud_cells_with_metadata +PointCloudMapCellWithMetaData[] new_pointcloud_cells diff --git a/autoware_map_msgs/srv/GetSelectedPointCloudMap.srv b/autoware_map_msgs/srv/GetSelectedPointCloudMap.srv index 84344be..39d14ba 100644 --- a/autoware_map_msgs/srv/GetSelectedPointCloudMap.srv +++ b/autoware_map_msgs/srv/GetSelectedPointCloudMap.srv @@ -6,4 +6,4 @@ string[] cell_ids std_msgs/Header header # Newly loaded PCD maps with ID -PointCloudMapCellWithMetaData[] new_pointcloud_cells_with_metadata +PointCloudMapCellWithMetaData[] new_pointcloud_cells