From 7bf37f3836595d7b3bbbe1553adb836bbad5bbd4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bar=C4=B1=C5=9F=20Zeren?= Date: Tue, 30 Jan 2024 16:34:16 +0300 Subject: [PATCH 01/12] Add msg and srv files releated with dynamic lanelet loading MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Barış Zeren --- autoware_map_msgs/CMakeLists.txt | 9 +++++++-- autoware_map_msgs/msg/LaneletMapMetaData.msg | 4 ++++ autoware_map_msgs/msg/LaneletMapTileMetaData.msg | 5 +++++ autoware_map_msgs/msg/LaneletMapTileMetaDataWithID.msg | 4 ++++ autoware_map_msgs/package.xml | 1 + autoware_map_msgs/srv/GetDifferentialLanelet2Map.srv | 7 +++++++ 6 files changed, 28 insertions(+), 2 deletions(-) create mode 100644 autoware_map_msgs/msg/LaneletMapMetaData.msg create mode 100644 autoware_map_msgs/msg/LaneletMapTileMetaData.msg create mode 100644 autoware_map_msgs/msg/LaneletMapTileMetaDataWithID.msg create mode 100644 autoware_map_msgs/srv/GetDifferentialLanelet2Map.srv diff --git a/autoware_map_msgs/CMakeLists.txt b/autoware_map_msgs/CMakeLists.txt index fd6806e..abcb65b 100755 --- a/autoware_map_msgs/CMakeLists.txt +++ b/autoware_map_msgs/CMakeLists.txt @@ -7,18 +7,23 @@ ament_auto_find_build_dependencies() set(msg_files "msg/AreaInfo.msg" "msg/LaneletMapBin.msg" + "msg/LaneletMapMetaData.msg" + "msg/LaneletMapTileMetaDataWithID.msg" + "msg/LaneletMapTileMetaData.msg" "msg/PointCloudMapCellWithID.msg" "msg/PointCloudMapCellMetaData.msg" "msg/PointCloudMapCellMetaDataWithID.msg" "msg/PointCloudMapMetaData.msg" "srv/GetPartialPointCloudMap.srv" "srv/GetDifferentialPointCloudMap.srv" - "srv/GetSelectedPointCloudMap.srv") + "srv/GetSelectedPointCloudMap.srv" + "srv/GetDifferentialLanelet2Map.srv") set(msg_dependencies std_msgs geometry_msgs - sensor_msgs) + sensor_msgs + autoware_auto_mapping_msgs) rosidl_generate_interfaces(${PROJECT_NAME} ${msg_files} diff --git a/autoware_map_msgs/msg/LaneletMapMetaData.msg b/autoware_map_msgs/msg/LaneletMapMetaData.msg new file mode 100644 index 0000000..ff06277 --- /dev/null +++ b/autoware_map_msgs/msg/LaneletMapMetaData.msg @@ -0,0 +1,4 @@ +# Header +std_msgs/Header header + +LaneletMapTileMetaDataWithID[] metadata_list diff --git a/autoware_map_msgs/msg/LaneletMapTileMetaData.msg b/autoware_map_msgs/msg/LaneletMapTileMetaData.msg new file mode 100644 index 0000000..6298a71 --- /dev/null +++ b/autoware_map_msgs/msg/LaneletMapTileMetaData.msg @@ -0,0 +1,5 @@ +# Metadata of lanelet map tile + +string mgrs_code +float64 origin_lat +float64 origin_lon diff --git a/autoware_map_msgs/msg/LaneletMapTileMetaDataWithID.msg b/autoware_map_msgs/msg/LaneletMapTileMetaDataWithID.msg new file mode 100644 index 0000000..f5cc19e --- /dev/null +++ b/autoware_map_msgs/msg/LaneletMapTileMetaDataWithID.msg @@ -0,0 +1,4 @@ +# Pointcloud metadata with ID + +int32 tile_id +LaneletMapTileMetaData metadata diff --git a/autoware_map_msgs/package.xml b/autoware_map_msgs/package.xml index 5eb2e07..317ceb6 100755 --- a/autoware_map_msgs/package.xml +++ b/autoware_map_msgs/package.xml @@ -17,6 +17,7 @@ geometry_msgs sensor_msgs std_msgs + autoware_auto_mapping_msgs rosidl_default_runtime diff --git a/autoware_map_msgs/srv/GetDifferentialLanelet2Map.srv b/autoware_map_msgs/srv/GetDifferentialLanelet2Map.srv new file mode 100644 index 0000000..dc086a8 --- /dev/null +++ b/autoware_map_msgs/srv/GetDifferentialLanelet2Map.srv @@ -0,0 +1,7 @@ +string[] osm_file_ids + +--- +# Header +std_msgs/Header