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feat(autoware_map_msgs): add MapProjectorInfo message #102

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Oct 31, 2024
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feat(autoware_map_msgs): add MapProjectorInfo message #102

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cc5fdd1
feat(autoware_map_msgs): add MapProjectorInfo message
mitsudome-r Oct 31, 2024
6977d79
style(pre-commit): autofix
pre-commit-ci[bot] Oct 31, 2024
45bf1ea
fix: fix typo
mitsudome-r Oct 31, 2024
a69bcb6
fix: use Camel case for projector type
mitsudome-r Oct 31, 2024
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2 changes: 2 additions & 0 deletions autoware_map_msgs/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -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"
Expand All @@ -21,6 +22,7 @@ set(msg_files
set(msg_dependencies
std_msgs
geometry_msgs
geographic_msgs
sensor_msgs)

rosidl_generate_interfaces(${PROJECT_NAME}
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5 changes: 5 additions & 0 deletions autoware_map_msgs/README.md
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Expand Up @@ -12,6 +12,11 @@ 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 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

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.
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18 changes: 18 additions & 0 deletions autoware_map_msgs/msg/MapProjectorInfo.msg
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@@ -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
1 change: 1 addition & 0 deletions autoware_map_msgs/package.xml
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Expand Up @@ -14,6 +14,7 @@
<buildtool_depend>ament_cmake_auto</buildtool_depend>
<buildtool_depend>rosidl_default_generators</buildtool_depend>

<depend>geographic_msgs</depend>
<depend>geometry_msgs</depend>
<depend>sensor_msgs</depend>
<depend>std_msgs</depend>
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