feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjector…

…Info

Signed-off-by: Ryohsuke Mitsudome <[email protected]>

common/autoware_component_interface_specs/include/autoware/component_interface_specs/map.hpp

@@ -17,14 +17,14 @@
 
 #include <rclcpp/qos.hpp>
 
-#include <tier4_map_msgs/msg/map_projector_info.hpp>
+#include <autoware_map_msgs/msg/map_projector_info.hpp>
 
 namespace autoware::component_interface_specs::map
 {
 
 struct MapProjectorInfo
 {
-  using Message = tier4_map_msgs::msg::MapProjectorInfo;
+  using Message = autoware_map_msgs::msg::MapProjectorInfo;
   static constexpr char name[] = "/map/map_projector_info";
   static constexpr size_t depth = 1;
   static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;

common/autoware_component_interface_specs/package.xml

@@ -12,6 +12,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_adapi_v1_msgs</depend>
+  <depend>autoware_map_msgs</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_vehicle_msgs</depend>
@@ -21,7 +22,6 @@
   <depend>rosidl_runtime_cpp</depend>
   <depend>tier4_control_msgs</depend>
   <depend>tier4_localization_msgs</depend>
-  <depend>tier4_map_msgs</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>tier4_system_msgs</depend>
   <depend>tier4_vehicle_msgs</depend>

common/autoware_geography_utils/include/autoware/geography_utils/lanelet2_projector.hpp

@@ -15,15 +15,15 @@
 #ifndef AUTOWARE__GEOGRAPHY_UTILS__LANELET2_PROJECTOR_HPP_
 #define AUTOWARE__GEOGRAPHY_UTILS__LANELET2_PROJECTOR_HPP_
 
-#include <tier4_map_msgs/msg/map_projector_info.hpp>
+#include <autoware_map_msgs/msg/map_projector_info.hpp>
 
 #include <lanelet2_io/Projection.h>
 
 #include <memory>
 
 namespace autoware::geography_utils
 {
-using MapProjectorInfo = tier4_map_msgs::msg::MapProjectorInfo;
+using MapProjectorInfo = autoware_map_msgs::msg::MapProjectorInfo;
 
 std::unique_ptr<lanelet::Projector> get_lanelet2_projector(const MapProjectorInfo & projector_info);
 

common/autoware_geography_utils/include/autoware/geography_utils/projection.hpp

@@ -17,11 +17,11 @@
 
 #include <geographic_msgs/msg/geo_point.hpp>
 #include <geometry_msgs/msg/point.hpp>
-#include <tier4_map_msgs/msg/map_projector_info.hpp>
+#include <autoware_map_msgs/msg/map_projector_info.hpp>
 
 namespace autoware::geography_utils
 {
-using MapProjectorInfo = tier4_map_msgs::msg::MapProjectorInfo;
+using MapProjectorInfo = autoware_map_msgs::msg::MapProjectorInfo;
 using GeoPoint = geographic_msgs::msg::GeoPoint;
 using LocalPoint = geometry_msgs::msg::Point;
 

common/autoware_geography_utils/package.xml

@@ -17,11 +17,11 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_lanelet2_extension</depend>
+  <depend>autoware_map_msgs</depend>
   <depend>geographic_msgs</depend>
   <depend>geographiclib</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_io</depend>
-  <depend>tier4_map_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>

common/autoware_geography_utils/test/test_projection.cpp

@@ -34,10 +34,10 @@ TEST(GeographyUtilsProjection, ProjectForwardToMGRS)
   local_point.z = 10.0;
 
   // projector info
-  tier4_map_msgs::msg::MapProjectorInfo projector_info;
-  projector_info.projector_type = tier4_map_msgs::msg::MapProjectorInfo::MGRS;
+  autoware_map_msgs::msg::MapProjectorInfo projector_info;
+  projector_info.projector_type = autoware_map_msgs::msg::MapProjectorInfo::MGRS;
   projector_info.mgrs_grid = "54SUE";
-  projector_info.vertical_datum = tier4_map_msgs::msg::MapProjectorInfo::WGS84;
+  projector_info.vertical_datum = autoware_map_msgs::msg::MapProjectorInfo::WGS84;
 
