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feat(map_loader): make some functions static #2014

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merged 2 commits into from
Oct 5, 2022
+17 −14
Merged

feat(map_loader): make some functions static #2014

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7a2ec45
feat(map_loader): make some functions static
takayuki5168 Oct 4, 2022
aa384ab
make publisher alive after constructor
takayuki5168 Oct 5, 2022
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12 changes: 7 additions & 5 deletions map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -31,13 +31,15 @@ class Lanelet2MapLoaderNode : public rclcpp::Node
public:
explicit Lanelet2MapLoaderNode(const rclcpp::NodeOptions & options);

static lanelet::LaneletMapPtr load_map(
rclcpp::Node & node, const std::string & lanelet2_filename,
const std::string & lanelet2_map_projector_type);
static HADMapBin create_map_bin_msg(
const lanelet::LaneletMapPtr map, const std::string & lanelet2_filename,
const rclcpp::Time & now);

private:
rclcpp::Publisher<HADMapBin>::SharedPtr pub_map_bin_;

lanelet::LaneletMapPtr load_map(
const std::string & lanelet2_filename, const std::string & lanelet2_map_projector_type);
HADMapBin create_map_bin_msg(
const lanelet::LaneletMapPtr map, const std::string & lanelet2_filename);
};

#endif // MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_
19 changes: 10 additions & 9 deletions map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -54,7 +54,7 @@ Lanelet2MapLoaderNode::Lanelet2MapLoaderNode(const rclcpp::NodeOptions & options
const auto center_line_resolution = declare_parameter("center_line_resolution", 5.0);

// load map from file
const auto map = load_map(lanelet2_filename, lanelet2_map_projector_type);
const auto map = load_map(*this, lanelet2_filename, lanelet2_map_projector_type);
if (!map) {
return;
}
Expand All @@ -63,7 +63,7 @@ Lanelet2MapLoaderNode::Lanelet2MapLoaderNode(const rclcpp::NodeOptions & options
lanelet::utils::overwriteLaneletsCenterline(map, center_line_resolution, false);

// create map bin msg
const auto map_bin_msg = create_map_bin_msg(map, lanelet2_filename);
const auto map_bin_msg = create_map_bin_msg(map, lanelet2_filename, now());

// create publisher and publish
pub_map_bin_ =
Expand All @@ -72,7 +72,8 @@ Lanelet2MapLoaderNode::Lanelet2MapLoaderNode(const rclcpp::NodeOptions & options
}

lanelet::LaneletMapPtr Lanelet2MapLoaderNode::load_map(
const std::string & lanelet2_filename, const std::string & lanelet2_map_projector_type)
rclcpp::Node & node, const std::string & lanelet2_filename,
const std::string & lanelet2_map_projector_type)
{
lanelet::ErrorMessages errors{};
if (lanelet2_map_projector_type == "MGRS") {
Expand All @@ -82,8 +83,8 @@ lanelet::LaneletMapPtr Lanelet2MapLoaderNode::load_map(
return map;
}
} else if (lanelet2_map_projector_type == "UTM") {
const double map_origin_lat = declare_parameter("latitude", 0.0);
const double map_origin_lon = declare_parameter("longitude", 0.0);
const double map_origin_lat = node.declare_parameter("latitude", 0.0);
const double map_origin_lon = node.declare_parameter("longitude", 0.0);
lanelet::GPSPoint position{map_origin_lat, map_origin_lon};
lanelet::Origin origin{position};
lanelet::projection::UtmProjector projector{origin};
Expand All @@ -93,25 +94,25 @@ lanelet::LaneletMapPtr Lanelet2MapLoaderNode::load_map(
return map;
}
} else {
RCLCPP_ERROR(get_logger(), "lanelet2_map_projector_type is not supported");
RCLCPP_ERROR(rclcpp::get_logger("map_loader"), "lanelet2_map_projector_type is not supported");
return nullptr;
}

for (const auto & error : errors) {
RCLCPP_ERROR_STREAM(get_logger(), error);
RCLCPP_ERROR_STREAM(rclcpp::get_logger("map_loader"), error);
}
return nullptr;
}

HADMapBin Lanelet2MapLoaderNode::create_map_bin_msg(
const lanelet::LaneletMapPtr map, const std::string & lanelet2_filename)
const lanelet::LaneletMapPtr map, const std::string & lanelet2_filename, const rclcpp::Time & now)
{
std::string format_version{}, map_version{};
lanelet::io_handlers::AutowareOsmParser::parseVersions(
lanelet2_filename, &format_version, &map_version);

HADMapBin map_bin_msg;
map_bin_msg.header.stamp = now();
map_bin_msg.header.stamp = now;
map_bin_msg.header.frame_id = "map";
map_bin_msg.format_version = format_version;
map_bin_msg.map_version = map_version;
Expand Down