From 97917d05e1f34a7cf57560cecdd75a603135c5a4 Mon Sep 17 00:00:00 2001 From: Ryohsuke Mitsudome Date: Wed, 20 Nov 2024 10:26:44 +0900 Subject: [PATCH] feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo Signed-off-by: Ryohsuke Mitsudome --- .../component_interface_specs/map.hpp | 4 +- .../package.xml | 2 +- .../geography_utils/lanelet2_projector.hpp | 4 +- .../autoware/geography_utils/projection.hpp | 4 +- common/autoware_geography_utils/package.xml | 2 +- .../test/test_projection.cpp | 30 +++++++-------- .../autoware_geo_pose_projector/README.md | 2 +- map/autoware_map_projection_loader/README.md | 4 +- .../load_info_from_lanelet2_map.hpp | 4 +- .../map_projection_loader.hpp | 4 +- .../package.xml | 2 +- .../src/load_info_from_lanelet2_map.cpp | 12 +++--- .../src/map_projection_loader.cpp | 37 +++++++++++++------ ...load_local_cartesian_utm_from_yaml.test.py | 2 +- .../test_node_load_local_from_yaml.test.py | 2 +- .../test_node_load_mgrs_from_yaml.test.py | 2 +- ...load_transverse_mercator_from_yaml.test.py | 2 +- map/map_loader/README.md | 4 +- .../map_loader/lanelet2_map_loader_node.hpp | 4 +- map/map_loader/package.xml | 1 - .../lanelet2_map_loader_node.cpp | 6 +-- .../package.xml | 1 - .../src/static_centerline_generator_node.hpp | 4 +- sensing/autoware_gnss_poser/README.md | 2 +- 24 files changed, 76 insertions(+), 65 deletions(-) diff --git a/common/autoware_component_interface_specs/include/autoware/component_interface_specs/map.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/map.hpp index dd1c300a7a2ca..aeb09e44c665f 100644 --- a/common/autoware_component_interface_specs/include/autoware/component_interface_specs/map.hpp +++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/map.hpp @@ -17,14 +17,14 @@ #include -#include +#include 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; diff --git a/common/autoware_component_interface_specs/package.xml b/common/autoware_component_interface_specs/package.xml index b50cd80074d1f..0fbd632d52af3 100644 --- a/common/autoware_component_interface_specs/package.xml +++ b/common/autoware_component_interface_specs/package.xml @@ -12,6 +12,7 @@ autoware_cmake autoware_adapi_v1_msgs + autoware_map_msgs autoware_perception_msgs autoware_planning_msgs autoware_vehicle_msgs @@ -21,7 +22,6 @@ rosidl_runtime_cpp tier4_control_msgs tier4_localization_msgs - tier4_map_msgs tier4_planning_msgs tier4_system_msgs tier4_vehicle_msgs diff --git a/common/autoware_geography_utils/include/autoware/geography_utils/lanelet2_projector.hpp b/common/autoware_geography_utils/include/autoware/geography_utils/lanelet2_projector.hpp index 7f6b2d78701d2..0eea2a9ff7fbb 100644 --- a/common/autoware_geography_utils/include/autoware/geography_utils/lanelet2_projector.hpp +++ b/common/autoware_geography_utils/include/autoware/geography_utils/lanelet2_projector.hpp @@ -15,7 +15,7 @@ #ifndef AUTOWARE__GEOGRAPHY_UTILS__LANELET2_PROJECTOR_HPP_ #define AUTOWARE__GEOGRAPHY_UTILS__LANELET2_PROJECTOR_HPP_ -#include +#include #include @@ -23,7 +23,7 @@ namespace autoware::geography_utils { -using MapProjectorInfo = tier4_map_msgs::msg::MapProjectorInfo; +using MapProjectorInfo = autoware_map_msgs::msg::MapProjectorInfo; std::unique_ptr get_lanelet2_projector(const MapProjectorInfo & projector_info); diff --git a/common/autoware_geography_utils/include/autoware/geography_utils/projection.hpp b/common/autoware_geography_utils/include/autoware/geography_utils/projection.hpp index 5ad605f95f65b..678541adcb26e 100644 --- a/common/autoware_geography_utils/include/autoware/geography_utils/projection.hpp +++ b/common/autoware_geography_utils/include/autoware/geography_utils/projection.hpp @@ -17,11 +17,11 @@ #include #include -#include +#include 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; diff --git a/common/autoware_geography_utils/package.xml b/common/autoware_geography_utils/package.xml index d8ea7524eaebc..8777bf4c13d45 100644 --- a/common/autoware_geography_utils/package.xml +++ b/common/autoware_geography_utils/package.xml @@ -17,11 +17,11 @@ autoware_cmake autoware_lanelet2_extension + autoware_map_msgs geographic_msgs geographiclib geometry_msgs lanelet2_io - tier4_map_msgs ament_cmake_ros ament_lint_auto diff --git a/common/autoware_geography_utils/test/test_projection.cpp b/common/autoware_geography_utils/test/test_projection.cpp index 3355dbf8a50ea..b8d036c136eeb 100644 --- a/common/autoware_geography_utils/test/test_projection.cpp +++ b/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; diff --git a/localization/autoware_geo_pose_projector/README.md b/localization/autoware_geo_pose_projector/README.md index 2dd83a2077aab..a05284d123a9e 100644 --- a/localization/autoware_geo_pose_projector/README.md +++ b/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 