   // conversion
   const geometry_msgs::msg::Point converted_point =
@@ -63,10 +63,10 @@ TEST(GeographyUtilsProjection, ProjectReverseFromMGRS)
   geo_point.altitude = 10.0;
 
   // projector info
-  tier4_map_msgs::msg::MapProjectorInfo projector_info;
-  projector_info.projector_type = tier4_map_msgs::msg::MapProjectorInfo::MGRS;
+  autoware_map_msgs::msg::MapProjectorInfo projector_info;
+  projector_info.projector_type = autoware_map_msgs::msg::MapProjectorInfo::MGRS;
   projector_info.mgrs_grid = "54SUE";
-  projector_info.vertical_datum = tier4_map_msgs::msg::MapProjectorInfo::WGS84;
+  projector_info.vertical_datum = autoware_map_msgs::msg::MapProjectorInfo::WGS84;
 
   // conversion
   const geographic_msgs::msg::GeoPoint converted_point =
@@ -86,10 +86,10 @@ TEST(GeographyUtilsProjection, ProjectForwardAndReverseMGRS)
   geo_point.altitude = 10.0;
 
   // projector info
-  tier4_map_msgs::msg::MapProjectorInfo projector_info;
-  projector_info.projector_type = tier4_map_msgs::msg::MapProjectorInfo::MGRS;
+  autoware_map_msgs::msg::MapProjectorInfo projector_info;
+  projector_info.projector_type = autoware_map_msgs::msg::MapProjectorInfo::MGRS;
   projector_info.mgrs_grid = "54SUE";
-  projector_info.vertical_datum = tier4_map_msgs::msg::MapProjectorInfo::WGS84;
+  projector_info.vertical_datum = autoware_map_msgs::msg::MapProjectorInfo::WGS84;
 
   // conversion
   const geometry_msgs::msg::Point converted_local_point =
@@ -117,9 +117,9 @@ TEST(GeographyUtilsProjection, ProjectForwardToLocalCartesianUTMOrigin)
   local_point.z = 20.0;
 
   // projector info
-  tier4_map_msgs::msg::MapProjectorInfo projector_info;
-  projector_info.projector_type = tier4_map_msgs::msg::MapProjectorInfo::LOCAL_CARTESIAN_UTM;
-  projector_info.vertical_datum = tier4_map_msgs::msg::MapProjectorInfo::WGS84;
+  autoware_map_msgs::msg::MapProjectorInfo projector_info;
+  projector_info.projector_type = autoware_map_msgs::msg::MapProjectorInfo::LOCAL_CARTESIAN_UTM;
+  projector_info.vertical_datum = autoware_map_msgs::msg::MapProjectorInfo::WGS84;
   projector_info.map_origin.latitude = 35.62426;
   projector_info.map_origin.longitude = 139.74252;
   projector_info.map_origin.altitude = -10.0;
@@ -142,9 +142,9 @@ TEST(GeographyUtilsProjection, ProjectForwardAndReverseLocalCartesianUTMOrigin)
   geo_point.altitude = 10.0;
 
   // projector info
-  tier4_map_msgs::msg::MapProjectorInfo projector_info;
-  projector_info.projector_type = tier4_map_msgs::msg::MapProjectorInfo::LOCAL_CARTESIAN_UTM;
-  projector_info.vertical_datum = tier4_map_msgs::msg::MapProjectorInfo::WGS84;
+  autoware_map_msgs::msg::MapProjectorInfo projector_info;
+  projector_info.projector_type = autoware_map_msgs::msg::MapProjectorInfo::LOCAL_CARTESIAN_UTM;
+  projector_info.vertical_datum = autoware_map_msgs::msg::MapProjectorInfo::WGS84;
   projector_info.map_origin.latitude = 35.0;
   projector_info.map_origin.longitude = 139.0;
   projector_info.map_origin.altitude = 0.0;

localization/autoware_geo_pose_projector/README.md

@@ -9,7 +9,7 @@ This node is a simple node that subscribes to the geo-referenced pose topic and
 | Name                      | Type                                                 | Description         |
 | ------------------------- | ---------------------------------------------------- | ------------------- |
 | `input_geo_pose`          | `geographic_msgs::msg::GeoPoseWithCovarianceStamped` | geo-referenced pose |
-| `/map/map_projector_info` | `tier4_map_msgs::msg::MapProjectedObjectInfo`        | map projector info  |
+| `/map/map_projector_info` | `autoware_map_msgs::msg::MapProjectedObjectInfo`        | map projector info  |
 