header + +autoware_auto_mapping_msgs/HADMapBin differential_map \ No newline at end of file From 0986bcf4872ef58bc3dcb0dc539e58f48c396de7 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Tue, 30 Jan 2024 18:08:09 +0000 Subject: [PATCH 02/12] style(pre-commit): autofix --- autoware_map_msgs/package.xml | 2 +- autoware_map_msgs/srv/GetDifferentialLanelet2Map.srv | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_map_msgs/package.xml b/autoware_map_msgs/package.xml index 317ceb6..bc58bb5 100755 --- a/autoware_map_msgs/package.xml +++ b/autoware_map_msgs/package.xml @@ -14,10 +14,10 @@ ament_cmake_auto rosidl_default_generators + autoware_auto_mapping_msgs geometry_msgs sensor_msgs std_msgs - autoware_auto_mapping_msgs rosidl_default_runtime diff --git a/autoware_map_msgs/srv/GetDifferentialLanelet2Map.srv b/autoware_map_msgs/srv/GetDifferentialLanelet2Map.srv index dc086a8..dccf33d 100644 --- a/autoware_map_msgs/srv/GetDifferentialLanelet2Map.srv +++ b/autoware_map_msgs/srv/GetDifferentialLanelet2Map.srv @@ -4,4 +4,4 @@ string[] osm_file_ids # Header std_msgs/Header header -autoware_auto_mapping_msgs/HADMapBin differential_map \ No newline at end of file +autoware_auto_mapping_msgs/HADMapBin differential_map From fcdacb4869655568318c1a445852da59871d5cd4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bar=C4=B1=C5=9F=20Zeren?= Date: Tue, 30 Jan 2024 21:16:34 +0300 Subject: [PATCH 03/12] Fix wrong type MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Barış Zeren --- autoware_map_msgs/srv/GetDifferentialLanelet2Map.srv | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_map_msgs/srv/GetDifferentialLanelet2Map.srv b/autoware_map_msgs/srv/GetDifferentialLanelet2Map.srv index dccf33d..318b2ee 100644 --- a/autoware_map_msgs/srv/GetDifferentialLanelet2Map.srv +++ b/autoware_map_msgs/srv/GetDifferentialLanelet2Map.srv @@ -1,4 +1,4 @@ -string[] osm_file_ids +int32[] osm_file_ids --- # Header From 1bb7196392af8331ef2ed59bd3edcf7d8046a8d2 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bar=C4=B1=C5=9F=20Zeren?= Date: Mon, 5 Feb 2024 16:39:05 +0300 Subject: [PATCH 04/12] Fix MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Barış Zeren --- autoware_map_msgs/msg/LaneletMapTileMetaDataWithID.msg | 2 +- autoware_map_msgs/srv/GetDifferentialLanelet2Map.srv | 2 ++ 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/autoware_map_msgs/msg/LaneletMapTileMetaDataWithID.msg b/autoware_map_msgs/msg/LaneletMapTileMetaDataWithID.msg index f5cc19e..3b7cdce 100644 --- a/autoware_map_msgs/msg/LaneletMapTileMetaDataWithID.msg +++ b/autoware_map_msgs/msg/LaneletMapTileMetaDataWithID.msg @@ -1,4 +1,4 @@ -# Pointcloud metadata with ID +# Lanelet metadata with ID int32 tile_id LaneletMapTileMetaData metadata diff --git a/autoware_map_msgs/srv/GetDifferentialLanelet2Map.srv b/autoware_map_msgs/srv/GetDifferentialLanelet2Map.srv index 318b2ee..5c3d5a2 100644 --- a/autoware_map_msgs/srv/GetDifferentialLanelet2Map.srv +++ b/autoware_map_msgs/srv/GetDifferentialLanelet2Map.srv @@ -1,7 +1,9 @@ +# Osm file ids which are selected to be loaded int32[] osm_file_ids --- # Header std_msgs/Header header +# Newly loaded Lanelet map autoware_auto_mapping_msgs/HADMapBin differential_map From 7010994638cc0979770366914e716ecf69cbd77c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bar=C4=B1=C5=9F=20Zeren?