diff --git a/map/autoware_map_projection_loader/README.md b/map/autoware_map_projection_loader/README.md index 11246c092231e..8cce41343dee3 100644 --- a/map/autoware_map_projection_loader/README.md +++ b/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 diff --git a/map/autoware_map_projection_loader/include/autoware/map_projection_loader/load_info_from_lanelet2_map.hpp b/map/autoware_map_projection_loader/include/autoware/map_projection_loader/load_info_from_lanelet2_map.hpp index 2f1db14529ad0..da0ebb83748ab 100644 --- a/map/autoware_map_projection_loader/include/autoware/map_projection_loader/load_info_from_lanelet2_map.hpp +++ b/map/autoware_map_projection_loader/include/autoware/map_projection_loader/load_info_from_lanelet2_map.hpp @@ -20,13 +20,13 @@ #include #include -#include "tier4_map_msgs/msg/map_projector_info.hpp" +#include "autoware_map_msgs/msg/map_projector_info.hpp" #include 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_ diff --git a/map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp b/map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp index 6ef9213cf33f8..1ca876dc035b2 100644 --- a/map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp +++ b/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 diff --git a/map/autoware_map_projection_loader/package.xml b/map/autoware_map_projection_loader/package.xml index 55785a81ea1a2..29c71bf1644ae 100644 --- a/map/autoware_map_projection_loader/package.xml +++ b/map/autoware_map_projection_loader/package.xml @@ -18,10 +18,10 @@ autoware_component_interface_specs autoware_component_interface_utils + autoware_map_msgs autoware_lanelet2_extension rclcpp rclcpp_components - tier4_map_msgs yaml-cpp ament_cmake_gmock diff --git a/map/autoware_map_projection_loader/src/load_info_from_lanelet2_map.cpp b/map/autoware_map_projection_loader/src/load_info_from_lanelet2_map.cpp index ce4cda5c2c677..750a73c8a8ec6 100644 --- a/map/autoware_map_projection_loader/src/load_info_from_lanelet2_map.cpp +++ b/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 #include @@ -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 diff --git a/map/autoware_map_projection_loader/src/map_projection_loader.cpp b/map/autoware_map_projection_loader/src/map_projection_loader.cpp index 588ede616a814..da92523ff489a 100644 --- a/map/autoware_map_projection_loader/src/map_projection_loader.cpp +++ b/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 +#include #include @@ -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(); - 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(); msg.mgrs_grid = data["mgrs_grid"].as(); } 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(); msg.map_origin.latitude = data["map_origin"]["latitude"].as(); msg.map_origin.longitude = data["map_origin"]["longitude"].as(); msg.map_origin.altitude = data["map_origin"]["altitude"].as(); - } 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("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 diff --git a/map/autoware_map_projection_loader/test/test_node_load_local_cartesian_utm_from_yaml.test.py b/map/autoware_map_projection_loader/test/test_node_load_local_cartesian_utm_from_yaml.test.py index 495f0092bb01f..da6d5629cc2dd 100644 --- a/map/autoware_map_projection_loader/test/test_node_load_local_cartesian_utm_from_yaml.test.py +++ b/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__) diff --git a/map/autoware_map_projection_loader/test/test_node_load_local_from_yaml.test.py b/map/autoware_map_projection_loader/test/test_node_load_local_from_yaml.test.py index 8517f09e2006b..902ca783831cb 100644 --- a/map/autoware_map_projection_loader/test/test_node_load_local_from_yaml.test.py +++ b/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__) diff --git a/map/autoware_map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py b/map/autoware_map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py index ad19e61f9f111..a5ed6656ebfb3 100644 --- a/map/autoware_map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py +++ b/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__) diff --git a/map/autoware_map_projection_loader/test/test_node_load_transverse_mercator_from_yaml.test.py b/map/autoware_map_projection_loader/test/test_node_load_transverse_mercator_from_yaml.test.py index ed2eb45535089..a7b1077a8403f 100644 --- a/map/autoware_map_projection_loader/test/test_node_load_transverse_mercator_from_yaml.test.py +++ b/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__) diff --git a/map/map_loader/README.md b/map/map_loader/README.md index bc3eb80d80339..3988ae6385622 100644 --- a/map/map_loader/README.md +++ b/map/map_loader/README.md @@ -132,7 +132,7 @@ 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 @@ -140,7 +140,7 @@ Please see [tier4_autoware_msgs/msg/MapProjectorInfo.msg](https://github.com/tie ### 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 diff --git a/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp b/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp index 2d3fbfb2a140f..eaa688812f0df 100644 --- a/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp +++ b/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp @@ -21,7 +21,7 @@ #include #include -#include +#include #include @@ -38,7 +38,7 @@ class Lanelet2MapLoaderNode : public rclcpp::Node static lanelet::LaneletMapPtr load_map( const std::string & lanelet2_filename, - const tier4_map_msgs::msg::MapProjectorInfo & projector_info); + const autoware_map_msgs::msg::MapProjectorInfo & projector_info); static autoware_map_msgs::msg::LaneletMapBin create_map_bin_msg( const lanelet::LaneletMapPtr map, const std::string & lanelet2_filename, const rclcpp::Time & now); diff --git a/map/map_loader/package.xml b/map/map_loader/package.xml index 54cfdcb2b07d3..b1d30a571732e 100644 --- a/map/map_loader/package.xml +++ b/map/map_loader/package.xml @@ -30,7 +30,6 @@ pcl_conversions rclcpp rclcpp_components - tier4_map_msgs visualization_msgs yaml-cpp diff --git a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp b/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp index c2334d4589f27..a371d8d0beb1a 100644 --- a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp +++ b/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp @@ -53,7 +53,7 @@ #include using autoware_map_msgs::msg::LaneletMapBin; -using tier4_map_msgs::msg::MapProjectorInfo; +using autoware_map_msgs::msg::MapProjectorInfo; Lanelet2MapLoaderNode::Lanelet2MapLoaderNode(const rclcpp::NodeOptions & options) : Node("lanelet2_map_loader", options) @@ -134,10 +134,10 @@ void Lanelet2MapLoaderNode::on_map_projector_info( lanelet::LaneletMapPtr Lanelet2MapLoaderNode::load_map( const std::string & lanelet2_filename, - const tier4_map_msgs::msg::MapProjectorInfo & projector_info) + const autoware_map_msgs::msg::MapProjectorInfo & projector_info) { lanelet::ErrorMessages errors{}; - if (projector_info.projector_type != tier4_map_msgs::msg::MapProjectorInfo::LOCAL) { + if (projector_info.projector_type != autoware_map_msgs::msg::MapProjectorInfo::LOCAL) { std::unique_ptr projector = autoware::geography_utils::get_lanelet2_projector(projector_info); lanelet::LaneletMapPtr map = lanelet::load(lanelet2_filename, *projector, &errors); diff --git a/planning/autoware_static_centerline_generator/package.xml b/planning/autoware_static_centerline_generator/package.xml index 000ed4df77f47..5a967a36d8f47 100644 --- a/planning/autoware_static_centerline_generator/package.xml +++ b/planning/autoware_static_centerline_generator/package.xml @@ -36,7 +36,6 @@ map_loader rclcpp rclcpp_components - tier4_map_msgs python3-flask-cors rosidl_default_runtime diff --git a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.hpp b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.hpp index 17abb3e446994..d093270b693ac 100644 --- a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.hpp +++ b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.hpp @@ -27,7 +27,7 @@ #include "std_msgs/msg/empty.hpp" #include "std_msgs/msg/float32.hpp" #include "std_msgs/msg/int32.hpp" -#include "tier4_map_msgs/msg/map_projector_info.hpp" +#include "autoware_map_msgs/msg/map_projector_info.hpp" #include #include @@ -39,7 +39,7 @@ namespace autoware::static_centerline_generator using autoware_static_centerline_generator::srv::LoadMap; using autoware_static_centerline_generator::srv::PlanPath; using autoware_static_centerline_generator::srv::PlanRoute; -using tier4_map_msgs::msg::MapProjectorInfo; +using autoware_map_msgs::msg::MapProjectorInfo; struct CenterlineWithRoute { diff --git a/sensing/autoware_gnss_poser/README.md b/sensing/autoware_gnss_poser/README.md index 9619038492af0..959e7848349ed 100644 --- a/sensing/autoware_gnss_poser/README.md +++ b/sensing/autoware_gnss_poser/README.md @@ -17,7 +17,7 @@ If the transformation from `base_link` to the antenna cannot be obtained, it out | Name | Type | Description | | ------------------------------ | ------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------ | -| `/map/map_projector_info` | `tier4_map_msgs::msg::MapProjectorInfo` | map projection info | +| `/map/map_projector_info` | `autoware_map_msgs::msg::MapProjectorInfo` | map projection info | | `~/input/fix` | `sensor_msgs::msg::NavSatFix` | gnss status message | | `~/input/autoware_orientation` | `autoware_sensing_msgs::msg::GnssInsOrientationStamped` | orientation [click here for more details](https://github.com/autowarefoundation/autoware_msgs/tree/main/autoware_sensing_msgs) |