 ## Published Topics
 

map/autoware_map_projection_loader/README.md

@@ -29,7 +29,7 @@ There are three types of transformations from latitude and longitude to XYZ coor
 
 ```yaml
 # map_projector_info.yaml
-projector_type: local
+projector_type: Local
 ```
 
 #### Limitation
@@ -86,7 +86,7 @@ map_origin:
 
 ## Published Topics
 
-- `~/map_projector_info` (tier4_map_msgs/MapProjectorInfo) : This topic shows the definition of map projector information
+- `~/map_projector_info` (autoware_map_msgs/MapProjectorInfo) : This topic shows the definition of map projector information
 
 ## Parameters
 

map/autoware_map_projection_loader/include/autoware/map_projection_loader/load_info_from_lanelet2_map.hpp

@@ -20,13 +20,13 @@
 #include <autoware_lanelet2_extension/utility/message_conversion.hpp>
 #include <autoware_lanelet2_extension/utility/utilities.hpp>
 
-#include "tier4_map_msgs/msg/map_projector_info.hpp"
+#include "autoware_map_msgs/msg/map_projector_info.hpp"
 
 #include <string>
 
 namespace autoware::map_projection_loader
 {
-tier4_map_msgs::msg::MapProjectorInfo load_info_from_lanelet2_map(const std::string & filename);
+autoware_map_msgs::msg::MapProjectorInfo load_info_from_lanelet2_map(const std::string & filename);
 }  // namespace autoware::map_projection_loader
 
 #endif  // AUTOWARE__MAP_PROJECTION_LOADER__LOAD_INFO_FROM_LANELET2_MAP_HPP_

map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp

@@ -24,8 +24,8 @@
 
 namespace autoware::map_projection_loader
 {
-tier4_map_msgs::msg::MapProjectorInfo load_info_from_yaml(const std::string & filename);
-tier4_map_msgs::msg::MapProjectorInfo load_map_projector_info(
+autoware_map_msgs::msg::MapProjectorInfo load_info_from_yaml(const std::string & filename);
+autoware_map_msgs::msg::MapProjectorInfo load_map_projector_info(
   const std::string & yaml_filename, const std::string & lanelet2_map_filename);
 
 class MapProjectionLoader : public rclcpp::Node

map/autoware_map_projection_loader/package.xml

@@ -18,10 +18,10 @@
 
   <depend>autoware_component_interface_specs</depend>
   <depend>autoware_component_interface_utils</depend>
+  <depend>autoware_map_msgs</depend>
   <depend>autoware_lanelet2_extension</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
-  <depend>tier4_map_msgs</depend>
   <depend>yaml-cpp</depend>
 
   <test_depend>ament_cmake_gmock</test_depend>

map/autoware_map_projection_loader/src/load_info_from_lanelet2_map.cpp

@@ -14,7 +14,7 @@
 
 #include "autoware/map_projection_loader/load_info_from_lanelet2_map.hpp"
 
-#include "tier4_map_msgs/msg/map_projector_info.hpp"
+#include "autoware_map_msgs/msg/map_projector_info.hpp"
 
 #include <lanelet2_core/LaneletMap.h>
 #include <lanelet2_core/geometry/LineString.h>
@@ -25,7 +25,7 @@
 
 namespace autoware::map_projection_loader
 {
-tier4_map_msgs::msg::MapProjectorInfo load_info_from_lanelet2_map(const std::string & filename)
+autoware_map_msgs::msg::MapProjectorInfo load_info_from_lanelet2_map(const std::string & filename)
 {
   lanelet::ErrorMessages errors{};
   lanelet::projection::MGRSProjector projector{};
@@ -46,18 +46,18 @@ tier4_map_msgs::msg::MapProjectorInfo load_info_from_lanelet2_map(const std::str
     }
   }
 