= Date: Mon, 19 Feb 2024 19:16:18 +0300 Subject: [PATCH 05/12] Update MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Barış Zeren --- autoware_map_msgs/CMakeLists.txt | 1 - autoware_map_msgs/msg/LaneletMapMetaData.msg | 2 +- autoware_map_msgs/msg/LaneletMapTileMetaData.msg | 1 + autoware_map_msgs/msg/LaneletMapTileMetaDataWithID.msg | 4 ---- autoware_map_msgs/srv/GetDifferentialLanelet2Map.srv | 2 +- 5 files changed, 3 insertions(+), 7 deletions(-) delete mode 100644 autoware_map_msgs/msg/LaneletMapTileMetaDataWithID.msg diff --git a/autoware_map_msgs/CMakeLists.txt b/autoware_map_msgs/CMakeLists.txt index abcb65b..6dc815a 100755 --- a/autoware_map_msgs/CMakeLists.txt +++ b/autoware_map_msgs/CMakeLists.txt @@ -8,7 +8,6 @@ set(msg_files "msg/AreaInfo.msg" "msg/LaneletMapBin.msg" "msg/LaneletMapMetaData.msg" - "msg/LaneletMapTileMetaDataWithID.msg" "msg/LaneletMapTileMetaData.msg" "msg/PointCloudMapCellWithID.msg" "msg/PointCloudMapCellMetaData.msg" diff --git a/autoware_map_msgs/msg/LaneletMapMetaData.msg b/autoware_map_msgs/msg/LaneletMapMetaData.msg index ff06277..0f44159 100644 --- a/autoware_map_msgs/msg/LaneletMapMetaData.msg +++ b/autoware_map_msgs/msg/LaneletMapMetaData.msg @@ -1,4 +1,4 @@ # Header std_msgs/Header header -LaneletMapTileMetaDataWithID[] metadata_list +LaneletMapTileMetaData[] metadata_list diff --git a/autoware_map_msgs/msg/LaneletMapTileMetaData.msg b/autoware_map_msgs/msg/LaneletMapTileMetaData.msg index 6298a71..683fca5 100644 --- a/autoware_map_msgs/msg/LaneletMapTileMetaData.msg +++ b/autoware_map_msgs/msg/LaneletMapTileMetaData.msg @@ -1,5 +1,6 @@ # Metadata of lanelet map tile +int32 tile_id string mgrs_code float64 origin_lat float64 origin_lon diff --git a/autoware_map_msgs/msg/LaneletMapTileMetaDataWithID.msg b/autoware_map_msgs/msg/LaneletMapTileMetaDataWithID.msg deleted file mode 100644 index 3b7cdce..0000000 --- a/autoware_map_msgs/msg/LaneletMapTileMetaDataWithID.msg +++ /dev/null @@ -1,4 +0,0 @@ -# Lanelet metadata with ID - -int32 tile_id -LaneletMapTileMetaData metadata diff --git a/autoware_map_msgs/srv/GetDifferentialLanelet2Map.srv b/autoware_map_msgs/srv/GetDifferentialLanelet2Map.srv index 5c3d5a2..02e0a0d 100644 --- a/autoware_map_msgs/srv/GetDifferentialLanelet2Map.srv +++ b/autoware_map_msgs/srv/GetDifferentialLanelet2Map.srv @@ -1,5 +1,5 @@ # Osm file ids which are selected to be loaded -int32[] osm_file_ids +int32[] vector_map_file_ids --- # Header From d57826cbae22153050691664e9d0000b2c3915c8 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bar=C4=B1=C5=9F=20Zeren?= Date: Wed, 28 Feb 2024 17:10:46 +0300 Subject: [PATCH 06/12] Update MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Barış Zeren --- autoware_map_msgs/msg/LaneletMapTileMetaData.msg | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/autoware_map_msgs/msg/LaneletMapTileMetaData.msg b/autoware_map_msgs/msg/LaneletMapTileMetaData.msg index 683fca5..0f567af 100644 --- a/autoware_map_msgs/msg/LaneletMapTileMetaData.msg +++ b/autoware_map_msgs/msg/LaneletMapTileMetaData.msg @@ -1,6 +1,7 @@ # Metadata of lanelet map tile int32 tile_id -string mgrs_code -float64 origin_lat -float64 origin_lon +float64 min_x +float64 max_x +float64 min_y +float64 max_y From d2ae0c4fce3a78a440879bcdaca3fb3efb5f8dde Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bar=C4=B1=C5=9F=20Zeren?