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revert: revert "refactor(autoware_map_msgs): modify pcd metadata msg (#96)" #98

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Jul 25, 2024
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revert: revert "refactor(autoware_map_msgs): modify pcd metadata msg (#96)" #98

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3 changes: 2 additions & 1 deletion autoware_map_msgs/CMakeLists.txt
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Expand Up @@ -7,8 +7,9 @@ ament_auto_find_build_dependencies()
set(msg_files
"msg/AreaInfo.msg"
"msg/LaneletMapBin.msg"
"msg/PointCloudMapCellWithID.msg"
"msg/PointCloudMapCellMetaData.msg"
"msg/PointCloudMapCellWithMetaData.msg"
"msg/PointCloudMapCellMetaDataWithID.msg"
"msg/PointCloudMapMetaData.msg"
"srv/GetPartialPointCloudMap.srv"
"srv/GetDifferentialPointCloudMap.srv"
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10 changes: 5 additions & 5 deletions autoware_map_msgs/README.md
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Expand Up @@ -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).

## PointCloudMapCellMetaData.msg
## PointCloudMapCellWithID.msg

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).
The message contains a pointcloud data attached with an ID.

## PointCloudMapCellWithMetaData.msg
## PointCloudMapCellMetaDataWithID.msg

The message contains a pointcloud data attached with a metadata.
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).

## GetPartialPointCloudMap.srv

Expand All @@ -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 `PointCloudMapCellMetaData.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 `PointCloudMapCellMetaDataWithID.msg` metadata to retrieve information about IDs.
1 change: 0 additions & 1 deletion autoware_map_msgs/msg/PointCloudMapCellMetaData.msg
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@@ -1,6 +1,5 @@
# Metadata of pointcloud map cell

string cell_id
float32 min_x
float32 min_y
float32 max_x
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4 changes: 4 additions & 0 deletions autoware_map_msgs/msg/PointCloudMapCellMetaDataWithID.msg
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@@ -0,0 +1,4 @@
# Pointcloud metadata with ID

string cell_id
PointCloudMapCellMetaData metadata
3 changes: 2 additions & 1 deletion ...sgs/msg/PointCloudMapCellWithMetaData.msg → ..._map_msgs/msg/PointCloudMapCellWithID.msg
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@@ -1,4 +1,5 @@
# Pointcloud with metadata
# Pointcloud data with ID

string cell_id
sensor_msgs/PointCloud2 pointcloud
PointCloudMapCellMetaData metadata
2 changes: 1 addition & 1 deletion autoware_map_msgs/msg/PointCloudMapMetaData.msg
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@@ -1,4 +1,4 @@
# Header
std_msgs/Header header

PointCloudMapCellMetaData[] metadata_list
PointCloudMapCellMetaDataWithID[] metadata_list
2 changes: 1 addition & 1 deletion autoware_map_msgs/srv/GetDifferentialPointCloudMap.srv
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Expand Up @@ -10,7 +10,7 @@ string[] cached_ids
std_msgs/Header header

# Newly loaded PCD maps with ID
PointCloudMapCellWithMetaData[] new_pointcloud_cells
PointCloudMapCellWithID[] new_pointcloud_with_ids

# Map IDs that the client side should remove
string[] ids_to_remove
2 changes: 1 addition & 1 deletion autoware_map_msgs/srv/GetPartialPointCloudMap.srv
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Expand Up @@ -7,4 +7,4 @@ AreaInfo area
std_msgs/Header header

# Newly loaded PCD maps with ID
PointCloudMapCellWithMetaData[] new_pointcloud_cells
PointCloudMapCellWithID[] new_pointcloud_with_ids
2 changes: 1 addition & 1 deletion autoware_map_msgs/srv/GetSelectedPointCloudMap.srv
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Expand Up @@ -6,4 +6,4 @@ string[] cell_ids
std_msgs/Header header

# Newly loaded PCD maps with ID
PointCloudMapCellWithMetaData[] new_pointcloud_cells
PointCloudMapCellWithID[] new_pointcloud_with_ids
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