-  tier4_map_msgs::msg::MapProjectorInfo msg;
+  autoware_map_msgs::msg::MapProjectorInfo msg;
   if (is_local) {
-    msg.projector_type = tier4_map_msgs::msg::MapProjectorInfo::LOCAL;
+    msg.projector_type = autoware_map_msgs::msg::MapProjectorInfo::LOCAL;
   } else {
-    msg.projector_type = tier4_map_msgs::msg::MapProjectorInfo::MGRS;
+    msg.projector_type = autoware_map_msgs::msg::MapProjectorInfo::MGRS;
     msg.mgrs_grid = projector.getProjectedMGRSGrid();
   }
 
   // We assume that the vertical datum of the map is WGS84 when using lanelet2 map.
   // However, do note that this is not always true, and may cause problems in the future.
   // Thus, please consider using the map_projector_info.yaml instead of this deprecated function.
-  msg.vertical_datum = tier4_map_msgs::msg::MapProjectorInfo::WGS84;
+  msg.vertical_datum = autoware_map_msgs::msg::MapProjectorInfo::WGS84;
   return msg;
 }
 }  // namespace autoware::map_projection_loader

map/autoware_map_projection_loader/src/map_projection_loader.cpp

@@ -16,7 +16,7 @@
 
 #include "autoware/map_projection_loader/load_info_from_lanelet2_map.hpp"
 
-#include <tier4_map_msgs/msg/map_projector_info.hpp>
+#include <autoware_map_msgs/msg/map_projector_info.hpp>
 
 #include <yaml-cpp/yaml.h>
 
@@ -25,39 +25,52 @@
 
 namespace autoware::map_projection_loader
 {
-tier4_map_msgs::msg::MapProjectorInfo load_info_from_yaml(const std::string & filename)
+autoware_map_msgs::msg::MapProjectorInfo load_info_from_yaml(const std::string & filename)
 {
   YAML::Node data = YAML::LoadFile(filename);
 
-  tier4_map_msgs::msg::MapProjectorInfo msg;
+  autoware_map_msgs::msg::MapProjectorInfo msg;
   msg.projector_type = data["projector_type"].as<std::string>();
-  if (msg.projector_type == tier4_map_msgs::msg::MapProjectorInfo::MGRS) {
+  if (msg.projector_type == autoware_map_msgs::msg::MapProjectorInfo::MGRS) {
     msg.vertical_datum = data["vertical_datum"].as<std::string>();
     msg.mgrs_grid = data["mgrs_grid"].as<std::string>();
 
   } else if (
-    msg.projector_type == tier4_map_msgs::msg::MapProjectorInfo::LOCAL_CARTESIAN_UTM ||
-    msg.projector_type == tier4_map_msgs::msg::MapProjectorInfo::TRANSVERSE_MERCATOR) {
+    msg.projector_type == autoware_map_msgs::msg::MapProjectorInfo::LOCAL_CARTESIAN_UTM ||
+    msg.projector_type == autoware_map_msgs::msg::MapProjectorInfo::TRANSVERSE_MERCATOR) {
     msg.vertical_datum = data["vertical_datum"].as<std::string>();
     msg.map_origin.latitude = data["map_origin"]["latitude"].as<double>();
     msg.map_origin.longitude = data["map_origin"]["longitude"].as<double>();
     msg.map_origin.altitude = data["map_origin"]["altitude"].as<double>();
 
-  } else if (msg.projector_type == tier4_map_msgs::msg::MapProjectorInfo::LOCAL) {
+  } else if (msg.projector_type == autoware_map_msgs::msg::MapProjectorInfo::LOCAL) {
     ;  // do nothing
 
-  } else {
+  } else if (msg.projector_type == "local") {
+    RCLCPP_WARN_STREAM(
+        rclcpp::get_logger("MapProjectionLoader"),
+            "Load " << lanelet2_map_filename << std::endl
+            << "DEPRECATED WARNING: projector type "local" is deprecated."
+              "Please use "Local" instead. For more info, visit "
+              "https://github.com/autowarefoundation/autoware.universe/blob/main/map/"
+              "map_projection_loader/"
+              "README.md"
+            << std::endl;
+        );
+    msg.projector_type = autoware_map_msgs::msg::MapProjectorInfo::LOCAL;
+  }
+  else {
     throw std::runtime_error(
       "Invalid map projector type. Currently supported types: MGRS, LocalCartesianUTM, "
-      "TransverseMercator, and local");
+      "TransverseMercator, and Local");
   }
   return msg;
 }
 