= Date: Tue, 5 Mar 2024 16:32:27 +0300 Subject: [PATCH 07/12] Remove autoware_mapping_msg dependency MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Barış Zeren --- autoware_map_msgs/CMakeLists.txt | 3 +-- autoware_map_msgs/package.xml | 1 - autoware_map_msgs/srv/GetDifferentialLanelet2Map.srv | 2 +- 3 files changed, 2 insertions(+), 4 deletions(-) diff --git a/autoware_map_msgs/CMakeLists.txt b/autoware_map_msgs/CMakeLists.txt index 6dc815a..4d59391 100755 --- a/autoware_map_msgs/CMakeLists.txt +++ b/autoware_map_msgs/CMakeLists.txt @@ -21,8 +21,7 @@ set(msg_files set(msg_dependencies std_msgs geometry_msgs - sensor_msgs - autoware_auto_mapping_msgs) + sensor_msgs) rosidl_generate_interfaces(${PROJECT_NAME} ${msg_files} diff --git a/autoware_map_msgs/package.xml b/autoware_map_msgs/package.xml index bc58bb5..5eb2e07 100755 --- a/autoware_map_msgs/package.xml +++ b/autoware_map_msgs/package.xml @@ -14,7 +14,6 @@ ament_cmake_auto rosidl_default_generators - autoware_auto_mapping_msgs geometry_msgs sensor_msgs std_msgs diff --git a/autoware_map_msgs/srv/GetDifferentialLanelet2Map.srv b/autoware_map_msgs/srv/GetDifferentialLanelet2Map.srv index 02e0a0d..7615315 100644 --- a/autoware_map_msgs/srv/GetDifferentialLanelet2Map.srv +++ b/autoware_map_msgs/srv/GetDifferentialLanelet2Map.srv @@ -6,4 +6,4 @@ int32[] vector_map_file_ids std_msgs/Header header # Newly loaded Lanelet map -autoware_auto_mapping_msgs/HADMapBin differential_map +autoware_map_msgs/LaneletMapBin differential_map From b179b72e11a718aae1dff5989a6a845a298ba246 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bar=C4=B1=C5=9F=20Zeren?= Date: Sun, 23 Jun 2024 21:49:46 +0300 Subject: [PATCH 08/12] change service name MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Barış Zeren --- autoware_map_msgs/CMakeLists.txt | 2 +- ...etDifferentialLanelet2Map.srv => GetSelectedLanelet2Map.srv} | 0 2 files changed, 1 insertion(+), 1 deletion(-) rename autoware_map_msgs/srv/{GetDifferentialLanelet2Map.srv => GetSelectedLanelet2Map.srv} (100%) diff --git a/autoware_map_msgs/CMakeLists.txt b/autoware_map_msgs/CMakeLists.txt index 4d59391..19e6506 100755 --- a/autoware_map_msgs/CMakeLists.txt +++ b/autoware_map_msgs/CMakeLists.txt @@ -16,7 +16,7 @@ set(msg_files "srv/GetPartialPointCloudMap.srv" "srv/GetDifferentialPointCloudMap.srv" "srv/GetSelectedPointCloudMap.srv" - "srv/GetDifferentialLanelet2Map.srv") + "srv/GetSelectedLanelet2Map.srv") set(msg_dependencies std_msgs diff --git a/autoware_map_msgs/srv/GetDifferentialLanelet2Map.srv b/autoware_map_msgs/srv/GetSelectedLanelet2Map.srv similarity index 100% rename from autoware_map_msgs/srv/GetDifferentialLanelet2Map.srv rename to autoware_map_msgs/srv/GetSelectedLanelet2Map.srv From 5b47f0d450b8ad0db736769c5eb6b2af4a64c919 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bar=C4=B1=C5=9F=20Zeren?= Date: Thu, 4 Jul 2024 16:02:26 +0300 Subject: [PATCH 09/12] chore: change tile_id with cell_id MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Barış Zeren --- autoware_map_msgs/msg/LaneletMapTileMetaData.msg | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_map_msgs/msg/LaneletMapTileMetaData.msg b/autoware_map_msgs/msg/LaneletMapTileMetaData.msg index 0f567af..57dd431 100644 --- a/autoware_map_msgs/msg/LaneletMapTileMetaData.msg +++ b/autoware_map_msgs/msg/LaneletMapTileMetaData.msg @@ -1,6 +1,6 @@ -# Metadata of lanelet map tile +# Metadata of lanelet map cell -int32 tile_id +int32 cell_id float64 min_x float64 max_x float64 min_y From 208ea7fbfb9035e9d4ab586d669313ee3134a9b3 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bar=C4=B1=C5=9F=20Zeren?= Date: Thu, 4 Jul 2024 16:18:31 +0300 Subject: [PATCH 10/12] chore: change msg name MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Barış Zeren --- autoware_map_msgs/CMakeLists.txt | 2 +- .../{LaneletMapTileMetaData.msg => LaneletMapCellMetaData.msg} | 0 autoware_map_msgs/msg/LaneletMapMetaData.msg | 2 +- 3 files changed, 2 insertions(+), 2 deletions(-) rename autoware_map_msgs/msg/{LaneletMapTileMetaData.msg => LaneletMapCellMetaData.msg} (100%) diff --git a/autoware_map_msgs/CMakeLists.txt b/autoware_map_msgs/CMakeLists.txt index 19e6506..9948eae 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/LaneletMapMetaData.msg" - "msg/LaneletMapTileMetaData.msg" + "msg/LaneletMapCellMetaData.msg" "msg/PointCloudMapCellWithID.msg" "msg/PointCloudMapCellMetaData.msg" "msg/PointCloudMapCellMetaDataWithID.msg" diff --git a/autoware_map_msgs/msg/LaneletMapTileMetaData.msg b/autoware_map_msgs/msg/LaneletMapCellMetaData.msg similarity index 100% rename from autoware_map_msgs/msg/LaneletMapTileMetaData.msg rename to autoware_map_msgs/msg/LaneletMapCellMetaData.msg diff --git a/autoware_map_msgs/msg/LaneletMapMetaData.msg b/autoware_map_msgs/msg/LaneletMapMetaData.msg index 0f44159..804eff3 100644 --- a/autoware_map_msgs/msg/LaneletMapMetaData.msg +++ b/autoware_map_msgs/msg/LaneletMapMetaData.msg @@ -1,4 +1,4 @@ # Header std_msgs/Header header -LaneletMapTileMetaData[] metadata_list +LaneletMapCellMetaData[] metadata_list From 1be74954ba40245310a7ae2545140d040bea778d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bar=C4=B1=C5=9F=20Zeren?= Date: Thu, 4 Jul 2024 17:47:33 +0300 Subject: [PATCH 11/12] chore: unify with point cloud MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Barış Zeren --- autoware_map_msgs/msg/LaneletMapCellMetaData.msg | 2 +- autoware_map_msgs/srv/GetSelectedLanelet2Map.srv | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_map_msgs/msg/LaneletMapCellMetaData.msg b/autoware_map_msgs/msg/LaneletMapCellMetaData.msg index 57dd431..b315396 100644 --- a/autoware_map_msgs/msg/LaneletMapCellMetaData.msg +++ b/autoware_map_msgs/msg/LaneletMapCellMetaData.msg @@ -1,6 +1,6 @@ # Metadata of lanelet map cell -int32 cell_id +string cell_id float64 min_x float64 max_x float64 min_y diff --git a/autoware_map_msgs/srv/GetSelectedLanelet2Map.srv b/autoware_map_msgs/srv/GetSelectedLanelet2Map.srv index 7615315..6269124 100644 --- a/autoware_map_msgs/srv/GetSelectedLanelet2Map.srv +++ b/autoware_map_msgs/srv/GetSelectedLanelet2Map.srv @@ -1,5 +1,5 @@ # Osm file ids which are selected to be loaded -int32[] vector_map_file_ids +string[] cell_ids --- # Header From 745dee17e79c3fb9d0a26dd135fa89d3e19dd1fa Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bar=C4=B1=C5=9F=20Zeren?= Date: Fri, 5 Jul 2024 11:33:19 +0300 Subject: [PATCH 12/12] chore: change variable name MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Barış Zeren --- autoware_map_msgs/srv/GetSelectedLanelet2Map.srv | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_map_msgs/srv/GetSelectedLanelet2Map.srv b/autoware_map_msgs/srv/GetSelectedLanelet2Map.srv index 6269124..3935da8 100644 --- a/autoware_map_msgs/srv/GetSelectedLanelet2Map.srv +++ b/autoware_map_msgs/srv/GetSelectedLanelet2Map.srv @@ -6,4 +6,4 @@ string[] cell_ids std_msgs/Header header # Newly loaded Lanelet map -autoware_map_msgs/LaneletMapBin differential_map +autoware_map_msgs/LaneletMapBin lanelet2_cells