-tier4_map_msgs::msg::MapProjectorInfo load_map_projector_info(
+autoware_map_msgs::msg::MapProjectorInfo load_map_projector_info(
   const std::string & yaml_filename, const std::string & lanelet2_map_filename)
 {
-  tier4_map_msgs::msg::MapProjectorInfo msg;
+  autoware_map_msgs::msg::MapProjectorInfo msg;
 
   if (std::filesystem::exists(yaml_filename)) {
     std::cout << "Load " << yaml_filename << std::endl;
@@ -87,7 +100,7 @@ MapProjectionLoader::MapProjectionLoader(const rclcpp::NodeOptions & options)
   const std::string lanelet2_map_filename =
     this->declare_parameter<std::string>("lanelet2_map_path");
 
-  const tier4_map_msgs::msg::MapProjectorInfo msg =
+  const autoware_map_msgs::msg::MapProjectorInfo msg =
     load_map_projector_info(yaml_filename, lanelet2_map_filename);
 
   // Publish the message

map/autoware_map_projection_loader/test/test_node_load_local_cartesian_utm_from_yaml.test.py

@@ -28,7 +28,7 @@
 from rclpy.qos import QoSDurabilityPolicy
 from rclpy.qos import QoSHistoryPolicy
 from rclpy.qos import QoSProfile
-from tier4_map_msgs.msg import MapProjectorInfo
+from autoware_map_msgs.msg import MapProjectorInfo
 import yaml
 
 logger = get_logger(__name__)

map/autoware_map_projection_loader/test/test_node_load_local_from_yaml.test.py

@@ -28,7 +28,7 @@
 from rclpy.qos import QoSDurabilityPolicy
 from rclpy.qos import QoSHistoryPolicy
 from rclpy.qos import QoSProfile
-from tier4_map_msgs.msg import MapProjectorInfo
+from autoware_map_msgs.msg import MapProjectorInfo
 import yaml
 
 logger = get_logger(__name__)

map/autoware_map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py

@@ -28,7 +28,7 @@
 from rclpy.qos import QoSDurabilityPolicy
 from rclpy.qos import QoSHistoryPolicy
 from rclpy.qos import QoSProfile
-from tier4_map_msgs.msg import MapProjectorInfo
+from autoware_map_msgs.msg import MapProjectorInfo
 import yaml
 
 logger = get_logger(__name__)

map/autoware_map_projection_loader/test/test_node_load_transverse_mercator_from_yaml.test.py

@@ -28,7 +28,7 @@
 from rclpy.qos import QoSDurabilityPolicy
 from rclpy.qos import QoSHistoryPolicy
 from rclpy.qos import QoSProfile
-from tier4_map_msgs.msg import MapProjectorInfo
+from autoware_map_msgs.msg import MapProjectorInfo
 import yaml
 
 logger = get_logger(__name__)

map/map_loader/README.md

@@ -132,15 +132,15 @@ Please see [the description of `GetSelectedPointCloudMap.srv`](https://github.co
 
 lanelet2_map_loader loads Lanelet2 file and publishes the map data as autoware_map_msgs/LaneletMapBin message.
 The node projects lan/lon coordinates into arbitrary coordinates defined in `/map/map_projector_info` from `map_projection_loader`.
-Please see [tier4_autoware_msgs/msg/MapProjectorInfo.msg](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_map_msgs/msg/MapProjectorInfo.msg) for supported projector types.
+Please see [autoware_map_msgs/msg/MapProjectorInfo.msg](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_map_msgs/msg/MapProjectorInfo.msg) for supported projector types.
 
 ### How to run
 
 `ros2 run map_loader lanelet2_map_loader --ros-args -p lanelet2_map_path:=path/to/map.osm`
 
 ### Subscribed Topics
 
-- ~input/map_projector_info (tier4_map_msgs/MapProjectorInfo) : Projection type for Autoware
+- ~input/map_projector_info (autoware_map_msgs/MapProjectorInfo) : Projection type for Autoware
 
 ### Published Topics